A cup filling control method and system for a new flower transplanting substrate

Abstract

The embodiment of the application provides a cup loading control method and system of a new flower transplanting substrate, which comprises the following steps: obtaining soil data of multiple transplanting substrates; calculating soil texture characteristic data and hard sandstone content distribution data through the soil data; generating a sliding mode surface parameter according to the soil texture characteristic data and the hard sandstone content distribution data; generating a sliding mode controller according to the sliding mode surface parameter and the hard sandstone content distribution data; obtaining an output parameter through the sliding mode controller, and controlling the operation of a flower transplanting motor according to the output parameter; and generating the distribution of sand and stone in various soils through simulation, so that the motor control enclosing arm can bypass the hard objects and avoid damaging the roots of seedlings, thereby improving the survival rate of the seedlings during the transplanting and loading. Specifically, the distribution of hard objects (stones or metal blocks) is used as a differentiator to obtain an accurately controlled controller, so that the accurate control of the digging module and the seedling taking module is realized, and the survival rate of the seedlings during the transplanting and loading is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a cup filling control method of a new flower transplanting substrate, a cup filling control system of the new flower transplanting substrate, a computer device and a computer readable storage medium. BACKGROUND

[0002] The existing flower transplanting device generally includes a jig plate automatic assembly feeding machine, an automatic cup filling machine, a seedling cup automatic soil filling machine, an automatic seedling transplanting machine and a jig plate automatic stacking machine connected in sequence by a conveying belt. The combination of these devices can punch holes in the seedling cups filled with soil and transfer the flower seedlings in the seedling tray to the seedling cups. The jig plate automatic stacking machine is used to automatically stack the seedling cup jig plates with flower seedlings. However, the existing device is prone to damaging the roots of the seedlings, thereby reducing the survival rate of the seedlings during the transplanting process. SUMMARY

[0003] In view of the above problems, the present application is proposed to provide a cup filling control method of a new flower transplanting substrate, a cup filling control system of the new flower transplanting substrate, a computer device and a computer readable storage medium to overcome the above problems or at least partially solve the above problems.

[0004] To solve the above problems, the present application discloses a cup filling control method of a new flower transplanting substrate, which is applied to a flower transplanting device. The flower transplanting device includes a flower transplanting motor. The method includes the following steps:

[0005] Obtaining soil data of multiple transplanting substrates;

[0006] Calculating soil texture characteristic data and hard sandstone content distribution data from the soil data;

[0007] Generating a sliding mode surface parameter according to the soil texture characteristic data and the hard sandstone content distribution data;

[0008] Generating a sliding mode controller according to the sliding mode surface parameter and the hard sandstone content distribution data, obtaining an output parameter from the sliding mode controller, and controlling the operation of the flower transplanting motor according to the output parameter.

[0009] Preferably, the calculation of the soil texture characteristic data and the hard sandstone content distribution data from the soil data includes the following steps:

[0010] Obtaining regional division data, and obtaining different soil data according to the regional division data;

[0011] Identifying soil composition data from the soil data;

[0012] The hard block level proportion data is obtained through soil component data, and the hard sand content distribution data is simulated according to the hard block level proportion data.

[0013] Preferably, the generation of the sliding mode surface parameters according to the soil texture feature data and the hard sand content distribution data comprises:

[0014] The sliding mode function is generated according to the device system angle error, the soil texture feature data and the hard sand content distribution data.

[0015] The equivalent control term and the switching control term are obtained by solving the sliding mode function through the reaching law.

[0016] The sliding mode surface parameters are generated according to the equivalent control term and the switching control term.

[0017] Preferably, the hard block level proportion data is obtained through soil component data, and the hard sand content distribution data is simulated according to the hard block level proportion data, which comprises:

[0018] The stone content space model is established through the hard block level proportion data.

[0019] The space distribution map is generated by interpolation through the collaborative algorithm.

[0020] The hard sand content distribution data is generated through the space distribution map.

[0021] Preferably, the sliding mode controller is generated according to the sliding mode surface parameters and the hard sand content distribution data, and the output parameters of the sliding mode controller are obtained, and the operation of the flower transplanting motor is controlled according to the output parameters, which comprises:

[0022] The hard sand content distribution data is converted into hard distribution compensation differentiator output parameters.

