Intelligent wheat seed metering device

Abstract

The invention discloses an intelligent wheat seed-metering device, which relates to the technical field of wheat seeding and comprises a seed-metering path planning module for planning a wheat seed-metering path according to a set wheat seeding interval and a wheat planting field plan; the soil parameter detection module is used for detecting basic parameter data of soil at the sowing position of the wheat seeds to obtain soil information; the wheat seed detection module is used for detecting wheat seeds to be sown to obtain wheat seed information; the germination rate analysis module obtains the wheat seed germination rate according to the soil information and the wheat seed information; the soil improvement module is used for improving soil, and the wheat seed metering module is inserted into the soil for moving and seed metering. According to the invention, the problems that the seeding strategy cannot be adjusted according to the soil environment and the seed characteristics in the wheat seeding process, so that the seeding distribution of wheat seeds is non-uniform and the depth is non-uniform are solved, the fine level of seeding is improved, the balanced growth of wheat is ensured, and the high quality and high yield of wheat are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of wheat sowing, and in particular to an intelligent wheat seeding device. Background Art

[0002] As an important food crop in the world, wheat is of great significance to ensuring food security. With the development of agricultural modernization, wheat seeders were born and are constantly being improved. Improving wheat sowing efficiency and quality has become the key. The seed meter is a core component, and its performance directly affects the uniformity, accuracy and stability of wheat sowing, and plays a decisive role in the effectiveness of wheat planting.

[0003] Traditional sowing methods rely primarily on manual labor or simple machinery, which presents numerous shortcomings. Manual sowing is inefficient, labor-intensive, and susceptible to human influence, resulting in inconsistent sowing quality and difficulty ensuring uniform sowing spacing and depth, impacting balanced wheat growth and yield. While mechanical sowing has improved sowing efficiency to a certain extent, its low level of intelligence makes it incapable of precise sowing and adjustment based on actual factors such as soil conditions and seed characteristics. This can lead to problems such as uneven seed distribution and varying seed depths, limiting further improvements in wheat yield and quality and failing to meet modern agriculture's demand for precise, efficient, and scientific sowing. Summary of the Invention

[0004] The present invention provides an intelligent wheat seeding device, which can automatically adjust the sowing strategy according to the soil environment and seed characteristics during the wheat sowing process, and make the wheat seeds unevenly distributed and of varying depths, thereby improving the yield and quality of wheat.

[0005] The present invention provides a wheat intelligent seeding device, comprising:

[0006] The sowing path planning module is used to obtain the wheat sowing path according to the set wheat sowing spacing and the wheat planting ground plan;

[0007] The soil parameter detection module is used to detect the basic parameter data of the soil where the wheat seeds are sown and obtain soil information;

[0008] The wheat seed detection module is used to detect the wheat seeds to be planted and obtain wheat seed information;

[0009] The germination rate analysis module is used to obtain the wheat seed germination rate based on soil information and wheat seed information;

[0010] The wheat seeding module is inserted into the soil, moves in the soil according to the wheat seeding path, and completes the wheat seeding operation based on soil information and wheat seed germination rate;

[0011] The soil improvement module is used to improve the soil at the wheat seed sowing site based on soil information and wheat seed information.

[0012] In this solution, the seeding path planning module can plan a reasonable wheat seeding path according to the wheat planting site and wheat sowing spacing, avoid obstacles, ensure that wheat seeds are evenly distributed in the land, improve land utilization, and avoid repeated sowing on the route. It can solve the problem of waste of land resources and wheat seeds caused by improper sowing routes. At the same time, it can estimate the number of wheat seeds to be sown based on the wheat seeding path and wheat sowing spacing, which is convenient for preparing wheat seeds in advance and optimizing wheat planting costs.

[0013] In this solution, when the soil parameter detection module is working, it can detect soil parameters before sowing, and use the soil detection results as soil information of the entire wheat planting field. It can also enter the soil together with the wheat sowing module to obtain basic data of the soil at the wheat sowing site as soil information in the wheat planting area. Most of the current wheat sowing methods are to sow wheat directly in the planting field, lacking a comprehensive understanding of the soil conditions. During sowing, due to insufficient understanding of soil fertility, pH and moisture conditions, the sowing depth is unreasonable, and fertilization and irrigation lack specificity and are blind. The present invention has made improvements to these problems. By comprehensively detecting soil fertility, pH and moisture conditions, a scientific basis is provided for sowing depth, density and irrigation and fertilization, thereby improving the germination rate and growth quality of wheat seeds.

[0014] In this solution, the wheat seed detection module can detect the wheat seeds to be planted, obtain wheat seed information, judge the quality of the wheat seeds, and transmit it to the wheat seeding module, solving the problem of lax seed quality control in traditional sowing, which leads to the sowing of some low-quality seeds and reduces the wheat emergence rate and wheat quality.

[0015] In this solution, the germination rate analysis module is used to obtain the wheat seed germination rate based on soil information and wheat seed information, which facilitates the adjustment of the sowing amount, ensures the expected wheat emergence rate, reduces the planting risk, and solves the problem that the actual germination rate of seeds is lower than expected and the emergence rate is low after sowing due to the inability to accurately estimate the seed germination rate; the wheat seeding module can be inserted into the soil for seeding and move in the soil according to the wheat seeding path.

[0016] The existing wheat sowing method is to sow seeds directly in the ground, without detecting wheat seeds and controlling the sowing position, depth and quantity of wheat. There is a lack of detection of the germination rate of wheat seeds themselves, and there are problems of uneven sowing distribution and missing seedlings. To this end, the present invention detects wheat seeds through a wheat seed detection module to obtain the wheat seed germination rate, detects sowing soil through a soil parameter detection module to obtain soil information, detects the wheat sowing position, depth and quantity through the wheat sowing module, and controls the repeated sowing of the wheat sowing module in combination with the wheat seed germination rate, which can achieve uniform sowing distribution and uniform sowing depth of wheat seeds, reduce the possibility of missing seedlings and broken ridges, and improve the wheat emergence rate, yield and quality.

