Single-seed precision seed-metering device and method with miss-drop handling

Abstract

This invention relates to the field of intelligent agricultural equipment technology, and discloses a single-seed precision seeding device and method with a function for handling missed and duplicate seeding. The single-seed precision seeding device includes a roller assembly, a guide cylinder assembly, a photoelectric assembly, and a dome positive pressure device. The dome positive pressure device built into the roller assembly can achieve uniform air pressure distribution in the air chamber. The seed suction hole of the roller assembly is provided with a contour-following variable curvature orifice, which can change the curvature of the variable curvature orifice under different air pressure conditions to facilitate single-seed suction and the application of different seed types. By combining a visual sensor and a photoelectric sensor, the former detects whether there is missed seeding before seeding, and the latter detects whether there is duplicate seeding during the seeding process. Combined with a seed removal device, a reseeding device, and a control system, the detection efficiency and single-seed operation accuracy are improved. This invention can realize single-seed precision seeding operation in the process of hybrid rice seedling tray sowing, with high monitoring accuracy, fast response speed, and the method has versatility.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural equipment technology, and more specifically to a single-seed precision seeding device and method with a function for handling missed and duplicate seeding. Background Technology

[0002] Hybrid rice is of great significance to my country's food security, accounting for 50% of the country's total rice planting area and 60% of its total output. Because the heterosis of hybrid rice can only be maintained in the first generation, seed production is necessary annually to ensure production needs. During seed production, the female sterile line needs to be sown individually to control tiller number, optimize population structure, and improve cross-pollination seed setting rate and seed purity. However, existing rice seedling tray sowing equipment is only suitable for row sowing or hill sowing of 2-4 seeds per hill, which cannot meet the core requirement of single-seed precision sowing.

[0003] The seed metering device is a core component that determines the performance of a seeder. Optimizing the structure and operating parameters of the seed metering device is an effective way to improve its operating accuracy. Existing seed metering devices mainly include traditional mechanical, vibrating, and pneumatic roller types. Traditional mechanical devices can only meet the requirements of large-volume sowing for row or broadcast sowing, and cannot achieve single-seed precision sowing. Single vibrating and pneumatic roller seed metering devices are prone to problems such as uneven seed flow and unstable seed adsorption. At the same time, the orifice of conventional pneumatic seed metering devices has poor adaptability to different seed sizes, and double-seeding or missed-seeding is very likely to occur during operation. Although research on missed-seeding monitoring systems based on image recognition can replace manual monitoring of sowing status, a single visual detection scheme cannot simultaneously achieve full-dimensional accurate identification of missed and double-seeding. Its data processing speed is also difficult to meet the real-time requirements of high-speed sowing operations. Moreover, most existing related technologies only focus on the detection of missed and double-seeding, lacking a precise closed-loop processing mechanism linked to the detection results. This cannot fundamentally solve the problems of missed and double-seeding during the sowing process and cannot meet the single-seed precision sowing requirements of seed tray raising in hybrid rice seed production. Summary of the Invention

[0004] In view of this, the present invention provides a single-seed precision seeding device and method with a missed seeding and reseeding function, which can improve the single-seed seeding accuracy of the seeding drum, adapt to different seed types, improve the accuracy of missed seeding and reseeding detection and response speed, and is simple to operate and has versatility.

[0005] On one hand, the single-seed precision seeding device with missed reseeding function provided by the present invention includes a frame assembly, on which a conveying mechanism is provided. The conveying mechanism is used to carry and drive the seedling tray to move at a constant speed along a preset path. On the frame assembly, along the seedling tray conveying direction of the conveying mechanism, a roller assembly, a guide cylinder assembly, a photoelectric assembly, a seed removal device and a reseeding device are arranged in sequence from back to front. The execution ends of the seed removal device and the reseeding device are both set directly opposite the seedling tray holes on the conveying mechanism. The roller assembly includes a roller rotatably mounted on a frame assembly. Several sets of air holes are arranged on the cylinder wall of the roller. Each set of air holes corresponds to a variable curvature hole that is sealed and embedded. The variable curvature hole is an integrated deformable elastic structure, and its elastic modulus is distributed in a stepped manner along the central axis of the suction hole. An arched positive pressure device is provided inside the roller. The arched positive pressure device is relatively fixed to the frame assembly and does not rotate synchronously with the roller. The air outlet of the arched positive pressure device is set directly opposite the variable curvature hole where the roller rotates to the seeding position. The guide tube assembly is located below the seeding station of the drum. The guide tube assembly includes guide tube groups that correspond one-to-one with each set of variable curvature holes on the drum. The guide tube groups are used to receive seeds that have detached from the variable curvature holes and guide them to the seedling tray holes on the conveying mechanism. The photoelectric assembly is located below the outlet of the guide tube assembly. The photoelectric assembly includes a photoelectric sensor group that corresponds to each guide tube in the guide tube assembly. The photoelectric sensor group is used to collect the pulse signal when the seed falls through the guide tube. The guide tube assembly is also fixed with a camera component. The camera component's shooting end faces the area on the roller where the seed filling is completed but has not yet reached the seeding station, and is used to collect images of the seed filling status of the entire row of variable curvature holes on the roller. The frame assembly is also equipped with a data processing module and a controller. The data processing module is communicatively connected to the camera assembly and the photoelectric sensor group, respectively. The controller is electrically connected to the data processing module, the conveying mechanism, the roller assembly, the seed removal device, and the reseeding device, respectively. The data processing module is used to determine the missed seeding and reseeding status based on the collected seed filling status image and seed falling pulse signal, and to locate the corresponding hole position on the seedling tray. The controller is used to control the seed removal device and the reseeding device to perform seed removal and reseeding actions according to the missed seeding and reseeding status.