[0023] The sliding mode controller is generated according to the hard distribution compensation differentiator output parameters and the sliding mode surface parameters, and the output parameters of the sliding mode controller are obtained, and the operation of the flower transplanting motor is controlled according to the output parameters.

[0024] The embodiment of the application discloses a novel cup control system of flower transplanting substrate, which is applied to a flower transplanting device, wherein the flower transplanting device comprises a flower transplanting motor, and the system comprises:

[0025] The first acquisition module is used for acquiring soil data of multiple transplanting substrates.

[0026] The calculation module is used for calculating soil texture feature data and hard sand content distribution data through the soil data.

[0027] The generating module is configured to generate a sliding mode surface parameter according to the soil texture characteristic data and the hard sandstone content distribution data.

[0028] The control module is configured to generate a sliding mode controller according to the sliding mode surface parameter and the hard sandstone content distribution data, and to control the operation of the flower transplanting motor according to an output parameter of the sliding mode controller.

[0029] Preferably, the calculating module comprises:

[0030] The identifying sub-module is configured to identify soil component data from the soil data.

[0031] The simulating sub-module is configured to obtain hardening block level proportion data from the soil component data, and to simulate the hard sandstone content distribution data according to the hardening block level proportion data.

[0032] Preferably, the generating module comprises:

[0033] The first generating sub-module is configured to generate a sliding mode function according to the device system angle error, the soil texture characteristic data and the hard sandstone content distribution data.

[0034] The solving sub-module is configured to solve the sliding mode function according to a reaching law to obtain an equivalent control item and a switching control item.

[0035] The second generating sub-module is configured to generate a sliding mode surface parameter according to the equivalent control item and the switching control item.

[0036] The embodiment of the present application discloses a computer device, comprising a memory and a processor, the memory stores a computer program, and the processor realizes the steps of the cup control method of the novel flower transplanting substrate when executing the computer program.

[0037] The embodiment of the present application discloses a computer readable storage medium, which stores a computer program, and the computer program realizes the steps of the cup control method of the novel flower transplanting substrate when executed by a processor.

[0038] The embodiment of the present application has the following advantages:

[0039] In the embodiment of the present application, the cup filling control method of the new flower transplanting substrate is applied to a flower transplanting device, the flower transplanting device comprises a flower transplanting motor, and the method comprises the following steps: obtaining soil data of multiple transplanting substrates; calculating soil texture characteristic data and hard sandstone content distribution data according to the soil data; generating a sliding mode surface parameter according to the soil texture characteristic data and the hard sandstone content distribution data; generating a sliding mode controller according to the sliding mode surface parameter and the hard sandstone content distribution data, obtaining an output parameter through the sliding mode controller, and controlling the operation of the flower transplanting motor according to the output parameter; and generating the distribution of sand and stones in various soils through simulation, so that the motor control enclosing arm can bypass the hard objects, that is, the control algorithm of the present application avoids the problem that the excavating equipment is easily damaged when encountering hard objects, and also avoids damaging the roots of seedlings, thereby improving the survival rate of the seedlings during transplanting and loading. Specifically, the distribution of hard objects (stones or metal blocks) is used as a differentiator to obtain an accurately controlled controller, so as to realize accurate control of the excavating module and the seedling taking module, and ensure the survival rate of the seedlings during transplanting and loading. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0041] Figure 1 is a schematic diagram of a cup filling control method of a new flower transplanting substrate according to an embodiment of the present application;

[0042] Figure 2 is a schematic diagram of the architecture of a cup filling control system of a new flower transplanting substrate according to an embodiment of the present application;

[0043] Figure 3 is a structural block diagram of a cup filling control system embodiment of a new flower transplanting substrate according to an embodiment of the present application;

[0044] Figure 4 is an internal structure diagram of a computer device according to an embodiment. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0046] In a core idea of the embodiment of the present application, because the flower transplanting equipment, in the process of taking soil, the enclosing arm of the digging module usually touches hard objects (stones or metal blocks), which is extremely easy to damage the enclosing arm and the corresponding motor, causing the problem of high failure rate and frequent maintenance of the flower transplanting equipment. In the present application, the distribution of sand and stone in various soils is simulated to make the motor control the enclosing arm to bypass the hard objects. That is, the control algorithm of the present application can avoid the problem of easy damage of the digging equipment when it encounters hard objects. Similarly, in the process of taking seedlings, when the enclosing arm touches the roots of relatively thick seedlings, the enclosing arm is also controlled to avoid the roots of the seedlings and to expand outward, and then the seedlings are taken deeper to avoid damaging the roots of the seedlings and improve the survival rate of the seedlings. Specifically, the distribution of hard objects (stones or metal blocks) is used as a differentiator to obtain an accurately controlled controller, so as to realize accurate control of the digging module and the seedling taking module and ensure the survival rate of the seedlings.