[0017] Furthermore: the seeding path planning module includes a multi-angle image acquisition unit, a plane map generation unit and a path planning unit;

[0018] The multi-angle image acquisition unit is used to acquire multi-view images of the wheat planting field;

[0019] The plan map generating unit is used to process the multi-view images of the wheat planting land using an image generation neural network model to obtain a plan map of the wheat planting land;

[0020] The path planning unit is used to analyze and process the wheat planting ground plane map according to the set wheat sowing spacing and the wheat planting ground plane map to obtain the wheat sowing path.

[0021] In this solution, through the multi-angle image acquisition unit and the plane map generation unit, it can adapt to wheat planting fields of various different areas, ensure the acquisition of accurate wheat planting field plane maps, and reduce the occurrence of situations where the shooting path planning is inconsistent with the actual situation and the land utilization rate is reduced. The path planning unit can plan the sowing path on the wheat planting field plane map according to the set wheat sowing spacing, while taking into account factors such as obstacles and boundary ranges to generate the optimal wheat sowing path, improve sowing quality, avoid land and seed waste, and solve the problem that traditional sowing is difficult to reasonably plan the path according to the actual situation of the planting field and sowing requirements, resulting in uneven sowing, insufficient land utilization and difficulty in bypassing obstacles.

[0022] Furthermore: the path planning unit is specifically used to:

[0023] According to the wheat planting site plan, determine the boundary range of the wheat planting site and identify obstacles;

[0024] Divide the wheat planting land plan into several sowing areas according to the boundary range and obstacles of the wheat planting land;

[0025] According to the wind direction and sunshine amount of the wheat planting area, the downwind direction and the direction with high sunshine amount of wheat seeding are determined to obtain the wheat seeding direction;

[0026] According to several sowing areas and wheat sowing directions, the starting point and end point of each sowing area are determined, and the sowing route is planned in combination with the set wheat sowing spacing to obtain the wheat sowing path.

[0027] In this solution, the path planning unit can achieve precise planning of the sowing path. It divides the sowing area on the wheat planting ground plan by determining boundaries and obstacles, determines the sowing direction based on wind direction and sunshine, plans the route according to the starting point, end point and sowing spacing of the area, and calculates the estimated number of seeds based on the path length and spacing. It effectively solves the problem of unreasonable traditional sowing paths, avoids waste of land and seeds, improves the sowing quality of wheat seeds, and realizes precision agriculture.

[0028] Furthermore: the soil parameter detection module includes a soil composition detection unit, an electrical conductivity detection unit, a humidity monitoring unit and a soil data processing unit;

[0029] The soil component detection unit is used to detect the nitrogen, phosphorus and potassium content of the soil where the wheat seeds are sown;

[0030] The conductivity detection unit is used to detect the conductivity of the soil where the wheat seeds are sown;

[0031] The humidity detection unit is used to detect the humidity of the soil where the wheat seeds are sown;

[0032] The soil data processing unit is used to integrate nitrogen, phosphorus and potassium content, electrical conductivity and humidity to obtain soil information.

[0033] In this solution, the detection of soil seed information can obtain the environmental conditions of the soil, indirectly judge the growth of wheat, and obtain the soil information of the wheat planting site. Among them, the soil composition detection unit measures the nitrogen, phosphorus and potassium content, which can reflect the soil fertility, the conductivity detection unit measures the soil conductivity, which can reflect the degree of soil salinization, and the humidity monitoring unit measures the soil moisture, which can reflect the water content of the soil. These data are integrated through the soil data processing unit to generate soil information. At the same time, additional units can be added according to planting needs to conduct data analysis at more levels, providing more accurate data support for soil improvement, solving the problem of blind wheat sowing due to insufficient soil information in traditional sowing, optimizing the sowing strategy, and improving the scientific nature and yield of wheat planting.

[0034] Furthermore: the wheat seed detection module includes an image acquisition unit, a seed morphology analysis unit, a seed health detection unit and a seed data processing unit;

[0035] The image acquisition unit is used to acquire images of wheat seeds to be sown in the wheat seeding module;

[0036] The seed morphology analysis unit is used to analyze the image of the wheat seeds to obtain surface shape information of the wheat seeds;

[0037] The health detection unit is used to detect the pest and disease conditions and damage conditions of the wheat seeds and obtain the health information of the wheat seeds;

[0038] The seed data processing unit is used to integrate the surface shape information of the wheat seeds and the health information of the wheat seeds to obtain the wheat seed information.

[0039] In this solution, through the coordinated work of the image acquisition unit, seed morphology analysis unit, seed health detection unit and seed data processing unit, it is possible to accurately analyze the morphological characteristics of seeds, identify seed damage, pests and diseases, and minor damage, and obtain wheat seed information. Based on the seed information, it is possible to make an initial judgment on the wheat emergence rate and yield, and provide guidance and support for measures to improve the emergence rate and yield, thereby solving the problem of traditional sowing methods that are difficult to accurately control seed quality, and the problem of missing seedlings and broken ridges in wheat planting due to low seed quality.

[0040] Further: the germination rate analysis module includes a soil environment assessment unit, a seed germination rate prediction unit and a comprehensive germination rate analysis unit;

[0041] The soil environment assessment unit is used to analyze and calculate the soil information to obtain the soil environment correction coefficient;

[0042] The seed germination rate detection unit is used to process and analyze the surface shape information in the wheat seed information using the trained neural network model to obtain an initial predicted wheat seed germination rate;

[0043] The comprehensive germination rate analysis unit is used to correct the initially predicted wheat seed germination rate according to the health information and soil environment correction coefficient in the wheat seed information to obtain the wheat seed germination rate.