[0006] Preferably, the conveying mechanism includes a motor, a drive roller, at least one set of driven support rollers, and a conveyor belt. The drive roller and the driven support roller are rotatably mounted on the frame assembly via bearings. The conveyor belt is looped around the outside of the drive roller and the driven support roller. The motor is fixed to the frame assembly, and its output end is connected to the drive roller via transmission. The motor is electrically connected to the controller. The seedling tray is placed on the upper surface of the conveyor belt.

[0007] Preferably, the variable curvature type hole includes an inner layer and an outer layer, the elastic modulus of the inner layer is greater than that of the outer layer, the inner layer has a porous structure, and the outer layer has a solid structure.

[0008] Preferably, the data processing module establishes a Cartesian coordinate system with the intersection of the variable curvature hole and the roller as the X-axis and the Y-axis extending outward from the central axis of the suction hole. Under natural conditions, the outer edge contour curve of the variable curvature hole satisfies the formula... f 1(x), the contour curve at the intersection of the outer and inner layers of the variable curvature hole satisfies the formula f 2(x); The f 1(x) is: , The f 2(x) is: .

[0009] Preferably, the positive pressure device for the arch includes a positive pressure chamber for the arch, an air inlet pipe, and at least two sets of air nozzles. The air inlet pipe is connected to each set of air nozzles through a branch pipe. Each set of air nozzles is connected to the inner cavity of the positive pressure chamber for the arch. The cross-section of the positive pressure chamber for the arch is a structure combining a circular arc top and a trapezoidal side, with the circular arc top and the trapezoidal side transitioning smoothly and tangentially. The positive pressure device for the arch is inclined to the vertical direction, and the length of the positive pressure chamber for the arch covers the entire range of the variable curvature holes on the roller.

[0010] Preferably, the data processing module establishes a planar rectangular coordinate system with the tangent of the arch apex of the positive pressure chamber as the X-axis and the Y-axis extending outward from the inside of the cavity. The inner wall radius of the roller is R, and the inner edge contour curve of one side of the positive pressure chamber satisfies the formula g(x): .

[0011] Preferably, the guide cylinder assembly further includes a guide cylinder support rod and a camera support rod. The guide cylinder assembly is fixed on the guide cylinder support rod, and the camera component is fixed by the camera support rod. The center of the camera support rod is on the same horizontal line as the axis of the roller, and the shooting end of the camera component is set parallel to the horizontal ground. Each guide cylinder in the guide cylinder assembly is a variable diameter structure with different upper and lower opening sizes. The upper opening size of the guide cylinder is larger than the lower opening size, and an extended guide slope is provided on one side of the upper opening of the guide cylinder.

[0012] Preferably, the photoelectric assembly further includes a photoelectric support rod, and each group of photoelectric sensors is fixed on the photoelectric support rod. Each group of photoelectric sensors includes a pair of photoelectric transmitters and photoelectric receivers arranged opposite each other. Their detection areas are coaxially aligned with the outlet of the corresponding guide tube and completely cover the outlet range of the guide tube.

[0013] Preferably, the data processing module has a built-in deep learning-based seeding roller hole leakage-filling identification model, and the controller has a preset single-seed planting critical time threshold. The controller is configured to: when receiving the re-replanting signal from the data processing module, first control the seed removal device to perform seed removal operation on the re-replanting holes, and then control the re-planting device to perform single-seed re-planting operation on the empty holes formed after seed removal.