[0047] Referring to Figure 1 , a schematic diagram of a novel cup filling control method for flower transplanting substrate is shown, which is applied to a flower transplanting equipment. The flower transplanting equipment includes a flower transplanting motor and can specifically include the following steps:

[0048] Step S101, obtaining soil data of various transplanting substrates;

[0049] In the embodiment of the present application, the flower transplanting equipment can include a digging module, a seedling taking module, and a cup filling module, which realize the transplantation of flowers from a fixed place to a seedling cup. The digging module, the seedling taking module, and the cup filling module are all provided with corresponding motion motors, which are the flower transplanting motors. It should be noted that the number of the flower transplanting motors can be one or more, and the embodiment of the present application does not make too many limitations thereon. For example, one motor and a switching mechanism can be used to control the operation of multiple modules, or one motion motor can be provided for each module of the digging module, the seedling taking module, and the cup filling module, and each motion motor controls the corresponding module to move. In the embodiment of the present application, the soil data of the various transplanting substrates is first obtained. The soil data mainly refers to the content of particle components, the content of volume hard components, and various physical characteristic parameters. For example, the content of clay particles (mud particles) in clay soil in a certain area is more than 80%, the content of large volume hard components (large stones) is 5%, and the content of other organic matter is 15%.

[0050] It should be noted that the digging module, the seedling taking module, and the cup filling module in the flower transplanting equipment can each be a separate variable structure control system, and the embodiment of the present application does not make too many limitations thereon.

[0051] Step S102, calculating soil quality characteristic data and hard sand and stone content distribution data from the soil data;

[0052] After obtaining the original soil data, soil texture feature data and hard sand content distribution data can be extracted from the soil data, specifically as follows, the soil texture feature data and hard sand content distribution data are calculated by the soil data, comprising:

[0053] Obtain regional division data, and obtain different soil data according to the regional division data;

[0054] Identify soil composition data from the soil data;

[0055] Obtain hardening block level proportion data from the soil composition data, and simulate the hard sand content distribution data according to the hardening block level proportion data, that is, the soil texture feature data can include hardening block level proportion data, etc., and the embodiments of the present application do not make too many limitations.

[0056] The regional division data can refer to geographical position and soil physical property information of a certain region, soil data is extracted from the regional division data, hardening block level proportion data is obtained from the soil composition data, and the hard sand content distribution data is simulated according to the hardening block level proportion data, the hardening block level proportion data refers to a proportion parameter range of volume or weight of volume hard material, for example, parameters of the hardening block level proportion data are as follows: {a1, b1} {a2, b2} {a3, b3} {a4, b4} {a5, b5} {a6, b6}, the larger the numerical value, the larger the volume and weight.

[0057] The hard sand content distribution data is simulated according to the hardening block level proportion data by the discrete element method, and the specific simulation mode is as follows:

[0058]

[0059] Wherein, Fab i represents the resultant force of the volume hard material; κ C represents the hardening block level proportion coefficient, c is 1, 2, 3, 4, 5, 6; mab i represents the mass of the volume hard material; d i represents the acceleration of the volume hard material; g represents the gravitational constant; Tab i represents the resultant moment of the volume hard material; I represents the moment of inertia; ω represents the angular acceleration of the volume hard material; i = 0, 1, 2, 3,..., n, n is an integer, the simulated hard sand content distribution data is obtained by combining the discrete element method and the proportion of hardening block, and the accuracy of data simulation is improved.

[0060] Further applied to the embodiments of the present application, a stone content space model is established through the hard block proportion data; a spatial distribution map is generated through a collaborative algorithm interpolation; and the hard stone content distribution data is generated through the spatial distribution map.