[0044] In this solution, when the germination rate analysis module is working, the soil information is analyzed and calculated by the soil environment assessment unit. Based on the weight analysis method, the soil environment correction coefficient can be calculated according to the weight of each soil basic data in the set soil information and the standardized soil basic data, thereby solving the problem of low seed germination rate caused by unknown soil conditions in traditional sowing; the seed germination rate prediction unit uses a neural network model to process the seed surface shape information, preliminarily predicts the germination rate, and uses the comprehensive germination rate analysis unit to correct the preliminarily predicted germination rate according to the seed health information and the soil environment correction coefficient to obtain a more comprehensive and accurate germination rate, which intuitively reflects the growth of the seeds, and performs additional sowing through the wheat sowing module, sowing another wheat seed in the same position, thereby solving the problem of lack of detection of wheat seed germination rate in traditional sowing methods, resulting in missing seedlings and broken ridges.

[0045] Furthermore: the soil improvement module includes a fertilizer adding unit, a pH adjustment unit, a humidity adjustment unit and a soil structure improvement unit;

[0046] The fertilizer adding unit is used to add fertilizer to the soil according to the soil information and the wheat seed information;

[0047] The pH adjustment unit is used to adjust the pH of the soil according to the soil information and the wheat seed information;

[0048] The soil structure improvement unit is used to process the soil according to soil information and wheat seed information.

[0049] In this solution, the soil improvement module improves the soil based on the measured nitrogen, phosphorus and potassium content, electrical conductivity and salinization degree of the soil in the soil information. The fertilizer is added through the fertilizer addition unit to increase the nitrogen, phosphorus and potassium content of the soil and enhance the soil fertility. The pH adjustment unit adjusts the soil pH by adding acid and alkaline reagents to make the soil at a pH suitable for wheat growth. The humidity adjustment unit maintains suitable humidity. The soil structure improvement unit enhances air permeability and water retention, breaks up hard and agglomerated soil, and enables wheat seeds to break through the covering soil and grow normally. The soil improvement module of the present invention comprehensively improves soil fertility and wheat growth conditions based on the detected soil information and wheat seed information, solves the problems of unreasonable nutrient supplementation, inappropriate pH, difficult humidity control and poor soil structure in traditional soil improvement, and provides a high-quality soil environment for high wheat yield.

[0050] Furthermore: the wheat seeding module includes a soil excavation unit, a seeding execution unit, a depth adjustment unit and a seeding monitoring unit;

[0051] The soil excavation unit is used to excavate the soil according to the wheat seeding path, and guide the seeding execution unit into the soil and lead the seeding execution unit to move in the soil;

[0052] The seeding execution unit is used to be inserted into the hole dug by the soil excavation unit and discharge wheat seeds into the soil according to the set time interval;

[0053] The depth adjustment unit is used to control the excavation depth of the soil excavation unit according to soil information;

[0054] The seeding monitoring unit is used to record and store the quantity, position and depth of wheat seeds after sowing, and control the seeding execution unit to perform seeding according to the germination rate of the wheat seeds.

[0055] In this solution, the seeding execution unit is a conventional wheat seeding device. Before wheat sowing, the wheat planting field will be deep plowed, and the soil will be relatively loose, which is convenient for digging. The soil excavation unit is adjacent to the seeding pipe mouth of the seeding execution unit, and can guide the seeding execution unit to be inserted into the soil when digging in the soil, and can lead the seeding execution unit to move when digging and moving in the soil. The excavation gap is small, and the soil can be covered by the vibration generated by excavation after excavation to improve the air permeability of the soil. The depth adjustment unit can adjust the excavation depth to ensure that the wheat seeds have a good covering environment and germination conditions. The seeding monitoring unit can detect the number, position and depth of wheat seeds throughout the process, and can store the detection results for subsequent analysis and optimization. At the same time, it can control the seeding execution unit to sow wheat seeds again at the same position according to the germination rate of wheat seeds, thereby reducing the occurrence of wheat seedling shortages and broken ridges.

[0056] Furthermore: the seeding execution unit includes a storage subunit, a seeding unit and a seeding tube subunit;

[0057] The storage subunit is used to store wheat seeds;

[0058] The seed discharging unit is used to discharge the wheat seeds in the storage subunit into the seed discharging tube subunit according to a set time interval;

[0059] The seeding tube unit is used to be inserted into the hole excavated by the soil excavation unit to sow wheat seeds.

[0060] In this solution, wheat seeds are directly inserted into the soil for seeding through the seeding tube unit. The soil excavation unit is located adjacent to the pipe mouth of the seeding tube unit and moves with the movement of the seeding execution unit to excavate the soil to ensure that the seeding tube can be smoothly inserted into the soil. At the same time, the insertion depth of the seeding tube unit is controlled according to the adjustment of the excavation depth by the depth adjustment unit to ensure that the seeds are sown at the optimal sowing depth, so as to improve the accuracy and quality of sowing.

[0061] Furthermore: the wheat seeding module also includes a seeding quality assessment unit;

[0062] The seeding quality assessment unit is used to compare the quantity, position and depth of the sown wheat seeds with the quantity, position and depth of standard wheat seeds to obtain a comparison result, and obtain a wheat seeding quality assessment result based on the comparison result.

[0063] In this scheme, the quantity, position and depth of wheat seeds after sowing are analyzed and compared through the sowing quality assessment unit to obtain the wheat seed sowing quality assessment result. The sowing quality of a certain wheat seed can be evaluated, and the sowing position and sowing depth of wheat seeds in a region can also be taken to evaluate the sowing quality of wheat seeds in a region. According to the deviation between the actual sowing position and the standard sowing position, the deviation between the actual sowing depth and the standard sowing depth, and the deviation between the actual wheat sowing quantity and the standard wheat sowing quantity, a quantitative assessment of the wheat seed sowing quality is achieved, which is helpful for subsequent adjustment of wheat seed sowing, avoids the lag and inaccuracy of manual inspection and adjustment of sowing parameters, and improves the real-time and flexibility of sowing operations.

[0064] The intelligent wheat seeding device provided by the present invention has at least the following technical effects or advantages:

[0065] The present invention uses a seeding path planning module to accurately define boundaries and identify obstacles based on the planting ground plan in the early stages of sowing, rationally subdivide the planting area, and determine the wheat seeding path based on wind direction and sunshine factors. This effectively avoids problems such as low land utilization, uneven seed distribution, and cumbersome sowing operations caused by improper path planning, significantly improving land utilization and sowing efficiency.