[0014] On the other hand, the single-seed precision seeding method with missed reseeding function provided by the present invention uses the single-seed precision seeding device as described above, and includes the following steps: S1. Before the operation, based on the seed filling images of the roller-shaped hole collected by the camera component, a deep learning-based leak-filling identification model is constructed and the model is deployed to the data processing module. S2. Start-up device: The conveyor mechanism drives the seedling trays forward, and the drum rotates to perform seed filling and seeding operations. S3. When the roller carrying seeds rotates to the acquisition station of the camera component, the camera component acquires the seed filling status image of each variable curvature hole in that row and transmits it to the data processing module. The leak-filling identification model is used to determine the leak or filling status of the variable curvature hole and locate the position of the variable curvature hole. S4. If the seeding is determined to be in a missing seeding state, the data processing module calculates the position of the missing seeding hole in the corresponding seedling tray and transmits the signal to the controller. The controller then controls the replanting device to perform replanting operations on the missing seeding hole. S5. If the seed filling state is determined, the seed falls into the detection area of ​​the photoelectric combination through the guide tube assembly. The photoelectric sensor group collects the pulse signal of the falling seed, records the time interval of the falling of adjacent seeds, and transmits it to the data processing module. S6. The data processing module compares the falling time interval with the preset single-seed sowing critical time. If the falling time interval is less than the critical time, it is determined to be a reseeding state. The module locates the reseeding hole position of the corresponding seedling tray and transmits the signal to the controller. The controller first controls the seed removal device to perform seed removal operation on the reseeding hole to create an empty hole, and then controls the reseeding device to perform single-seed reseeding operation on the empty hole. If the falling time interval is greater than or equal to the critical time, it is determined to be normal single-seed sowing and no action is taken.

[0015] As can be seen from the above technical solution, compared with the prior art, the single-seed precision seeding device and method with missed reseeding function provided by the present invention has the following beneficial effects: 1. The present invention adopts a variable curvature hole structure that is sealed and fitted with the air hole of the roller. The hole is an integrated deformable elastic structure with the elastic modulus distributed in a stepped manner along the central axis of the suction hole. The shape of the hole can be adjusted under different air pressure conditions to adapt to different seed types and achieve precise suction of single seeds. 2. The present invention sets up an arched positive pressure device inside the drum that is relatively fixed to the frame, and combined with the air chamber structure with a smooth transition between the arc top and the trapezoidal side, the multi-air nozzle air intake layout, and the air chamber length setting that covers the entire row of holes, it can make the air pressure distribution in the air chamber uniform, assist the stable release of seeds in the holes, improve the single seed absorption rate, and reduce missed sowing and re-sowing. 3. The present invention forms a dual detection structure by using a camera component and a photoelectric sensor group. The camera component can collect images of the seed filling status of the holes before sowing, and the photoelectric sensor group can collect the seed falling pulse signal during sowing. This step-by-step detection of missed sowing and re-sowing improves the timeliness and accuracy of detection and provides accurate hole location information for removing and re-sowing. 4. This invention, through the seed removal device and reseeding device with the execution end facing the seedling tray hole, combined with the control settings of the controller based on the detection results, can automatically complete the reseeding and reseeding operations, realize the closed-loop treatment of missed and reseeding, and improve the accuracy and purity of single-seed precision sowing. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is an overall isometric view of the single-seed precision seeding device with a missed reseeding function according to the present invention; Figure 2 This is an isometric view of the frame assembly of the present invention; Figure 3 These are isometric views of guide rail I and guide rail II of the present invention; Figure 4 This is an isometric view of the driving roller and the driven support roller of the present invention; Figure 5 This is an isometric view of the roller assembly of the present invention; Figure 6 This is a right sectional view of the position of the dome positive pressure device of the present invention in the drum; Figure 7 This is a front sectional view of the dome positive pressure device of the present invention in the drum; Figure 8 This is an isometric view of the positive pressure device for the dome of the present invention; Figure 9 This is a cross-sectional view of the air chamber of the dome positive pressure device of the present invention; Figure 10 This is a schematic diagram of the camera operation according to the present invention; Figure 11This is an isometric view of the guide tube assembly of the present invention; Figure 12 This is a right view of the guide tube of the present invention; Figure 13 This is an isometric view of the photoelectric assembly of the present invention; Figure 14 This is a schematic diagram of the photoelectric sensor of the present invention; Figure 15 This is a schematic diagram showing the positions of the guide tube and the photoelectric sensor of the present invention; Figure 16 This is a schematic diagram of the morphological structure of the variable curvature type hole in its natural state according to the present invention; Figure 17 This is a schematic diagram of the morphological structure of the variable curvature type hole of the present invention when it is deformed by suction force; Figure 18 This is a flowchart illustrating the implementation steps of the missed replay detection and handling method of the present invention.