[0061] It should be noted that the stone content space model can be a variety of different machine learning methods such as graph neural networks, and the embodiments of the present application do not make too many restrictions thereon, and the collaborative algorithm refers to the Kriging method, which is a regression algorithm for spatial modeling and prediction (interpolation) of random processes / random fields according to the covariance function, and of course, the generation of the spatial distribution map can also be realized through other regression algorithms, and the embodiments of the present application do not make too many restrictions thereon.

[0062] In step S103, the soil texture characteristic data and the hard stone content distribution data are used to generate a sliding mode surface parameter.

[0063] In the embodiments of the present application, the soil texture characteristic data and the hard stone content distribution data are obtained, and the sliding mode surface parameter is generated according to the two; specifically as follows, the soil texture characteristic data and the hard stone content distribution data are used to generate a sliding mode surface parameter, including:

[0064] A sliding mode function is generated according to the device system angle error, the soil texture characteristic data and the hard stone content distribution data.

[0065] The sliding mode function is solved through a reaching law to obtain an equivalent control term and a switching control term.

[0066] The sliding mode surface parameter is generated according to the equivalent control term and the switching control term.

[0067] The sliding mode function s is as follows:

[0068]

[0069] Wherein, e represents the device system angle error; represents a system state coefficient, and p represents a constant corresponding to the soil texture characteristic data.

[0070] The reaching law u of the present application is as follows:

[0071]

[0072] Wherein, t represents a gain matrix corresponding to the hard stone content distribution data; s(x) represents a sliding mode function, and x represents a state vector of the system.

[0073] The sliding mode function is solved through a reaching law to obtain an equivalent control term and a switching control term.

[0074] The reaching law u of the present application is as follows:

[0075] wherein ueq represents an equivalent control term; v represents a switching control term gain, s(x) represents a sliding mode function, x represents a state vector of the system, x2 is a second state vector of the system, F d is a total uncertainty of the system, a represents an inverse of the moment of inertia, and b represents an inverse of the damping coefficient;

[0076] The switching control term expression of the present application is as follows:

[0077]

[0078] wherein usw represents a switching control term; v represents a switching control term gain, s(x) represents a sliding mode function, x represents a state vector of the system; according to the equivalent control term described above, the switching control term obtains a sliding mode surface parameter;

[0079] In step S104, a sliding mode controller is generated according to the sliding mode surface parameter and the hard sandstone content distribution data, an output parameter is obtained through the sliding mode controller, and the operation of the flower transplanting motor is controlled according to the output parameter.

[0080] As shown in the embodiment of the present application, Figure 2 The sliding mode controller is generated according to the sliding mode surface parameter and the hard sandstone content distribution data, an output parameter is obtained through the sliding mode controller, and the operation of the flower transplanting motor is controlled according to the output parameter, which comprises:

[0081] The hard sandstone content distribution data is converted into a hard distribution compensation differentiator output parameter m;

[0082] A sliding mode controller is generated according to the hard distribution compensation differentiator output parameter m and the sliding mode surface parameter, an output parameter is obtained through the sliding mode controller, and the operation of the flower transplanting motor is controlled according to the output parameter.

[0083] It should be noted that the hard distribution compensation differentiator refers to a compensation amount differential function operator obtained by converting the hard sandstone content distribution data, and the specific expression is as follows:

[0084]

[0085] wherein et represents a compensation amount differential function; ω d represents an average system angular velocity, represents an average device system angular error, k represents an average switching control term gain, and n represents the number of angle parameters of the system changed by the hard sandstone.

[0086] The cup filling control method of the novel flower transplanting substrate in the embodiment of the application is applied to a flower transplanting device, the flower transplanting device comprises a flower transplanting motor, and the method comprises the following steps: obtaining soil data of a plurality of transplanting substrates; calculating soil texture characteristic data and hard sandstone content distribution data according to the soil data; generating a sliding mode surface parameter according to the soil texture characteristic data and the hard sandstone content distribution data; generating a sliding mode controller according to the sliding mode surface parameter and the hard sandstone content distribution data, obtaining an output parameter through the sliding mode controller, and controlling the operation of the flower transplanting motor according to the output parameter; and generating the distribution of sand and stones in various soils through simulation, so that the motor control enclosing arm can bypass the hard objects, that is, the control algorithm of the application avoids the problem that the digging equipment is easily damaged when encountering hard objects, and also avoids damaging the roots of seedlings, thereby improving the survival rate of the seedlings during transplanting and loading. Specifically, the distribution of hard objects (stones or metal blocks) is used as a differentiator to obtain an accurately controlled controller, so as to realize accurate control of the digging module and the seedling taking module, and ensure the survival rate of the seedlings during transplanting and loading.