[0066] The present invention uses a soil parameter detection module to accurately monitor and analyze soil fertility, pH, humidity and soil structure, providing detailed and reliable data support for subsequent soil improvement. Combined with the synergistic effect of each unit of the soil improvement module, it rationally increases fertilizer application, adjusts acid-base balance, optimizes soil moisture and improves soil structure, thereby creating a more ideal soil environment for wheat growth and solving the problem of wheat growth being affected by poor soil conditions. The present invention uses a wheat seed detection module to inspect the appearance and health of seeds, find out seeds carrying pests and diseases or being damaged, and re-seed them through a wheat seeding module to reduce the occurrence of seedling shortages and broken ridges. The present invention uses the coordinated cooperation of the soil parameter detection module and the wheat seed detection module to analyze the seed germination rate from the two perspectives of growth conditions and the conditions of the wheat seeds themselves, thereby improving the accuracy of wheat seed germination rate prediction, avoiding the waste of resources caused by blind sowing, and improving planting efficiency.

[0067] The wheat seeding module of the present invention accurately sows according to the wheat seeding path through the coordinated operation of the seeding execution unit, the soil excavation unit, the depth adjustment unit and the seeding monitoring unit, dynamically adjusts the sowing depth according to the soil conditions, ensures that the seeds are evenly distributed in the soil at an appropriate depth, and the seeds are sown at an accurate position, and monitors the sowing situation in real time and records data, thereby improving the refinement level and accuracy of the sowing operation, ensuring the balanced growth of wheat, and improving the quality and yield of wheat. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of the present invention, and do not constitute a limitation of the embodiments of the present invention;

[0069] Figure 1 It is a structural schematic diagram of the intelligent wheat seeding device of the present invention. DETAILED DESCRIPTION

[0070] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0071] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0072] Example 1

[0073] The present invention provides a wheat intelligent seeding device, such as Figure 1 As shown, including:

[0074] The sowing path planning module is used to obtain the wheat sowing path according to the set wheat sowing spacing and the wheat planting ground plan;

[0075] The soil parameter detection module is used to detect the basic parameter data of the soil where the wheat seeds are sown and obtain soil information;

[0076] The wheat seed detection module is used to detect the wheat seeds to be planted and obtain wheat seed information;

[0077] The germination rate analysis module is used to obtain the wheat seed germination rate based on soil information and wheat seed information;

[0078] The wheat seeding module is inserted into the soil, moves in the soil according to the wheat seeding path, and completes the wheat seeding operation based on soil information and wheat seed germination rate;

[0079] The soil improvement module is used to improve the soil at the wheat seed sowing site based on soil information and wheat seed information.

[0080] The seeding path planning module of this technical solution includes a multi-angle image acquisition unit, a plane map generation unit and a path planning unit;

[0081] A multi-angle image acquisition unit, used to acquire multi-view images of the wheat planting field;

[0082] A plan map generating unit is used to process the multi-view images of the wheat planting land using an image generation neural network model to obtain a plan map of the wheat planting land;

[0083] The path planning unit is used to analyze and process the wheat planting ground plane map according to the set wheat sowing spacing and the wheat planting ground plane map to obtain the wheat sowing path.

[0084] In one embodiment of the present invention, the multi-angle image acquisition unit and the plane map generation unit are used in combination, which can play a good role for wheat planting fields of different areas, and the multi-angle image of the wheat planting field can be used to calibrate the plane map of the wheat planting field to obtain a plane map of the wheat planting field with clearer and more accurate boundaries. For large-area wheat planting fields, satellite images and drone aerial photography can be used to obtain the plane map, and the result is more accurate. For small-area wheat planting fields, manual photography can also be used to reduce economic costs; the image generation neural network model in the present invention can use neural networks such as MVSNet, Colmap and U-Net to obtain the plane map of the wheat planting field, and through image processing technology, determine the boundary range of the wheat planting field and identify obstacles. At the same time, based on the wind direction and sunshine amount of the wheat planting field, determine the downwind direction and the direction with high sunshine amount for wheat sowing, and use them as small Wheat sowing direction, according to the boundary range and obstacles of the wheat planting land, the wheat planting ground plan is divided into several sowing areas, and the starting point and end point of each sowing area are determined according to the wheat sowing direction, and the sowing route is planned in combination with the set wheat sowing spacing, avoiding field obstacles such as stones, ridges, ditches and telephone poles to obtain the wheat sowing path, and planning the wheat sowing path according to the sowing area, so that wheat can be sown one sowing area after another, avoiding the repetition of wheat sowing caused by the duplication of wheat sowing paths, and solving the problem of waste of land resources and wheat seeds caused by improper sowing route design in the existing wheat sowing method; at the same time, after planning the wheat sowing path, the length of the wheat sowing path can be divided by the set wheat sowing spacing to obtain the estimated number of seeds needed for sowing wheat, and purchase seeds reasonably to avoid delays in replanting due to insufficient purchases, or waste of seeds due to excessive purchases.

[0085] When the soil parameter detection module of the present technical solution is working, it can enter the soil together with the wheat sowing module, obtain the basic data of the soil at the wheat sowing location, detect the growth environment of the wheat seeds currently sown, obtain the soil fertility, pH and moisture conditions, and generate soil information. In a specific embodiment, the detection speed of the soil parameter detection module is difficult to achieve for detecting the soil at each wheat sowing position during wheat sowing. Therefore, for a large area of wheat planting land, the working interval of the soil parameter detection module is set according to the wheat sowing spacing and the soil conditions of the wheat planting land, and the detected soil information is used as the soil information of the set area in the wheat planting land, and the size of the set area is determined according to the stability of the soil properties. The more stable the soil properties are, the detected soil information can be used as the soil information of a larger set area; for a small area of wheat planting land, only one soil information detection can be performed and used as the soil information of the planting land.