[0018] Explanation of reference numerals in the attached figures: A-Frame assembly, B-Roller assembly, C-Guide cylinder assembly, D-Photoelectric assembly, E-Data processing module, F-Door positive pressure device, G-Seed removal device, H-Replanting device, P-Photoelectric transmitter, Q-Photoelectric receiver, S-Deformation area, Z-Detection area; 1-Motor, 2-Controller, 3-Conveyor belt, 4-Seedling tray, 5-Frame column, 6-Long cylindrical crossbar, 7-Short cylindrical crossbar, 8-Guide rail I, 8a-Bearing mounting through hole, 9-Guide rail II, 9a-Bearing mounting blind hole, 10-Driven roller, 11-Driven support roller, 12a-Right roller support column, 12b-Left roller support column, 13a-Right support cylinder, 13b-Left support cylinder, 14-Connecting sealing sleeve, 15-Roller, 15a-Air hole, 16-Variable curvature hole, 16a-Outer layer of variable curvature hole, 16b-Inner layer of variable curvature hole, 1 7-Positive pressure chamber at the dome, 18a-Right connecting plate, 18b-Left connecting plate, 19-Inlet pipe, 20a-Air distribution pipe I, 20b-Air distribution pipe II, 21-Three-way connecting cylinder, 22a-Double-way connecting cylinder I, 22b-Double-way connecting cylinder II, 23a-Air nozzle I, 23b-Air nozzle II, 24-Guide cylinder support rod, 25a-Guide cylinder support column I, 25b-Guide cylinder support column II, 26-Camera support rod, 27-Camera, 28-Guide cylinder assembly, 29a-Photoelectric support column I, 29b-Photoelectric support column II, 30-Photoelectric support rod, 31-Photoelectric sensor assembly. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of an exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] like Figure 1 As shown, the single-seed precision seeding device with missed reseeding detection and handling function disclosed in this invention consists of a frame assembly A, a roller assembly B, a guide cylinder assembly C, a photoelectric assembly D, a data processing module E, a dome positive pressure device F, a seed removal device G, a reseeding device H, a motor 1, a controller 2, a conveyor belt 3, and a seedling tray 4. The roller assembly B, guide cylinder assembly C, photoelectric assembly D, seed removal device G, and reseeding device H are arranged sequentially from back to front on the frame assembly A. The execution ends of the seed removal device G and the reseeding device H are both positioned directly opposite the holes of the seedling tray 4 on the conveyor belt 3 below. The arrangement ensures that the weeding and reseeding actions can be precisely applied to the target holes; the roller assembly B is bolted to the upper end faces of the guide rails I8 and II9 on the frame assembly A via its right roller support column 12a and left roller support column 12b; the guide cylinder assembly C is bolted to the upper end faces of the guide rails I8 and II9 on the frame assembly A via its guide cylinder support column I25a and guide cylinder support column II25b; and the photoelectric assembly D is bolted to the upper end faces of the guide rails I8 and II9 on the frame assembly A via its photoelectric support column I29a and photoelectric support column II29b. The data processing module E interacts with the camera 27 and the photoelectric sensor group 31 via Bluetooth to ensure real-time wireless transmission of detection data; the arched positive pressure device F is installed inside the roller 15, and is welded to the lower ends of the left and right ends of the right support cylinder 13a and the left support cylinder 13b on the roller assembly B through the right connecting plate 18a and the left connecting plate 18b on it, so that the arched positive pressure device F is relatively fixed with the frame assembly A and does not rotate synchronously with the roller 15, ensuring that it always faces the hole of the seeding station for stable air supply; the seed removal device G and the supplementary device... The seeding device H is sequentially bolted to the upper surfaces of guide rail I8 and guide rail II9 on the frame assembly A. The controller 2 and the data processing module E are fixed to the right surface of guide rail I8 on the frame assembly A. The controller 2 is electrically connected to the data processing module E, the motor 1, the drive component of the roller assembly B, the seed removal device G, and the reseeding device H. It can receive the judgment instructions from the data processing module E and control each execution component to complete the coordinated action. The conveyor belt 3 is sleeved on the active roller 10 and the driven support roller 11 on the frame assembly A, and the seedling tray 4 is placed on the upper surface of the conveyor belt 3.

