Soybean seeder control method, soybean seeder and storage medium

Abstract

The invention provides a soybean seeder control method, a soybean seeder and a storage medium, the soybean seeder comprises a control module, a miss-seeding detection module and a seeding module, the miss-seeding detection module is used for detecting whether miss-seeding of the soybean seeder occurs, the seeding module is used for seeding, and the method is applied to the control module. The method comprises the following steps: acquiring performance parameters of the soybean seeder; determining a miss-seeding detection strategy of the miss-seeding detection module according to the performance parameters; and according to the miss-seeding detection strategy, controlling the miss-seeding detection module to detect whether miss-seeding of the seeding module occurs. According to the method, the accuracy and the energy consumption of miss-seeding detection of the soybean seeding machine can be balanced, and the intelligence of miss-seeding detection is improved, so that the use requirements of users are better met.

Description

Technical Field

[0001] The embodiments of the present application relate to sowing technology, and more specifically, to a soybean planter control method, a soybean planter, and a storage medium. Background Art

[0002] With the advancement of technology, soybean planters are increasingly being used in agricultural seeding. The issue of missed sowing in soybean planters has always been a key factor affecting their performance, and whether a soybean planter misses sowing directly affects its sowing quality. To address this issue, most existing soybean planters are equipped with a missed sowing detection module to detect missed sowing. After the missed sowing detection module determines a missed sowing, the soybean planter's reseeding module reseedes the sowing to avoid missed sowing. However, existing soybean planters, when using the missed sowing detection module to detect missed sowing, face the problem of balancing power consumption and detection accuracy. Summary of the Invention

[0003] The present application provides a soybean planter control method, a soybean planter and a storage medium, which are used to solve the problem that power consumption and detection accuracy cannot be balanced when the existing soybean planter uses a missed seeding detection module to detect whether there is missed seeding.

[0004] In a first aspect, the present application provides a method for controlling a soybean planter, the soybean planter comprising a control module, a missed seeding detection module, and a sowing module, the missed seeding detection module being used to detect whether the soybean planter has missed seeding, the sowing module being used to sow, the method being applied to the control module, and characterized in that the method comprises:

[0005] Obtaining performance parameters of the soybean planter;

[0006] determining a missed broadcast detection strategy of the missed broadcast detection module according to the performance parameters;

[0007] The missed seeding detection module is controlled according to the missed seeding detection strategy to detect whether the seeding module has missed seeding.

[0008] Optionally, determining a missed seeding detection strategy of the soybean planter according to the performance parameters includes:

[0009] Determining a missed seeding probability of the soybean planter according to the performance parameters;

[0010] A missed broadcast detection strategy of the missed broadcast detection module is determined according to the missed broadcast probability.

[0011] Optionally, the missed broadcast detection strategy includes a low-power missed broadcast detection strategy and a high-power missed broadcast detection strategy.

[0012] Optionally, the missed broadcast detection module includes an image acquisition unit and a photoelectric detection unit. When it is determined that the missed broadcast detection strategy is a low-power missed broadcast detection strategy, controlling the missed broadcast detection module to detect whether the seeding module has missed broadcast according to the missed broadcast detection strategy includes:

[0013] Controlling the image acquisition unit to be in a working state and the photoelectric detection unit to be in a closed state to acquire image acquisition data;

[0014] determining whether the seeding module has missed seeding based on the image acquisition data;

[0015] or,

[0016] Controlling the image acquisition unit to be in a closed state and the photoelectric detection unit to be in a working state to obtain laser detection data;

[0017] Determine whether the seeding module has missed seeding based on the laser detection data.

[0018] Optionally, when it is determined that the missed broadcast detection strategy is the high power consumption missed broadcast detection strategy, controlling the missed broadcast detection module to detect whether the seeding module missed broadcasts according to the missed broadcast detection strategy includes:

[0019] Controlling the image acquisition unit to be in a working state, the photoelectric detection unit to be in a working state, and acquiring image acquisition data and laser detection data;

[0020] Whether the sowing module has missed sowing is determined based on the image acquisition data and the laser detection data.

[0021] Optionally, the method further includes:

[0022] Acquiring environmental characteristic data of the environment where the soybean planter is located;

[0023] The determining, according to the performance parameter, a missed broadcast detection strategy of the missed broadcast detection module includes:

[0024] A missed broadcast detection strategy of the missed broadcast detection module is determined according to the performance parameters and the environmental characteristic data.