[0086] When working, the wheat seed detection module can obtain the conditions of the wheat seeds currently being planted, such as their size, shape, color and other surface features, identify seeds with abnormal morphology, and conduct in-depth detection of seeds for pests and diseases and damage, accurately assess seed health, and generate wheat seed information. Based on soil and wheat seed information, it can comprehensively assess the germination rate of wheat seeds after planting.

[0087] When working, the germination rate analysis module of this technical solution can comprehensively analyze the germination rate of wheat seeds from the external growth environment of the seeds and the internal nutritional components of the seeds through soil information and wheat seed information, making the predicted wheat seed germination rate more accurate and reducing the occurrence of missing seedlings and broken ridges in wheat planting fields;

[0088] The germination rate analysis module includes soil environment assessment unit, seed germination rate prediction unit, and comprehensive germination rate analysis unit;

[0089] A soil environment assessment unit is used to analyze and calculate soil information to obtain a soil environment correction coefficient;

[0090] A seed germination rate detection unit is used to process and analyze the surface shape information in the wheat seed information using a trained neural network model to obtain an initial predicted wheat seed germination rate;

[0091] The comprehensive germination rate analysis unit is used to correct the initially predicted wheat seed germination rate according to the health information and soil environment correction coefficient in the wheat seed information to obtain the wheat seed germination rate.

[0092] In a specific embodiment of the present invention, the germination rate analysis module evaluates the soil environment of the wheat seeds through the soil environment evaluation unit, and predicts the germination rate of the wheat seeds themselves through the seed germination rate detection unit. Finally, the wheat seed germination rate is obtained by comprehensive evaluation based on the soil environment in which the wheat seeds grow and the nutritional conditions of the wheat seeds themselves. According to the germination rate of the wheat seeds, the soil environment is improved using the soil improvement module. At the same time, for wheat seeds with a low germination rate, additional seeding can be performed through the wheat seeding module to ensure that there will be no missing seedlings and broken ridges. Among them, the soil environment evaluation unit analyzes soil information, including nitrogen, phosphorus and potassium content, water content and electrical conductivity, and through weight analysis, such as setting the weight of nitrogen, phosphorus and potassium content to 0.4, the weight of water content to 0.3, the weight of electrical conductivity to 0.3, the standardized value of nitrogen, phosphorus and potassium content to 0.9, and the standardized value of water content to 0.9. 0.8, the conductivity standardization value is 0.7, and the soil environment correction coefficient is calculated by the weighted average method to be 0.81. At the same time, the coefficient threshold of the soil environment correction coefficient can be set to 0.8. When the soil environment correction coefficient is greater than the coefficient threshold, the current soil environment is better than the conventional growth environment and soil improvement is not required. When the soil environment correction coefficient is less than the coefficient threshold, the current soil environment is worse than the conventional growth environment and soil improvement is required. The seed germination rate detection unit can use the YOLO image recognition neural network for prediction, use the high-definition image of the wheat seeds in the wheat seed detection module as the input image, and process and analyze the surface shape information in the wheat seed information, output the initial predicted wheat seed germination rate, and use the soil environment correction coefficient and the health information in the wheat seed information to make corrections and adjustments to obtain the wheat seed germination rate, that is, the expression of the wheat seed germination rate is as follows:

[0093] G=G YOLO ×S×H

[0094] S=N×ω N +W×ω W +C×ω C

[0095] Among them, G is the germination rate of wheat seeds, G YOLO is the initial predicted wheat seed germination rate, S is the soil environment correction coefficient, H is the wheat seed health coefficient, N is the standardized value of nitrogen, phosphorus and potassium content, ω N is the weight of nitrogen, phosphorus and potassium content, W is the standardized value of water content, ω W is the water content weight, C is the conductivity normalized value, ω C is the conductivity weight.

[0096] In a specific embodiment of the present invention, in order to facilitate understanding of the correction process of the wheat seed germination rate, a specific example is given for explanation. The wheat seed germination rate predicted by the seed germination rate detection unit is 80%, the soil environment correction coefficient obtained by the soil environment assessment unit is 0.85, and the coefficient threshold of the soil environment correction coefficient is set to 0.8. The health information in the wheat seed information is divided into high-quality wheat seeds, ordinary wheat seeds and low-quality wheat seeds, and their health correction coefficients can be divided into 1.1, 1.0 and 0.9 accordingly. A more detailed division can be made according to actual seeding requirements. For the convenience of explanation, this embodiment is divided into 3 types. When the health correction coefficient of the wheat seed is detected to be 1.0, the wheat seed germination rate is 80%×(0.85 / 0.8)×1.0, that is, 85%. At the same time, the wheat seed germination rate can be further corrected according to the working condition of the soil improvement module, and its specific correction coefficient can be changed according to the specific soil improvement requirements.

[0097] The germination rate analysis module in this technical solution obtains the soil environment assessment results through the soil environment assessment unit, and obtains the seed germination rate prediction results through the seed germination rate detection unit. At the same time, the soil environment assessment results and the nutritional conditions of the wheat seeds themselves are combined to comprehensively evaluate the wheat seed germination rate, which can intuitively reflect the growth of the seeds. The wheat seeding module performs additional seeding and plants another wheat seed in the same position, solving the problem of lack of wheat seed detection in traditional sowing methods. The inability to integrate various aspects of seed information to predict seed germination rate leads to frequent problems of missing seedlings and broken ridges in wheat planting fields.

[0098] When the wheat seeding module of the present technical solution is working, the nozzle of the seeding tube can be inserted into the soil for seeding, and the digging depth can be controlled, and the module can move according to the wheat seeding path to achieve precise position sowing of wheat seeds, ensuring that each wheat seed is in the preset position and the optimal growth depth. At the same time, after the nozzle of the seeding tube reaches the seeding position, the soil parameter detection module and the wheat seed detection module start working, respectively detecting the basic soil data at the wheat seed sowing position and the wheat seeds with seeding to obtain the germination rate of the wheat seeds. If the obtained wheat seed germination rate is lower than the set germination rate threshold, the wheat seeds are sown again at the same position to ensure the continuous growth of the wheat seeds, reduce the occurrence of seedling shortages and broken ridges, and achieve high quality and high yield of wheat planting.