[0087] It should be noted that, for the method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments are not limited by the action sequence described, because according to the embodiments, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments.

[0088] Reference Figure 3 The structure block diagram of the cup filling control system embodiment of the novel flower transplanting substrate is shown, which is applied to a flower transplanting device, the flower transplanting device comprises a flower transplanting motor, and can specifically comprise the following modules:

[0089] The first obtaining module 301 is used for obtaining soil data of a plurality of transplanting substrates.

[0090] The calculating module 302 is used for calculating soil texture characteristic data and hard sandstone content distribution data according to the soil data.

[0091] The generating module 303 is used for generating a sliding mode surface parameter according to the soil texture characteristic data and the hard sandstone content distribution data.

[0092] The control module 304 is used for generating a sliding mode controller according to the sliding mode surface parameter and the hard sandstone content distribution data, obtaining an output parameter through the sliding mode controller, and controlling the operation of the flower transplanting motor according to the output parameter.

[0093] Preferably, the calculating module comprises:

[0094] An acquisition sub-module is configured to acquire regional area division data and obtain different soil data according to the regional area division data;

[0095] An identification sub-module is configured to identify soil component data from the soil data;

[0096] A simulation sub-module is configured to obtain hard block proportion data from the soil component data and simulate the hard sand content distribution data according to the hard block proportion data.

[0097] Preferably, the generation module comprises:

[0098] A first generation sub-module is configured to generate a sliding mode function according to the device system angle error, the soil texture feature data and the hard sand content distribution data;

[0099] A solving sub-module is configured to solve the sliding mode function by a reaching law to obtain an equivalent control term and a switching control term;

[0100] A second generation sub-module is configured to generate a sliding surface parameter according to the equivalent control term and the switching control term.

[0101] Preferably, the simulation sub-module comprises:

[0102] An establishment unit is configured to establish a stone content space model through the hard block proportion data;

[0103] A first generation unit is configured to generate a space distribution map through a collaborative algorithm interpolation;

[0104] A second generation unit is configured to generate the hard sand content distribution data through the space distribution map.

[0105] Preferably, the control module comprises:

[0106] A conversion sub-module is configured to convert the hard sand content distribution data into hard distribution compensation differentiator output parameters;

[0107] A generation sub-module is configured to generate a sliding mode controller according to the hard distribution compensation differentiator output parameters and the sliding surface parameters, obtain output parameters through the sliding mode controller, and control the operation of the flower transplanting motor according to the output parameters.

[0108] The above-mentioned various modules in the cup control system of the novel flower transplanting substrate can be realized by software, hardware and combinations thereof. The above-mentioned various modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned various modules.

[0109] The cup filling control system of the new flower transplanting substrate provided above can be used to execute the cup filling control method of the new flower transplanting substrate provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0110] In one embodiment, a computer device is provided, and an internal structure diagram of the computer device can be as shown in Figure 4 The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement a cup filling control system method of a new flower transplanting substrate. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball, or touchpad provided on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0111] Those skilled in the art can understand that Figure 4 the structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0112] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the above embodiments:

[0113] Obtain soil data of a plurality of transplanting substrates;

[0114] Calculate soil texture feature data and hard sandstone content distribution data from the soil data;

[0115] Generate a sliding mode surface parameter according to the soil texture feature data and the hard sandstone content distribution data;

[0116] Generate a sliding mode controller according to the sliding mode surface parameter and the hard sandstone content distribution data, obtain an output parameter from the sliding mode controller, and control the operation of a flower transplanting motor according to the output parameter.

[0117] Preferably, the soil data is used to calculate soil texture data and hard sandstone content distribution data, including:

[0118] Obtain regional area division data, and obtain different soil data according to the regional area division data;

[0119] Identify soil composition data from the soil data;

[0120] Obtain hardening block proportion data from the soil composition data, and simulate the hard sandstone content distribution data according to the hardening block proportion data.

[0121] Preferably, the soil data is used to calculate soil texture data and hard sandstone content distribution data, including:

[0122] Generate a sliding mode function according to the device system angle error, the soil texture data, and the hard sandstone content distribution data;

[0123] Solve the sliding mode function through a reaching law to obtain an equivalent control term and a switching control term;

[0124] Generate a sliding mode surface parameter according to the equivalent control term and the switching control term.