[0025] Optionally, the soybean planter includes a sensor module, the performance parameters include static performance parameters and dynamic performance parameters, and obtaining the performance parameters of the soybean planter includes:

[0026] The static performance parameters input by the user are obtained, and the dynamic performance parameters sent by the sensor module are obtained.

[0027] Optionally, the static performance parameters include one or more of the hole depth, hole shape, hole size, suction hole diameter, and sensor accuracy; the dynamic performance parameters include one or more of the seed metering device speed, air suction seed metering device vacuum degree, and transmission ratio.

[0028] In a second aspect, the present application provides a soybean planter, comprising a control module, a missed seeding detection module, and a sowing module, wherein the sowing module is used for sowing; the missed seeding detection module is used to detect whether the sowing module has missed seeding; and the control module is used to implement the method as described in any one of the first aspects.

[0029] In a third aspect, the present application provides a computer-readable storage medium having computer-executable instructions stored thereon. When the computer-executable instructions are executed by a processor, the method described in any one of the first aspects is implemented.

[0030] In a fourth aspect, the present application provides a control device, which is applied to the control module according to any one of the first aspects, and includes:

[0031] an acquisition unit, configured to acquire performance parameters of the soybean planter;

[0032] a determining unit, configured to determine a missed broadcast detection strategy of the missed broadcast detection module according to the performance parameter;

[0033] The control unit is configured to control the missed broadcast detection module to detect whether the seeding module missed broadcasts according to the missed broadcast detection strategy.

[0034] In a fifth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0035] The memory stores computer-executable instructions;

[0036] The processor executes the computer-executable instructions stored in the memory to implement the method described in any one of the first aspects.

[0037] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0038] The soybean planter control method, soybean planter and storage medium provided in the present application, the soybean planter includes a control module, a missed seeding detection module, and a sowing module, the missed seeding detection module is used to detect whether the soybean planter has missed seeding, the sowing module is used to sow, the control module first obtains the performance parameters of the soybean planter; then, based on the performance parameters, the missed seeding detection strategy of the missed seeding detection module is determined; then, based on the missed seeding detection strategy, the missed seeding detection module is controlled to detect whether the sowing module has missed seeding. Through this implementation method, it is possible to determine the missed seeding detection strategy of the missed seeding detection module according to the performance parameters of the soybean planter, that is, it is possible to adopt missed seeding detection strategies with different power consumption and missed seeding detection accuracy in different states of the soybean planter, and then it is possible to adapt different missed seeding detection strategies according to different conditions, thereby achieving a balance between missed seeding detection accuracy and power consumption, improving the intelligence of missed seeding detection of the soybean planter, and better meeting the user's usage needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] Figure 1 A schematic structural diagram of a first soybean planter provided in an embodiment of the present application;

[0041] Figure 2 A schematic flow chart of a first soybean planter control method provided in an embodiment of the present application;

[0042] Figure 3 A schematic structural diagram of a second soybean planter provided in an embodiment of the present application;

[0043] Figure 4 A schematic flow chart of a second soybean planter control method provided in an embodiment of the present application;

[0044] Figure 5 A schematic structural diagram of a control device provided in an embodiment of the present application;

[0045] Figure 6 A schematic structural diagram of an electronic device 100 provided in an embodiment of the present application.

[0046] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0048] In order to explain this application more clearly, some of the terms involved in this application are explained below.

[0049] Seeder holes: These are specially designed holes or grooves in the seed tray, groove wheel or suction tray that are used to accurately capture single or multiple seeds during the sowing process.

[0050] Seeder transmission ratio: refers to the speed ratio between the seeder drive wheel (or power input shaft) and the rotating parts of the seeder. Its core function is to ensure uniform seed spacing, that is, by accurately matching the seeder forward speed with the seeder speed, so that the seeds can fall accurately into the soil at the preset spacing.

[0051] Inertial Measurement Unit (IMU): A sensor device that measures an object's motion state (acceleration, angular velocity) and direction changes, enabling autonomous positioning and attitude perception without relying on external signals (such as GPS).

[0052] Soybean planters may experience missed sowings during the sowing process due to hardware and software limitations. For example, missed sowings can occur when the seed meter is clogged or worn, the air suction system malfunctions, the transmission system fails, or the seed quality is poor.