[0099] The present invention detects soil information through a soil parameter detection module, detects wheat seed information through a wheat seeding module, comprehensively evaluates the germination rate of wheat seeds in combination with soil properties and wheat properties during wheat seeding, repeatedly performs wheat seeding through the wheat seeding module, and improves soil properties through a soil improvement module, thereby increasing the emergence rate of wheat seeds after seeding, reducing the occurrence of seedling shortages and broken ridges in wheat planting fields, and improving wheat yield and production quality.

[0100] Example 2

[0101] and path planning unit The present invention provides a wheat intelligent seeding device. Based on the first embodiment, the soil parameter detection module includes a soil composition detection unit, an electrical conductivity detection unit, a humidity monitoring unit and a soil data processing unit;

[0102] Soil composition detection unit, used to detect the nitrogen, phosphorus and potassium content of the soil where wheat seeds are sown;

[0103] Conductivity detection unit, used to detect the conductivity of the soil where the wheat seeds are sown;

[0104] A humidity detection unit is used to detect the humidity of the soil where the wheat seeds are sown;

[0105] The soil data processing unit is used to integrate nitrogen, phosphorus and potassium content, electrical conductivity and moisture to obtain soil information.

[0106] In a specific embodiment of the present invention, the soil composition detection unit can use a soil nitrogen, phosphorus and potassium sensor for detection. The specific model can be NH52DLJ. When the wheat seeding module is inserted into the soil, its probe is inserted into the soil at the same time to detect the nitrogen, phosphorus and potassium content of the soil at the wheat sowing location, providing data support for soil improvement; the conductivity detection unit can use a soil conductivity sensor for detection. The specific model can be FST100-2006C. When the wheat seeding module is inserted into the soil, the probe can be inserted into the soil at the same time to detect the conductivity of the soil at the wheat seed sowing location, reflecting the amount of salt in the soil; the humidity detection unit can use a soil humidity sensor for detection. The specific model can be NH133T. When the wheat seeding module is inserted into the soil , soil moisture detection is carried out at the same time to reflect the soil water content; at the same time, additional sensors can be added, such as pH detection, organic matter detection, porosity detection and permeability detection, etc., and the growth status of crops in the soil can be estimated according to the test results. Through the soil data processing unit, the test results of the basic soil data are integrated to obtain soil information. At the same time, it is convenient for the soil improvement module to improve the soil according to the basic soil data, improve the growth environment of wheat, and improve the growth quality and yield of wheat. It solves the problem of blind wheat sowing due to the lack of comprehensive grasp of soil information in traditional sowing methods, and cannot optimize the wheat sowing soil in a targeted manner. It optimizes the wheat sowing strategy and improves the scientificity and yield of wheat planting.

[0107] Based on the first embodiment, the wheat seed detection module includes an image acquisition unit, a seed morphology analysis unit, a seed health detection unit and a seed data processing unit;

[0108] An image acquisition unit, used for acquiring images of wheat seeds to be sown in the wheat sowing module;

[0109] A seed morphology analysis unit is used to analyze the image of the wheat seeds to obtain surface shape information of the wheat seeds;

[0110] A health detection unit is used to detect the pests and diseases and damage of wheat seeds and obtain the health information of wheat seeds;

[0111] The seed data processing unit is used to integrate the surface shape information of the wheat seeds and the health information of the wheat seeds to obtain the wheat seed information.

[0112] In a specific embodiment of the present invention, the wheat seed detection module detects the wheat seeds to be sown in the wheat seeding module, and through the image acquisition unit, a macro lens and a high-resolution camera can be used to obtain high-definition images of the wheat seeds. At the same time, a light source can be added to provide a uniform lighting environment, reduce the generation of shadows on the seed surface, make the surface details of the wheat seeds stand out, and be able to present the surface shape more realistically; the seed morphology analysis unit is used to analyze the high-definition image of the wheat seeds, and preprocessing is first performed, including conversion to a grayscale image, noise removal and image contrast enhancement, etc., to highlight the contour features and texture features of the seeds, and the morphological feature analysis is performed on the preprocessed high-definition image of the wheat seeds. The physical parameters of the seeds, such as area, circumference, length and width, are measured, and indicators such as roundness and aspect ratio are calculated to determine the size and shape of the seeds. The surface texture of the wheat seeds is analyzed using methods such as gray-level co-occurrence matrix and wavelet transform, and texture features such as contrast, correlation and energy are extracted. The gloss, color characteristics, surface texture and integrity of the wheat seeds are analyzed to comprehensively evaluate the morphology of the wheat seeds. The health detection unit can identify cracks, lesions and damage on the surface of the wheat seeds, and comprehensively reflect the health information of the wheat seeds. Finally, the surface shape information of the wheat seeds and the health information of the wheat seeds are integrated through the seed data processing unit to obtain the wheat seed information.

[0113] The wheat seed detection module in this technical solution accurately analyzes the morphological characteristics of wheat seeds through the image acquisition unit, seed morphology analysis unit and health detection unit, identifies the damage, pests and diseases and minor damage of wheat seeds, obtains wheat seed information, can make an initial judgment on the wheat emergence rate and yield, and provide guidance and support for measures to improve the emergence rate and yield, so as to solve the problem of lack of wheat seed quality detection in traditional sowing methods, resulting in the inability to determine the germination rate of wheat seeds and the inability to accurately control the germination rate of wheat seeds after sowing, which ultimately leads to the occurrence of missing seedlings and broken ridges in wheat planting fields.

[0114] The germination rate analysis module in this technical solution obtains the soil environment assessment results through the soil environment assessment unit, and obtains the seed germination rate prediction results through the seed germination rate detection unit. At the same time, the soil environment assessment results and the nutritional conditions of the wheat seeds themselves are combined to comprehensively evaluate the wheat seed germination rate, which can intuitively reflect the growth of the seeds. The wheat seeding module performs additional seeding and plants another wheat seed in the same position, solving the problem of lack of wheat seed detection in traditional sowing methods. The inability to integrate various aspects of seed information to predict seed germination rate leads to frequent problems of missing seedlings and broken ridges in wheat planting fields.