[0125] Preferably, the soil data is used to calculate soil texture data and hard sandstone content distribution data, including:

[0126] Establish a stone content space model through the hardening block proportion data;

[0127] Generate a space distribution map through a collaborative algorithm interpolation;

[0128] Generate hard sandstone content distribution data through the space distribution map.

[0129] Preferably, the soil data is used to calculate soil texture data and hard sandstone content distribution data, including:

[0130] Convert the hard sandstone content distribution data into hard distribution compensation differentiator output parameters;

[0131] Generate a sliding mode controller according to the hard distribution compensation differentiator output parameters and the sliding mode surface parameter, obtain output parameters through the sliding mode controller, and control the operation of the flower transplanting motor according to the output parameters.

[0132] In one embodiment, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the steps of the above-mentioned embodiments:

[0133] Obtaining soil data of multiple transplanting substrates;

[0134] Calculating soil texture characteristic data and hard sand content distribution data from the soil data;

[0135] Generating a sliding mode surface parameter according to the soil texture characteristic data and the hard sand content distribution data;

[0136] Generating a sliding mode controller according to the sliding mode surface parameter and the hard sand content distribution data, obtaining an output parameter from the sliding mode controller, and controlling the operation of a flower transplanting motor according to the output parameter.

[0137] Preferably, the calculating of the soil texture characteristic data and the hard sand content distribution data from the soil data comprises:

[0138] Obtaining regional area division data, and obtaining different soil data according to the regional area division data;

[0139] Identifying soil component data from the soil data;

[0140] Obtaining hardening block level proportion data from the soil component data, and simulating the hard sand content distribution data according to the hardening block level proportion data.

[0141] Preferably, the generating of the sliding mode surface parameter according to the soil texture characteristic data and the hard sand content distribution data comprises:

[0142] Generating a sliding mode function according to the device system angle error, the soil texture characteristic data, and the hard sand content distribution data;

[0143] Solving the sliding mode function through a reaching law to obtain an equivalent control term and a switching control term;

[0144] Generating the sliding mode surface parameter according to the equivalent control term and the switching control term.

[0145] Preferably, the obtaining of the hardening block level proportion data from the soil component data and the simulating of the hard sand content distribution data according to the hardening block level proportion data comprises:

[0146] Establishing a stone content space model through the hardening block level proportion data;

[0147] Generating a space distribution map through a collaborative algorithm interpolation;

[0148] The spatial distribution map is used to generate hard sandstone content distribution data.

[0149] Preferably, the sliding mode controller is generated according to the sliding mode surface parameters and the hard sandstone content distribution data, and parameters output by the sliding mode controller are used to control the operation of the flower transplanting motor.

[0150] The hard sandstone content distribution data is converted into hard distribution compensation differentiator output parameters.

[0151] The sliding mode controller is generated according to the hard distribution compensation differentiator output parameters and the sliding mode surface parameters, and parameters output by the sliding mode controller are used to control the operation of the flower transplanting motor.

[0152] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0153] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, device, or computer program product. Therefore, the embodiments of the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0154] The embodiments of the present application are described with reference to flowcharts and / or block diagrams according to the method, terminal device (system), and computer program product of the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the computer or other programmable data processing terminal device produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The device that implements the functions specified in one block or multiple blocks.

[0155] These computer program instructions can also be stored in a computer readable storage medium that can guide the computer or other programmable data processing terminal device to work in a specific way, so that the instructions stored in the computer readable storage medium produce a product including instruction devices that implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocksFigure 1 the function specified in the one or more blocks.

[0156] These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that a series of operation steps are performed on the computer or other programmable terminal devices to generate a computer-implemented process, so that the instructions executed on the computer or other programmable terminal devices provide a process for implementing the flow Figure 1 the flow or flows and / or blocks Figure 1 the steps of the function specified in the one or more blocks.

[0157] Although the preferred embodiments of the present application have been described, those skilled in the art who have the benefit of the present disclosure will appreciate that additional modifications and changes can be made thereto without departing from the scope of the present application. Accordingly, the appended claims are intended to cover all such modifications and changes as fall within the scope of the present application.