[0053] In order to solve the problem of missed sowing in soybean planters, many soybean planters are equipped with missed sowing detection modules. For example, a grating or photoelectric sensor can be used to monitor the occlusion signal when the seeds fall in real time, and the missed sowing situation can be analyzed in combination with the time interval. The technical principle of this method is to install a grating sensor (such as a laser transmitter) near the seed transport tube or the seed meter. When the seeds fall, they will block the light beam and trigger a high-level signal. The missed sowing is determined by calculating the time interval (T) between adjacent signals: if the interval exceeds the preset value (such as t>5T), it is determined to be missed sowing. This method is suitable for large-grain seeds such as corn and soybeans, but differences in seed posture may cause the light beam to be missed (such as seeds passing through the grating gap).

[0054] Currently, image-based visual inspection can also be used to detect missed sowings by the sowing module. For example, a camera or other image acquisition device can be installed at the sowing module's seeding opening to capture images of the opening in real time and detect whether the images contain the target seeds. If the target seeds are not detected within a preset time interval, the sowing is considered missed.

[0055] While all of the aforementioned missed seed detection methods can determine to a certain extent whether a soybean planter has missed a seed, their accuracy and energy consumption vary. Image-based inspection methods generally offer higher accuracy, but also come with higher energy consumption and costs. Combining multiple detection methods to determine missed seeding can improve the accuracy of missed seed detection, but this also means higher energy consumption. Currently, missed seed detection for soybean planters faces a challenge in balancing detection accuracy and energy consumption.

[0056] The probability of missed sowing in a soybean planter is often different under different working conditions, and the requirements for missed sowing detection are also different. For example, when the soybean planter is in a new state and has good performance parameters in all aspects, missed sowing is often less likely to occur. At this time, there is often no need to invest too much energy in missed sowing detection of the soybean planter. Excessive investment in missed sowing detection will not significantly improve the overall sowing performance, but will cause a large increase in energy consumption. The inventors considered that if different missed sowing detection methods can be adopted in different states of the soybean planter, a balance between missed sowing detection accuracy and energy consumption can be achieved, and more intelligent missed sowing detection of the soybean planter can be achieved to better meet the user's usage needs.

[0057] In view of this, the present application provides a soybean planter control method, which determines the missed seeding detection strategy that should be adopted at the moment based on the performance parameters of the soybean planter. That is to say, the corresponding missed seeding detection strategy can be adopted according to the current usage status and performance of the soybean planter, thereby achieving a balance between detection accuracy and energy consumption, realizing the intelligent missed seeding detection of the soybean planter, and better meeting the user's usage needs.

[0058] The technical solution of the present application is described in detail below in conjunction with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. It should be noted that the present application does not limit the type of soybean planter. For example, the soybean planter mentioned here can be a mechanical soybean planter, or an air-suction soybean planter, or an air-blowing soybean planter.

[0059] Figure 1 This is a structural diagram of the first soybean planter provided in the embodiment of the present application, as shown in FIG. Figure 1As shown, the soybean planter includes a control module, a missed seeding detection module, and a sowing module. The missed seeding detection module is used to detect whether the soybean planter has missed seeding, and the sowing module is used to sow.

[0060] The control module may include any processor with data processing capabilities, such as a control chip. The sowing module may include any combination of structures capable of executing sowing operations, such as a seed box, a seed meter, and a seed guide tube. This application does not limit the specific implementation of the sowing module.

[0061] The missed seed detection module may include any number of structures capable of detecting missed seeds in a soybean planter. The present application does not limit the specific implementation of the missed seed detection module. For example, the missed seed detection module may include a structure that detects missed seeds using a grating or photoelectric sensor, a structure that detects missed seeds using image visual detection methods, or a structure that detects missed seeds using a capacitive sensor. The specific implementation of the missed seed detection module can be referenced in the prior art and will not be further described here.

[0062] Figure 2 A flow chart of the first soybean planter control method provided in an embodiment of the present application.

[0063] like Figure 2 As shown, the method is applied to the control module and may include the following steps:

[0064] S101. Obtain performance parameters of a soybean planter.

[0065] This application does not limit the type and number of the aforementioned performance parameters. For example, they may include static performance parameters and / or dynamic performance parameters. This application does not limit the type and number of parameters included in the static performance parameters. For example, they may include one or more of the following: seed metering hole depth, hole shape, hole size, suction hole diameter, and sensor accuracy. This application does not limit the type and number of parameters included in the dynamic performance parameters. For example, they may include one or more of the following: seed metering device speed, vacuum level of the air-suction seed metering device, and transmission ratio.