[0021] Depend on Figures 1 to 4As shown, frame assembly A consists of frame columns 5, cylindrical long crossbars 6, cylindrical short crossbars 7, guide rails I 8, guide rails II 9, driving roller 10, and driven support roller 11. Guide rails I 8 and II 9 are arranged parallel to each other. The upper surfaces of the four frame columns 5 are welded to the lower surfaces of guide rails I 8 and II 9. The two cylindrical long crossbars 6 are welded to the frame columns 5 along the front-back direction, and the two cylindrical short crossbars 7 are welded to the frame columns 5 along the left-right direction. The inner side of guide rail I 8 has 6 bearing mounting holes evenly distributed along the front-back direction, with the last bearing mounting hole being a through bearing mounting hole 8a, and the remaining 5 bearing mounting holes being blind bearing mounting holes 9a. The inner side of guide rail II 9 has 6 bearing mounting holes. The bearing mounting blind hole 9a is used to connect five driven support rollers 11 to the five sets of bearing mounting blind holes 9a near the front end of guide rail I 8 and guide rail II 9 respectively via bearings. The left end of the drive roller 10 is connected to the bearing mounting blind hole 9a at the rear end of guide rail II 9 via bearings. The right end of the drive roller 10 is fixed to the motor 1 via the bearing mounting through hole 8a on guide rail I 8. The drive roller 10, driven support rollers 11, conveyor belt 3 and motor 1 together constitute a conveying mechanism, which is used to carry and drive the seedling tray 4 to move at a uniform speed along the preset path. Multiple sets of driven support rollers 11 can ensure that the upper surface of the conveyor belt 3 is flat throughout the entire process, and avoid the seedling tray 4 tilting, which would cause deviations in the sowing and replanting positions.

[0022] The conveying mechanism includes a motor 1, a drive roller 10, at least one set of driven support rollers 11, and a conveyor belt 3. The drive roller 10 and the driven support rollers 11 are rotatably mounted on the frame assembly A via bearings. The conveyor belt 3 is looped around the outside of the drive roller 10 and the driven support rollers 11. The motor 1 is fixed on the frame assembly A, and its output end is connected to the drive roller 10 for transmission. The motor 1 is electrically connected to the controller 2. The seedling tray 4 is placed on the upper surface of the conveyor belt 3. The conveying mechanism is used to carry and drive the seedling tray 4 to move at a constant speed along a preset path.

[0023] like Figure 5As shown, the roller assembly B consists of a right roller support column 12a, a left roller support column 12b, a right support cylinder 13a, a left support cylinder 13b, a connecting sealing sleeve 14, a roller 15, an air hole 15a, and a variable curvature hole 16. The lower end faces of the right support cylinder 13a and the left support cylinder 13b are welded to the upper end faces of the right roller support column 12a and the left roller support column 12b, respectively. The right support cylinder 13a and the left support cylinder 13b are connected to the left and right ends of the roller 15 through bearings. The connecting sealing sleeve 14 is fitted onto the side of the right support cylinder 13a. The ventilation holes on the surface are fixedly connected to it. The air inlet pipe 19 passes through the through holes on the right support cylinder 13a and the connecting sealing sleeve 14 in sequence. The outer edge of the air inlet pipe 19 is fixedly connected to the inner edge of the connecting sealing sleeve 14. There are n air vents 15a (6≤n≤9) evenly arranged on the roller 15. Each air vent 15a is sealed and fitted with a variable curvature hole 16 to ensure that the negative pressure of air suction can be stably transmitted to the hole and avoid the negative pressure leakage from affecting the filling accuracy. During the rotation of the roller, the variable curvature hole is used to achieve the matching of different seed types for accurate filling.

[0024] like Figures 6 to 9 As shown, the positive pressure device F for the arch crown consists of an arch crown positive pressure chamber 17, a right connecting plate 18a, a left connecting plate 18b, an air inlet pipe 19, a distribution pipe I 20a, a distribution pipe II 20b, a three-way connecting cylinder 21, a double-way connecting cylinder I 22a, a double-way connecting cylinder II 22b, and air nozzles I 23a and II 23b. The air inlet pipe 19, distribution pipe I 20a, and distribution pipe II 20b are connected via the three-way connecting cylinder 21. The air inlet of the air inlet pipe 19 is fitted into the connecting sealing sleeve 14 and fixedly connected. The outlets of distribution pipe I 20a and distribution pipe II 20b are connected to air nozzles I 23a and II 23b respectively via double-way connecting cylinders I 22a and II 22b. Air nozzles I 23a and II 23b are fixedly connected to the arch crown positive pressure chamber 17. When the cylindrical orifice passes through the positive pressure chamber 17 area, the positive pressure airflow inside the chamber assists in the seed detachment from the orifice and prevents debris from adhering. The positive pressure device F is installed at 45° to the vertical direction, so that the positive pressure chamber is located below the front of the roller. The spacing between each row of air holes 15a is l, and there are n air holes 15a in each row (6≤n≤9). The length of the positive pressure chamber is L=nl. The spacing between air nozzles I 23a and II 23b is L / 3. The cross-section of the positive pressure chamber 17 is an air chamber structure composed of a circular arc top and trapezoidal sides. The arc and the sides are tangent and smoothly transition. The sides and the bottom are at 70°. The above shape and angle settings can make the air chamber pressure field distribution more uniform, improve the uniformity of seed cleaning and detachment in different positions, and avoid seed residue or debris adhering to the orifice.