[0115] Based on the first embodiment, the soil improvement module includes a fertilizer addition unit, a pH adjustment unit, a humidity adjustment unit and a soil structure improvement unit;

[0116] A fertilizer adding unit, used for adding fertilizer to the soil according to soil information and wheat seed information;

[0117] A pH adjustment unit, used to adjust the pH of the soil based on soil information and wheat seed information;

[0118] The soil structure improvement unit is used to improve the soil structure according to soil information and wheat seed information.

[0119] In a specific embodiment of the present invention, the soil improvement module improves the soil based on the measured nitrogen, phosphorus and potassium content, electrical conductivity and salinization degree of the soil in the soil information, adds fertilizer through the fertilizer adding unit, increases the nitrogen, phosphorus and potassium content of the soil, and enhances soil fertility. The pH adjustment unit adjusts the pH of the soil by adding acid and alkaline reagents to make the soil at a pH suitable for wheat growth. The humidity adjustment unit maintains suitable humidity. The soil structure improvement unit can break up hard and lumpy soil, enhance the air permeability and water retention of the soil, so that wheat seeds can break through the covering soil and grow normally. The soil improvement module of the present invention comprehensively improves soil fertility and wheat growth conditions based on the detected soil information and wheat seed information, solves the problems of unreasonable nutrient supplementation, inappropriate pH, difficult humidity control and poor soil structure in traditional soil improvement, and provides a high-quality soil environment for high wheat yield.

[0120] In one embodiment of the present invention, a seed nutrient module can be added to the soil improvement module. For wheat seeds with low germination rate, seed nutrients such as rooting powder, gibberellin and indoleacetic acid are first irrigated into the soil before the wheat seeds are planted. This can promote the early development of the wheat crop root system, shorten the growth cycle, and enhance the plant's stress resistance, enhance the root development of wheat seeds, and at the same time, combine the improvement of the soil environment by the soil improvement module to significantly improve the seed germination rate and reduce the occurrence of seedling deficiency and broken ridges.

[0121] Example 3

[0122] The present invention provides a wheat intelligent seeding device. Based on the first and second embodiments, the wheat seeding module includes a soil excavation unit, a seeding execution unit, a depth adjustment unit, and a seeding monitoring unit.

[0123] The soil excavation unit is used to excavate the soil according to the wheat seeding path, guide the seeding execution unit into the soil, and lead the seeding execution unit to move in the soil;

[0124] A seeding execution unit is used to be inserted into the hole dug by the soil excavation unit and discharge wheat seeds into the soil according to a set time interval;

[0125] a depth adjustment unit, for controlling the excavation depth of the soil excavation unit according to soil information;

[0126] The seeding monitoring unit is used to record and store the quantity, position and depth of wheat seeds after sowing, and control the seeding execution unit to perform seeding according to the germination rate of wheat seeds.

[0127] The seeding execution unit includes a storage subunit, a seeding unit and a seeding tube subunit;

[0128] a storage subunit for storing wheat seeds;

[0129] A seed discharging unit is used to discharge the wheat seeds in the storage subunit into the seed discharging tube subunit according to a set time interval;

[0130] The seeding tube unit is used to be inserted into the pit excavated by the soil excavation unit and to sow wheat seeds.

[0131] In a specific embodiment of the present invention, the seeding execution unit can be a conventional wheat seeding device. Before wheat sowing, the wheat planting field is often deep-plowed, and the soil is relatively loose and easy to dig. When the wheat intelligent seeding device starts working, the soil digging unit digs in the wheat planting field according to the wheat seeding path. It can choose to dig along the wheat seeding path, or move to the wheat seeding position in the wheat seeding path for point-to-point digging, and the size of the excavated hole is comparable to the size of the seeding pipe unit. While digging, the seeding pipe unit of the seeding execution unit can be led into the soil, so that the wheat seeding module is inserted into the soil for seeding, and due to the digging The size of the pit is comparable to the size of the seeding pipe mouth. Generally, there is no need to cover the soil. The loose soil after excavation can automatically cover the wheat seeds under the vibration generated by excavation, and has good air permeability. The depth adjustment unit is used to adjust the depth of the seeding position to ensure that the wheat seeds have a good covering environment and germination conditions. The seeding monitoring unit can record and store the number, position and depth of wheat seeds after sowing, providing a historical basis for the formulation of subsequent sowing strategies, and controlling the seeding execution unit according to the wheat seed germination rate to sow the wheat seeds again at the same position, thereby improving the emergence rate of wheat seeds and reducing the occurrence of seedling shortages and broken ridges.

[0132] In the present invention, the wheat seeding module can also be provided with a seeding quality assessment unit;

[0133] The seeding quality assessment unit is used to compare the quantity, position and depth of wheat seeds after sowing with the quantity, position and depth of standard wheat seeds to obtain a comparison result, and obtain a wheat seeding quality assessment result based on the comparison result.

[0134] In a specific embodiment of the present invention, the seeding quality assessment unit starts the assessment program immediately after wheat seeding. Assuming that the preset standard is to sow 10 seeds per meter, a depth of 13 cm, and a spacing of 10 cm, after sowing, the intelligent monitoring unit collects seeding data in real time, and the seeding quality assessment unit compares the actual seeding data with the preset standard data. If the actual number of seeds collected is 9, the depth is 11 cm, and the spacing fluctuates between 10 and 12 cm, the assessment unit determines that the sowing number in the area is 10% lower than the standard, the depth deviation is about 15%, and the spacing deviation is 0% to 20%, and the seeding quality assessment result is obtained. , and mark the problem areas. At the same time, it can evaluate the seeding quality and adjust the sowing parameters of the seeding module to optimize the spacing control of the seeding execution unit in subsequent sowing, increase the seed release amount to compensate for the insufficient amount of wheat, and adjust the depth of the soil excavation unit. Through the seeding quality evaluation unit, the accuracy and uniformity of seeding can be improved, ensuring that the distribution of seeds in the soil meets the preset requirements, improving the germination rate and growth quality of wheat, and effectively solving the wheat sowing quality problems caused by the lag and inaccuracy of manual inspections in traditional sowing, reducing the phenomenon of missing seedlings and broken ridges, and increasing wheat yields.