[0066] When the performance parameters of the soybean planter include static performance parameters, the soybean planter may, for example, include a user interaction interface, and the control module may, for example, obtain the static performance parameters input by the user through the user interaction interface; or, the control module may obtain the static performance parameters sent by other modules or electronic devices, where the other electronic devices mentioned here may, for example, be mobile phones, computers, etc.

[0067] Figure 3 This is a structural diagram of the second soybean planter provided in the embodiment of the present application, as shown in FIG. Figure 3As shown, for example, when a soybean planter includes dynamic performance parameters, the soybean planter may include a sensor module. The control module may, for example, obtain the dynamic performance parameters transmitted by the sensor module. This application does not limit the specific sensors included in the sensor module, and those skilled in the art may configure them as needed. For example, if the dynamic performance parameters include the seed meter speed, the sensor module may include, for example, any one or more of a Hall effect sensor, a photoelectric sensor, or a magnetoresistive sensor. If the dynamic performance parameters include the vacuum level of the air-suction seed meter, the sensor module may include, for example, any one or more of a digital vacuum sensor for measuring the vacuum level of the air-suction seed meter, a mechanical vacuum gauge, or a differential pressure sensor. If the dynamic performance parameters include the transmission ratio, the sensor module may include, for example, a sensor for measuring the drive wheel speed (e.g., a Hall effect sensor, an encoding sensor, etc.), and a sensor for measuring the seed meter speed (e.g., a magnetoresistive sensor, a photoelectric sensor, etc.). The control module may obtain the drive wheel speed data and the seed meter speed data transmitted by the above sensors and then calculate the transmission ratio. The specific sensor installation and implementation methods can refer to the prior art and will not be described in detail here.

[0068] S102: Determine a missed broadcast detection strategy of the missed broadcast detection module according to the performance parameters.

[0069] The aforementioned missed broadcast detection strategies may include, for example, missed broadcast detection strategies with different power consumptions, such as a low-power missed broadcast detection strategy, a medium-power missed broadcast detection strategy, and a high-power missed broadcast detection strategy. Exemplarily, the missed broadcast detection module may simultaneously detect whether the seeding module has missed broadcasts based on multiple methods. When multiple detection methods are simultaneously activated to detect whether the seeding module has missed broadcasts, this is a high-power missed broadcast detection strategy. When only one or more of the multiple methods are used to detect whether the seeding module has missed broadcasts, this corresponds to a low-power missed broadcast detection strategy or a medium-power missed broadcast detection strategy.

[0070] The control module can determine the missed broadcast detection strategy of the missed broadcast detection module based on the performance parameters, or can send the performance parameters to other electronic devices to obtain feedback from the missed broadcast detection module on the missed broadcast detection strategy of the missed broadcast detection module. The other electronic devices mentioned here can be, for example, a server, which can be deployed in the cloud.

[0071] In a possible implementation, the control module pre-stores a mapping relationship between performance parameters and missed broadcast detection strategies, and determines the missed broadcast detection strategy of the missed broadcast detection module according to the acquired performance parameters and the mapping relationship.

[0072] In another possible implementation, the control module can determine the soybean planter's missed seeding probability based on performance parameters. Based on this missed seeding probability, the missed seeding detection module then determines a missed seeding detection strategy. The missed seeding probability here refers to the probability of missed seeding occurring in the seeding module. Specific implementations can be found in the following embodiments and will not be detailed here.

[0073] S103: Control the missed broadcast detection module to detect whether the seeding module missed broadcasts according to the missed broadcast detection strategy.

[0074] The method by which the control module controls the omission detection module to detect whether the seeding module has missed seeding, based on the missed seeding detection strategy, is related to the missed seeding detection strategy. For example, if the control module controls the missed seeding detection module to use only one method to detect whether the seeding module has missed seeding, the detection result obtained based on that one detection method may be, for example, a missed seeding detection result for the seeding module. For example, if the missed seeding detection module determines, based on the photoelectric sensor, that the seeding module has missed seeding, then it is determined that the seeding module has missed seeding.