[0025] A coordinate system is established with the tangent of the arc top of the positive pressure chamber 17 at the top of the arch as the X-axis and the Y-axis extending outward from the inside of the cavity as the Y-axis. The radius of the inner wall of the roller is R. The shape of the contour curve of the inner edge of one side of the positive pressure chamber 17 at the top of the arch satisfies the formula g(x): , inx The distance is measured in mm from any point on the X-axis to the intersection of the X-axis and Y-axis (i.e., the origin of the coordinate system).

[0026] like Figures 10 to 12 As shown, the guide tube assembly C consists of a guide tube support rod 24, a guide tube support column I 25a, a guide tube support column II 25b, a camera support rod 26, a camera assembly, and a guide tube group 28. The front side of the guide tube group 28 is fixed to the guide tube support rod 24 via a slot, and the central axis of each guide tube cross-section on the guide tube group 28 is aligned with the circumference of the center of the corresponding column of variable curvature holes 16. The left and right sides of the guide tube support rod 24 and the camera support rod 26 are welded to the left and right sides of the guide tube support columns I 25a and II 25b, respectively. The camera support rod 26 is fixed to the front of the roller 15, with its center on the same horizontal line as the axis of the roller 15. The camera assembly opens towards the rear side of the camera support rod 26 and is parallel to the horizontal ground. The camera assembly includes a camera 27, the shooting end of which faces the area on the roller 15 where the seed filling is completed but has not yet reached the seeding position. The field of view can cover an entire row of variable curvature holes on the roller 15 awaiting seeding. The seed-filling images of the various seed-filling holes 16 can be clearly captured, and the height m of the camera 27 from the upper surface of the guide rail I8 is the same as the vertical distance k of the roller center from the upper surface of the guide rail I8. The guide tube group 28 is composed of seed-filling tubes with different upper and lower openings. The size of the upper guide tube gradually decreases from top to bottom. The long side of the upper opening extends to one side, and the short side is aligned with the center of the lower opening. The short side of the upper opening is the same as the distance l between each row of air holes 15a. The upper guide tube extends to form a gentle slope with an angle of 50° with the horizontal plane. The heights of the upper and lower guide tubes are h1 and h2, respectively, and the two heights satisfy h1:h2=2:3. The back of the lower guide tube has a protruding trapezoidal strip that fits into the slot on the guide tube support rod 24. It receives the seeds from the seed-filling holes and uses the inclined plane to guide the seeds stably into the photoelectric detection area Z below and into the seed tray. This can effectively avoid the seeds bouncing and deviating during the falling process and ensure that the seeds fall accurately into the corresponding holes in the seedling tray.

[0027] like Figures 13 to 15As shown, the photoelectric assembly D consists of photoelectric support column I 29a, photoelectric support column II 29b, photoelectric support rod 30, and n sets of photoelectric sensors 31. The photoelectric support rod 30 is fixed to both ends of the photoelectric support column I 29a and photoelectric support column II 29b. The n sets of photoelectric sensors 31 are located directly below the outlet of the guide tube assembly 28. The upper side of the photoelectric sensor 31 is in contact with the lower side of the guide tube assembly 28. The rear end of the photoelectric sensor assembly 31 is sleeved on the photoelectric support rod 30. Each photoelectric sensor 31 consists of a set of photoelectric transmitter P and photoelectric receiver Q arranged opposite to each other. The detection area Z of each set of photoelectric sensors 31 is coaxially aligned with the outlet of the corresponding guide tube. The detection end of the photoelectric sensor 31 has a detection area Z with a side length of d, and d can cover the entire side length of the photoelectric sensor 31, ensuring that all seeds falling through the guide tube can be accurately detected without omission. The collected data is transmitted to the data processing module E through the Bluetooth module, providing reliable data support for subsequent replay judgment.