[0135] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0136] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A wheat intelligent seeding device, characterized in that: include: The sowing path planning module is used to obtain the wheat sowing path according to the set wheat sowing spacing and the wheat planting ground plan; The soil parameter detection module is used to detect the basic parameter data of the soil where the wheat seeds are sown and obtain soil information; The wheat seed detection module is used to detect the wheat seeds to be planted and obtain wheat seed information; The germination rate analysis module is used to obtain the wheat seed germination rate based on soil information and wheat seed information; The soil improvement module is used to improve the soil at the wheat seed sowing site based on soil information and wheat seed information; The wheat seeding module is used to be inserted into the soil, move in the soil according to the wheat seeding path, and complete the wheat seeding operation according to soil information and wheat seed germination rate.

2. The intelligent wheat seeding device according to claim 1, characterized in that: The seeding path planning module includes a multi-angle image acquisition unit, a plane map generation unit and a path planning unit; The multi-angle image acquisition unit is used to acquire multi-view images of the wheat planting field; The plan map generating unit is used to process the multi-view images of the wheat planting land using an image generation neural network model to obtain a plan map of the wheat planting land; The path planning unit is used to analyze and process the wheat planting ground plane map according to the set wheat sowing spacing and the wheat planting ground plane map to obtain the wheat sowing path.

3. The intelligent wheat seeding device according to claim 2, characterized in that: The path planning unit is specifically used for: According to the wheat planting site plan, determine the boundary range of the wheat planting site and identify obstacles; Divide the wheat planting land plan into several sowing areas according to the boundary range and obstacles of the wheat planting land; According to the wind direction and sunshine amount of the wheat planting area, the downwind direction and the direction with high sunshine amount of wheat seeding are determined to obtain the wheat seeding direction; According to several sowing areas and wheat sowing directions, the starting point and end point of each sowing area are determined, and the sowing route is planned in combination with the set wheat sowing spacing to obtain the wheat sowing path.

4. The intelligent wheat seeding device according to claim 1, characterized in that: The soil parameter detection module includes a soil composition detection unit, an electrical conductivity detection unit, a humidity monitoring unit and a soil data processing unit; The soil component detection unit is used to detect the nitrogen, phosphorus and potassium content of the soil where the wheat seeds are sown; The conductivity detection unit is used to detect the conductivity of the soil where the wheat seeds are sown; The humidity detection unit is used to detect the humidity of the soil where the wheat seeds are sown; The soil data processing unit is used to integrate nitrogen, phosphorus and potassium content, electrical conductivity and humidity to obtain soil information.

5. The intelligent wheat seeding device according to claim 1, characterized in that: The wheat seed detection module includes an image acquisition unit, a seed morphology analysis unit, a seed health detection unit and a seed data processing unit; The image acquisition unit is used to acquire images of wheat seeds to be sown in the wheat seeding module; The seed morphology analysis unit is used to analyze the image of the wheat seeds to obtain surface shape information of the wheat seeds; The health detection unit is used to detect the pest and disease conditions and damage conditions of the wheat seeds and obtain the health information of the wheat seeds; The seed data processing unit is used to integrate the surface shape information of the wheat seeds and the health information of the wheat seeds to obtain the wheat seed information.

6. The intelligent wheat seeding device according to claim 1, characterized in that: The germination rate analysis module includes a soil environment assessment unit, a seed germination rate prediction unit, and a comprehensive germination rate analysis unit; The soil environment assessment unit is used to analyze and calculate the soil information to obtain the soil environment correction coefficient; The seed germination rate detection unit is used to process and analyze the surface shape information in the wheat seed information using the trained neural network model to obtain an initial predicted wheat seed germination rate; The comprehensive germination rate analysis unit is used to correct the initially predicted wheat seed germination rate according to the health information and soil environment correction coefficient in the wheat seed information to obtain the wheat seed germination rate.

7. The intelligent wheat seeding device according to claim 1, characterized in that: The soil improvement module includes a fertilizer addition unit, a pH adjustment unit, a humidity adjustment unit and a soil structure improvement unit; The fertilizer adding unit is used to add fertilizer to the soil according to the soil information and the wheat seed information; The pH adjustment unit is used to adjust the pH of the soil according to the soil information and the wheat seed information; The soil structure improving unit is used to improve the soil structure according to the soil information and the wheat seed information.

8. The intelligent wheat seeding device according to claim 1, characterized in that: The wheat seeding module includes a soil excavation unit, a seeding execution unit, a depth adjustment unit and a seeding monitoring unit; The soil excavation unit is used to excavate the soil according to the wheat seeding path, and guide the seeding execution unit into the soil and lead the seeding execution unit to move in the soil; The seeding execution unit is used to be inserted into the hole dug by the soil excavation unit and discharge wheat seeds into the soil according to the set time interval; The depth adjustment unit is used to control the excavation depth of the soil excavation unit according to soil information; The seeding monitoring unit is used to record and store the quantity, position and depth of wheat seeds after sowing, and control the seeding execution unit to sow seeds according to the germination rate of the wheat seeds.

9. The intelligent wheat seeding device according to claim 8, characterized in that: The seeding execution unit includes a storage subunit, a seeding unit and a seeding tube subunit; The storage subunit is used to store wheat seeds; The seed discharging unit is used to discharge the wheat seeds in the storage subunit into the seed discharging tube subunit according to a set time interval; The seeding tube unit is used to be inserted into the hole excavated by the soil excavation unit to sow wheat seeds.

10. The intelligent wheat seeding device according to claim 8, characterized in that: The wheat seeding module also includes a seeding quality assessment unit; The seeding quality assessment unit is used to compare the quantity, position and depth of the sown wheat seeds with the quantity, position and depth of standard wheat seeds to obtain a comparison result, and obtain a wheat seeding quality assessment result based on the comparison result.

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