[0075] If the control module controls the missed seeding detection module to use multiple methods to detect whether the seeding module has missed seeding, the control module can, for example, determine whether the seeding module has missed seeding based on the detection results of the multiple methods. For example, if more than half of the multiple detection methods determine that the seeding module has missed seeding, then the seeding module is determined to have missed seeding; or, if any one of the multiple detection methods determines that the seeding module has missed seeding, then the seeding module is determined to have missed seeding; or, if different weights are set for the detection results obtained by different detection methods, and if the sum of the detection result weights exceeds a preset threshold, then missed seeding is determined; if it does not exceed the preset threshold, then no missed seeding is determined.

[0076] In this embodiment, a method for controlling a soybean planter is provided. The soybean planter includes a control module, a missed seeding detection module, and a sowing module. The missed seeding detection module is used to detect whether the soybean planter has missed seeding, and the sowing module is used to sow seeds. In this embodiment, the control module first obtains performance parameters of the soybean planter; then, based on the performance parameters, a missed seeding detection strategy of the missed seeding detection module is determined; then, based on the missed seeding detection strategy, the missed seeding detection module is controlled to detect whether the sowing module has missed seeding. Through this implementation method, the missed seeding detection strategy of the missed seeding detection module can be determined based on the performance parameters of the soybean planter. In other words, missed seeding detection strategies with different power consumption and missed seeding detection accuracy can be adopted under different states of the soybean planter. Different missed seeding detection strategies can then be adapted according to different conditions, thereby achieving a balance between missed seeding detection accuracy and power consumption, improving the intelligence of missed seeding detection in the soybean planter, and better meeting the needs of users.

[0077] The following is an illustrative example of how the control module determines the missed seeding detection strategy of the soybean planter according to the performance parameters, that is, step S102 in the above embodiment. Figure 4 The flowchart of the second soybean planter control method provided in the embodiment of the present application is as follows: Figure 4 As shown, step S102 may include the following steps:

[0078] S201. Determine a missed seeding probability of a soybean planter according to performance parameters.

[0079] As mentioned above, the missed seeding probability mentioned here is the probability that the sowing module of the soybean planter will miss seeding. In some embodiments, the control module can determine the missed seeding probability of the soybean planter based on the performance parameters, as well as the mapping relationship between the performance parameters and the missed seeding probability of the soybean planter. In other embodiments, the control module can, for example, predict the missed seeding probability of the missed seeding detection module based on the above-mentioned performance parameters using a missed seeding probability prediction model. The above-mentioned missed seeding probability prediction model can be obtained by training based on any machine learning model (such as a neural network model). The training method can be, for example, using the performance parameters of the soybean planter obtained historically as input, and using the missed seeding probability corresponding to the performance parameters as labels to train to obtain the missed seeding probability prediction model. On this basis, the present application does not limit the specific training method of the missed seeding probability prediction model, and can refer to the existing technology, which will not be repeated here.

[0080] The control module can determine the soybean planter's missed seeding probability based solely on performance parameters, or it can determine the soybean planter's missed seeding probability based on performance parameters and other data, which is not limited in this application. The other data mentioned here can be, for example, environmental characteristic data, such as temperature data, humidity data, etc. The specific implementation method can be referred to the following embodiment and will not be repeated here.

[0081] S202: Determine a missed broadcast detection strategy of a missed broadcast detection module according to the missed broadcast probability.

[0082] For example, the control module may pre-store a mapping relationship between the miss broadcast probability and the miss broadcast detection strategy of the miss broadcast detection module, and the control module may determine the miss broadcast detection strategy of the miss broadcast detection module according to the miss broadcast probability and the mapping relationship.

[0083] In this embodiment, the control module first determines the missed seeding probability of the soybean planter based on the performance parameters, and then determines the missed seeding detection strategy of the missed seeding detection module based on the missed seeding probability. Through this implementation method, the control module can select a missed seeding detection strategy that is adapted to the missed seeding probability. For example, when the missed seeding probability is low, a low-power, low-precision missed seeding detection strategy can be selected; when the missed seeding probability is high, a high-precision, high-power missed seeding detection strategy can be selected, thereby balancing the detection accuracy and power consumption, and realizing intelligent detection of whether the soybean planter has missed seeding, thereby better meeting the user's usage needs.

[0084] The following is an illustrative example of how the control module determines the probability of missed seeding of the soybean planter based on performance parameters and other data.