[0158] Finally, it should be noted that the terms "first" and "second" and the like are used merely to distinguish one entity or action from another, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0159] The cup filling control method of a new type of flower transplanting substrate, the cup filling control system of a new type of flower transplanting substrate, the computer device and the computer readable storage medium provided by the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples in the present application. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed; and the above description of the present application should not be understood as a limitation of the present application.

Claims

1. A cupping control method of a new flower transplanting substrate, characterized by, The method is applied to a flower transplanting device, and the flower transplanting device comprises a flower transplanting motor, and the method comprises the following steps: Obtain soil data of multiple transplanting substrates; Calculate soil texture characteristic data and hard sand content distribution data from the soil data; Generate a sliding mode surface parameter according to the soil texture characteristic data and the hard sand content distribution data; Generate a sliding mode controller according to the sliding mode surface parameter and the hard sand content distribution data, obtain an output parameter from the sliding mode controller, and control the operation of the flower transplanting motor according to the output parameter.

2. The cup control method of the new flower transplanting substrate according to claim 1, characterized by, The calculation of the soil texture characteristic data and the hard sand content distribution data from the soil data comprises the following steps: Identify soil component data from the soil data; Obtain hard block level proportion data from the soil component data, and simulate the hard sand content distribution data according to the hard block level proportion data.

3. The cup control method of the new flower transplanting substrate according to claim 1, characterized by, The generation of the sliding mode surface parameter according to the soil texture characteristic data and the hard sand content distribution data comprises the following steps: Generate a sliding mode function according to the device system angle error, the soil texture characteristic data and the hard sand content distribution data; Solve the sliding mode function by using a reaching law to obtain an equivalent control term and a switching control term; Generate the sliding mode surface parameter according to the equivalent control term and the switching control term.

4. The cup control method of the new flower transplanting substrate according to claim 2, characterized by, The obtaining of the hard block level proportion data from the soil component data and the simulation of the hard sand content distribution data according to the hard block level proportion data comprise the following steps: Establish a stone content space model according to the hard block level proportion data; Generate a space distribution map by using a collaborative algorithm for interpolation; Generate the hard sand content distribution data from the space distribution map.

5. The cup control method of the new flower transplanting substrate according to claim 1, characterized in that, The generation of the sliding mode controller according to the sliding mode surface parameter and the hard sand content distribution data, the obtaining of an output parameter from the sliding mode controller, and the control of the operation of the flower transplanting motor according to the output parameter comprise the following steps: Convert the hard sand content distribution data into a hard distribution compensation differentiator output parameter; Generate the sliding mode controller according to the hard distribution compensation differentiator output parameter, the sliding mode surface parameter and the hard sand content distribution data, obtain an output parameter from the sliding mode controller, and control the operation of the flower transplanting motor according to the output parameter.

6. A cupping control system for a new floral transplant substrate, characterized by, The system is applied to a flower transplanting device, and the flower transplanting device comprises a flower transplanting motor, and the system comprises the following steps: A first obtaining module is configured to obtain soil data of multiple transplanting substrates; A calculation module is configured to calculate soil texture characteristic data and hard sand content distribution data from the soil data; A generation module is configured to generate a sliding mode surface parameter according to the soil texture characteristic data and the hard sand content distribution data; A control module is configured to generate a sliding mode controller according to the sliding mode surface parameter and the hard sand content distribution data, obtain an output parameter from the sliding mode controller, and control the operation of the flower transplanting motor according to the output parameter.

7. The cup control system of the novel flower transplanting substrate according to claim 6, characterized by, The calculation module comprises the following steps: An identification sub-module is configured to identify soil component data from the soil data; The simulation submodule is configured to acquire hard block proportion data from the soil composition data, and simulate the hard sand content distribution data according to the hard block proportion data.

8. The cup control system of the novel flower transplanting substrate according to claim 6, characterized in that, The generation module comprises: A first generation submodule is configured to generate a sliding mode function according to the device system angle error, the soil texture characteristic data, and the hard sand content distribution data. A solving submodule is configured to solve the sliding mode function by using a reaching law to obtain an equivalent control term and a switching control term. A second generation submodule is configured to generate a sliding mode surface parameter according to the equivalent control term and the switching control term. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the cup control method of the novel flower transplanting substrate according to any one of claims 1 to 5.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the cup control method of the novel flower transplanting substrate according to any one of claims 1 to 5.

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