[0028] like Figures 16 to 17 As shown, the variable curvature orifice 16 is an integrated deformable elastic material. The elastic modulus of the material is distributed in a stepped manner along the central axis of the suction orifice. The elastic modulus E2 of the outer layer 16a and the elastic modulus E1 of the inner layer 16b of the variable curvature orifice satisfy the relationship: E1>E2. The inner layer 16b of the variable curvature orifice has a porous structure, while the outer layer 16a has a solid structure. Under the action of air suction pressure, the variable curvature orifice forms a controllable deformation region S along the central axis of the suction orifice. By adjusting the air suction pressure of the seed metering device, the shape of the orifice can be changed regularly, making it suitable for different seed types and greatly improving the adaptability of the device to different hybrid rice seeds and the stability of single-seed filling. A coordinate system is established with the intersection of the variable curvature orifice 16 and the roller 15 as the X-axis and the Y-axis extending outward along the central axis of the suction orifice. Under natural conditions, the outer edge contour curve of the variable curvature orifice 16 satisfies the formula f 1(x), the shape of the profile curve at the intersection of the outer layer 16a and the inner layer 16b of the variable curvature hole satisfies the formula f 2(x): The f 1(x) is:

[0029] The f 2(x) is:

[0030] in x The distance from any point on the X-axis to the intersection of the X-axis and the Y-axis (i.e., the origin of the coordinate system) is expressed in mm. f 1(x) and f The setting of 2(x) can satisfy the grain type of most hybrid rice seeds.

[0031] like Figure 18 As shown, the single-seed precision seeding method with missed reseeding detection and handling function disclosed in this invention includes the following steps for missed reseeding detection and handling: the data processing module E has a pre-trained, deep learning-based seeding roller hole leakage-filling identification model, and the controller 2 has a preset critical time threshold for the falling of two seeds during normal single-seed filling. 1. Before operation, construct a seed metering roller leakage and filling identification model: Based on the images captured by camera 27, establish a deep learning-based seed metering roller orifice leakage-filling identification model. Deploy the model to the data processing module E, which can determine the two states of leakage and filling of individual orifices in each column of the seed metering roller and record the orifice position information. 2. The photoelectric sensor group 31 can collect the pulse signal when a seed passes through each seed guide tube in the seed guide tube group 28. When a seed falls into the detection area Z of the photoelectric sensor group 31 through the seed guide tube group 28, the time t when the i-th seed passes through the photoelectric sensor group 31 is recorded according to the pulse signal collected by the photoelectric sensor group 31. i (where i is a positive integer greater than 1), then the time interval Δt between the (i+1)th seed and the ith seed is... i+1 =t i+1 -t i , Δt i+1 The data is input into the data processing module E, based on Δt. i+1 Further analysis indicates whether the seeding is in the form of a single-seed or multiple-seed planting. 3. In actual operation, first start the conveyor belt 3 and the roller assembly B, and place the seedling trays 4 one by one on the conveyor belt 3. When the roller 15 carries the seeds to the camera support rod 26, the camera 27 captures and records the seed filling status of each row of variable curvature orifices 16. The data is then transmitted to the data processing module E, and combined with the constructed leakage-filling identification model, the leakage and filling status of the orifices are judged and the orifice position is located. If the judgment result is a missed seed status, proceed to step 3.1; When the determination state is seeding state, proceed to step 3.2; 3.1: At this point, there are missing seed holes in the seed metering roller. The data processing module E is used to further calculate the position of the missing seed hole in the corresponding seedling tray, and then proceed to step 5. 3.2: At this point, either single-seed filling or multi-seed filling can occur. Based on the equipment structure and operating parameters, the interval t between the falling of two seeds during normal single-seed filling can be determined. 临界 ; When Δt i+1 ≥t 临界 If the seedling tray is determined to be a single-seed sowing operation, proceed to step 6; When Δt < t 临界When it is determined that reseeding holes will appear in the seedling tray, the location of the reseeding holes in the seedling tray is determined based on the time and the location of the acquired signal, and then proceed to step 4; 4. Transmit the information of the seedling tray reseeding holes to the seed removal device G to remove the seeds from the seedling tray reseeding holes, forming new missed seeding holes, and then proceed to step 5; 5. Transmit the information of the missed seeding holes in the seedling tray to the replanting device H, and perform single-seed replanting operation for the empty holes in the seedling tray, then proceed to step 6; 6. Water and cover the seedling trays with soil. The operation is now complete.