[0085] In some embodiments, the control module may also obtain environmental characteristic data of the environment in which the soybean planter is located. The environmental characteristic data mentioned here may include, for example, one or more of temperature, humidity, and ground flatness. Exemplarily, if the environmental characteristic data includes temperature, the soybean planter may include, for example, a sensor module, and the sensor module may include, for example, a temperature sensor; if the environmental characteristic data includes humidity, the sensor module of the soybean planter may include, for example, a humidity sensor; if the environmental characteristic data includes ground flatness, this application does not limit the manner in which the control module obtains data for calculating ground flatness. For example, if the environmental characteristic data includes ground flatness, the sensor module of the soybean planter may include, for example, an inertial measurement unit, and the control module may obtain inertial measurement data through the inertial measurement unit, and then calculate and obtain the ground flatness based on this. The specific implementation method can refer to the prior art and will not be repeated here.

[0086] Subsequently, the control module may determine a missed broadcast detection strategy for the missed broadcast detection module based on the performance parameters and the environmental characteristic data. For example, the control module may obtain a missed broadcast detection probability for the missed broadcast detection module based on the performance parameters and the environmental characteristic data; and then determine the missed broadcast detection strategy for the missed broadcast detection module based on the missed broadcast detection probability and the mapping relationship between the missed broadcast detection probability and the missed broadcast detection strategy.

[0087] Exemplarily, the control module can obtain the missed seed detection probability of the missed seed detection module using a missed seed probability prediction model based on performance parameters and environmental characteristic data. The above-mentioned seed probability prediction model can be obtained by training based on any machine learning model (such as a neural network model). The training method can be, for example, using the performance parameters and environmental characteristic data of the soybean planter obtained historically as input, and using the missed seed probability corresponding to the performance parameters and environmental characteristic data as labels to train to obtain the missed seed probability prediction model. On this basis, the present application does not limit the specific training method of the missed seed probability prediction model, and reference can be made to the existing technology, which will not be repeated here.

[0088] As in the above embodiments, in some embodiments, the missed broadcast detection strategy includes a low-power missed broadcast detection strategy and a high-power missed broadcast detection strategy. The following is an exemplary description of how the control module controls the missed broadcast detection module to detect whether the seeding module has missed broadcasts according to the missed broadcast detection strategy in this implementation.

[0089] In some embodiments, the missed seeding detection module includes an image acquisition unit and a photoelectric detection unit. The image acquisition unit herein may, for example, include a structure that detects missed seeding by the seeding module based on image visual detection methods, such as an image acquisition device. The specific implementation thereof is not limited in this application. The photoelectric detection unit herein may, for example, include a structure that detects missed seeding by the seeding module based on a grating or photoelectric sensor. The specific implementation thereof is not limited in this application.

[0090] In this implementation, when the missed seeding detection strategy determined by the control module is a low-power missed seeding detection strategy, the control module can, for example, control the image acquisition unit to be in a working state and the photoelectric detection unit to be in a closed state to obtain image acquisition data; then, based on the image acquisition data, determine whether the seeding module has missed seeding.

[0091] The image acquisition data may, for example, include image acquisition data of a seeding port of a seed metering device. For example, after acquiring the image acquisition data, the control module identifies whether soybean seeds appear in the image acquisition data. If soybean seeds do not appear in the image acquisition data for a predetermined time threshold, the sowing module determines that the seeding module has missed sowing. This application does not limit the specific value of the predetermined time threshold; those skilled in the art may set it as needed. The control module may, for example, identify soybean seeds based on YOLO detection technology; this application does not limit the specific identification method.

[0092] Alternatively, when the control module determines that the missed seed detection strategy is a low-power missed seed detection strategy, the control module can control the image acquisition unit to be in a disabled state and the photoelectric detection unit to be in an active state to obtain laser detection data; then, based on the laser detection data, the control module can determine whether the seeding module has missed seeding. This application does not limit the specific method by which the control module determines whether the seeding module has missed seeding based on the laser detection data; the specific method can be referred to in the prior art and will not be further described here.

[0093] In this embodiment, when the control module determines that the missed broadcast detection strategy of the missed broadcast detection module is a low-power missed broadcast detection strategy, among the multiple optional methods for determining whether the seeding module has missed broadcasts, only some of the detection methods are in a working state, while other detection methods are in a closed state. Through this implementation method, the control module can use a lower power consumption detection method to detect whether the seeding module has missed broadcasts when executing the low-power consumption detection strategy. In this way, the detection power consumption can be maintained at a low level, the user's demand for detection power consumption can be met, and the intelligence of missed broadcast detection can be improved.

[0094] In some embodiments, when the determined missed seeding detection strategy is a high-power missed seeding detection strategy, the control module can, for example, control the image acquisition unit to be in a working state, the photoelectric detection unit to be in a working state, obtain image acquisition data, and laser detection data; then, the control module determines whether the seeding module has missed seeding based on the image acquisition data and the laser detection data.

[0095] For example, the control module can determine that the seeding module has missed sowing when it determines that a missed sowing has occurred based on either the image acquisition data or the laser detection data. Alternatively, the control module can determine that a missed sowing has occurred only when it determines that a missed sowing has occurred based on both the image acquisition data and the laser detection data. This implementation makes it possible to determine whether a missed sowing has occurred in the seeding module based on multiple detection methods when adopting the high-power missed sowing detection mode, thereby improving the accuracy of missed sowing detection. Specifically, when missed sowing is likely to occur, a more accurate detection method can be used to detect whether a missed sowing has occurred, thereby better meeting the user's missed sowing detection needs and improving the intelligence of missed sowing detection.

[0096] Figure 5 This is a schematic diagram of the structure of a control device provided in an embodiment of the present application, and the control device is applied to a control module in any of the above embodiments. Figure 5 As shown, the control device includes: an acquisition unit 11, a determination unit 12, and a control unit 13.

[0097] An acquisition unit 11 is used to acquire performance parameters of the soybean planter;

[0098] a determination unit 12, configured to determine a missed broadcast detection strategy of the missed broadcast detection module according to the performance parameter;

[0099] The control unit 13 is configured to control the missed broadcast detection module to detect whether the seeding module missed broadcasts according to the missed broadcast detection strategy.

[0100] In a possible implementation, the determination unit 12 is specifically configured to determine a missed seeding probability of the soybean planter according to the performance parameters; and determine a missed seeding detection strategy of the missed seeding detection module according to the missed seeding probability.

[0101] In a possible implementation, the missed broadcast detection strategy includes a low-power missed broadcast detection strategy and a high-power missed broadcast detection strategy.

[0102] For example, the missed seeding detection module includes an image acquisition unit and a photoelectric detection unit. When the determined missed seeding detection strategy is a low-power missed seeding detection strategy, the control unit 13 is specifically used to control the image acquisition unit to be in a working state and the photoelectric detection unit to be in a closed state, to obtain image acquisition data; and to determine whether the sowing module has missed seeding based on the image acquisition data; or, to control the image acquisition unit to be in a closed state and the photoelectric detection unit to be in a working state, to obtain laser detection data; and to determine whether the sowing module has missed seeding based on the laser detection data.

[0103] For example, when the determined missed seeding detection strategy is a high-power missed seeding detection strategy, the control unit 13 is specifically used to control the image acquisition unit to be in a working state, the photoelectric detection unit to be in a working state, to obtain image acquisition data, and laser detection data; based on the image acquisition data and the laser detection data, determine whether the seeding module has missed seeding.

[0104] In a possible implementation, the acquisition unit 11 is further used to obtain environmental characteristic data of the environment in which the soybean planter is located; the determination unit 12 is specifically used to determine the missed seeding detection strategy of the missed seeding detection module based on the performance parameters and the environmental characteristic data.

[0105] In a possible implementation, the soybean planter includes a sensor module, the performance parameters include static performance parameters and dynamic performance parameters, and the acquisition unit 11 is specifically used to obtain the static performance parameters input by the user, and to obtain the dynamic performance parameters sent by the sensor module.

[0106] For example, the static performance parameters include one or more of the hole depth, hole shape, hole size, suction hole diameter, and sensor accuracy; the dynamic performance parameters include one or more of the seed metering device speed, air suction seed metering device vacuum degree, and transmission ratio.

[0107] The control device provided in the embodiment of the present application can execute the soybean planter control method in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0108] Figure 6 Schematic diagram of the structure of an electronic device 100 provided in an embodiment of the present application. Figure 6 As shown, the electronic device 100 may include: at least one processor 101 and a memory 102.

[0109] The memory 102 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

[0110] The memory 102 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0111] Processor 101 is configured to execute computer-executable instructions stored in memory 102 to implement the soybean planter control method described in the aforementioned method embodiment. Processor 101 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0112] The electronic device 100 may also include a communication interface 103, so that it can communicate and interact with external devices through the communication interface 103. The external devices may be, for example, mobile phones, computers, etc. In a specific implementation, if the communication interface 103, the memory 102, and the processor 101 are implemented independently, the communication interface 103, the memory 102, and the processor 101 may be interconnected via a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be divided into address buses, data buses, control buses, etc., but this does not mean that there is only one bus or one type of bus.

[0113] Optionally, in a specific implementation, if the communication interface 103, the memory 102 and the processor 101 are integrated on a chip, the communication interface 103, the memory 102 and the processor 101 can complete communication through an internal interface.

[0114] The present application also provides a computer-readable storage medium, which may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used for the methods in the above embodiments.

[0115] The present application also provides a program product, the program product including execution instructions stored in a readable storage medium. At least one processor of a computing device can read the execution instructions from the readable storage medium, and the at least one processor executes the execution instructions to cause the electronic device to implement the soybean planter control method provided by the various embodiments described above.

[0116] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0117] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for controlling a soybean planter, wherein the soybean planter comprises a control module, a missed seeding detection module, and a sowing module, wherein the missed seeding detection module is used to detect whether the soybean planter has missed seeding, and the sowing module is used to sow. The method is applied to the control module, and is characterized in that: The method comprises: Obtaining performance parameters of the soybean planter; determining a missed broadcast detection strategy of the missed broadcast detection module according to the performance parameters; The missed seeding detection module is controlled according to the missed seeding detection strategy to detect whether the seeding module has missed seeding.

2. The method according to claim 1, characterized in that The step of determining the missed seeding detection strategy of the soybean planter according to the performance parameters includes: Determining a missed seeding probability of the soybean planter according to the performance parameters; A missed broadcast detection strategy of the missed broadcast detection module is determined according to the missed broadcast probability.

3. The method according to claim 2, characterized in that The missed broadcast detection strategy includes a low-power missed broadcast detection strategy and a high-power missed broadcast detection strategy.

4. The method according to claim 3, characterized in that The missed broadcast detection module includes an image acquisition unit and a photoelectric detection unit. When it is determined that the missed broadcast detection strategy is a low-power missed broadcast detection strategy, controlling the missed broadcast detection module to detect whether the seeding module has missed broadcasts according to the missed broadcast detection strategy includes: Controlling the image acquisition unit to be in a working state and the photoelectric detection unit to be in a closed state to acquire image acquisition data; determining whether the seeding module has missed seeding based on the image acquisition data; or, Controlling the image acquisition unit to be in a closed state and the photoelectric detection unit to be in a working state to obtain laser detection data; Determine whether the seeding module has missed seeding based on the laser detection data.

5. The method according to claim 4, characterized in that When it is determined that the missed broadcast detection strategy is the high power consumption missed broadcast detection strategy, controlling the missed broadcast detection module to detect whether the seeding module has missed broadcasts according to the missed broadcast detection strategy includes: Controlling the image acquisition unit to be in a working state, the photoelectric detection unit to be in a working state, and acquiring image acquisition data and laser detection data; Whether the sowing module has missed sowing is determined based on the image acquisition data and the laser detection data.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Acquiring environmental characteristic data of the environment where the soybean planter is located; The determining, according to the performance parameter, a missed broadcast detection strategy of the missed broadcast detection module includes: A missed broadcast detection strategy of the missed broadcast detection module is determined according to the performance parameters and the environmental characteristic data.

7. The method according to claim 6, characterized in that The soybean planter includes a sensor module, the performance parameters include static performance parameters and dynamic performance parameters, and obtaining the performance parameters of the soybean planter includes: The static performance parameters input by the user are obtained, and the dynamic performance parameters sent by the sensor module are obtained.

8. The method according to claim 7, characterized in that The static performance parameters include one or more of the hole depth, hole shape, hole size, suction hole diameter, and sensor accuracy; the dynamic performance parameters include one or more of the seed metering device speed, air suction seed metering device vacuum degree, and transmission ratio.

9. A soybean planter, comprising a control module, a missed seeding detection module, and a sowing module, characterized in that: The sowing module is used for sowing; The missed seeding detection module is used to detect whether the seeding module has missed seeding; The control module is configured to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the method according to claims 1 to 8 is implemented.

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