[0032] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-seed precision seeding device with a function for handling missed and duplicate seeding, characterized in that, The device includes a frame assembly (A), which is equipped with a conveying mechanism. The conveying mechanism is used to carry and drive the seedling tray (4) to move at a constant speed along a preset path. The frame assembly (A) is provided with a roller assembly (B), a guide cylinder assembly (C), a photoelectric assembly (D), a seed removal device (G), and a replanting device (H) arranged sequentially from back to front along the conveying direction of the seedling tray (4) of the conveying mechanism. The execution ends of the seed removal device (G) and the replanting device (H) are both set directly opposite the holes of the seedling tray (4) on the conveying mechanism. The roller assembly (B) includes a roller (15) rotatably mounted on the frame assembly (A). The roller (15) has several sets of air holes (15a) arranged on its cylinder wall. Each set of air holes (15a) is fitted with a variable curvature hole (16) in a sealed manner. The variable curvature hole (16) is an integrated deformable elastic structure with its elastic modulus distributed in a stepped manner along the central axis of the suction hole. The roller (15) is provided with an arched positive pressure device (F) inside. The arched positive pressure device (F) is relatively fixed to the frame assembly (A) and does not rotate synchronously with the roller (15). The air outlet of the arched positive pressure device (F) is set directly opposite the variable curvature hole (16) of the roller (15) as it rotates to the seeding position. The guide tube assembly (C) is located below the seeding station of the drum (15). The guide tube assembly (C) includes guide tube groups (28) that correspond one-to-one with each set of variable curvature holes (16) on the drum (15). The guide tube groups (28) are used to receive the seeds that have detached from the variable curvature holes (16) and guide them to the seedling tray (4) hole on the conveying mechanism. The photoelectric assembly (D) is located below the outlet of the guide tube assembly (C). The photoelectric assembly (D) includes photoelectric sensor groups (31) that correspond one-to-one with each guide tube in the guide tube assembly (28). The photoelectric sensor groups (31) are used to collect pulse signals when the seeds fall through the guide tubes. The guide tube assembly (C) is also fixed with a camera component. The camera component's shooting end faces the area on the drum (15) where the seed filling is completed but has not yet reached the seeding station, and is used to collect images of the seed filling status of the entire row of variable curvature holes (16) on the drum (15) to be seeded. The frame assembly (A) is also equipped with a data processing module (E) and a controller (2). The data processing module (E) is connected to the camera assembly and the photoelectric sensor group (31) respectively. The controller (2) is connected to the data processing module (E), the conveying mechanism, the roller assembly (B), the seed removal device (G), and the seed replanting device (H) respectively. The data processing module (E) is used to determine the missed seeding and replanting status based on the collected seed filling status image and the seed falling pulse signal, and to locate the corresponding hole position on the seedling tray (4). The controller (2) is used to control the seed removal device (G) and the seed replanting device (H) to perform the seed removal and replanting actions according to the missed seeding and replanting status.

2. The single-seed precision seed metering device according to claim 1, characterized in that, The conveying mechanism includes a motor (1), a drive roller (10), at least one set of driven support rollers (11) and a conveyor belt (3). The drive roller (10) and the driven support rollers (11) are rotatably mounted on the frame assembly (A) through bearings. The conveyor belt (3) is closed-loop sleeved on the outside of the drive roller (10) and the driven support rollers (11). The motor (1) is fixed on the frame assembly (A) and its output end is connected to the drive roller (10) for transmission. The motor (1) is electrically connected to the controller (2). The seedling tray (4) is placed on the upper surface of the conveyor belt (3).

3. The single-seed precision seed metering device according to claim 1, characterized in that, The variable curvature type hole (16) includes an inner layer (16b) and an outer layer (16a). The elastic modulus of the inner layer (16b) is greater than that of the outer layer (16a). The inner layer (16b) is a porous structure, and the outer layer (16a) is a solid structure.

4. The single-seed precision seed metering device according to claim 3, characterized in that, The data processing module establishes a Cartesian coordinate system with the intersection of the variable curvature hole (16) and the roller (15) as the X-axis and the Y-axis extending outward from the central axis of the suction hole. Under natural conditions, the outer edge contour curve of the variable curvature hole (16) satisfies the formula f 1(x), the contour curve at the intersection of the outer layer (16a) and the inner layer (16b) of the variable curvature hole (16) satisfies the formula f 2(x); The f 1(x) is: ， The f 2(x) is: 。 5. The single-seed precision seed metering device according to claim 1, characterized in that, The positive pressure device (F) at the top of the arch includes a positive pressure chamber (17), an air inlet pipe (19), and at least two sets of air nozzles. The air inlet pipe (19) is connected to each set of air nozzles through a distribution pipe. Each set of air nozzles is connected to the inner cavity of the positive pressure chamber (17) at the top of the arch. The cross-section of the positive pressure chamber (17) at the top of the arch is a structure combining a circular arc top and a trapezoidal side. The circular arc top and the trapezoidal side are tangent and smoothly transition. The positive pressure device (F) at the top of the arch is inclined to the vertical direction. The length of the positive pressure chamber (17) at the top of the arch covers the entire range of the variable curvature holes (16) on the roller (15).

6. The single-seed precision seed metering device according to claim 5, characterized in that, The data processing module establishes a planar rectangular coordinate system with the arc tangent of the positive pressure chamber (17) as the X-axis and the Y-axis extending outward from the inside of the cavity. The inner wall radius of the roller (15) is R, and the inner edge contour curve of one side of the positive pressure chamber (17) satisfies the formula g(x): 。 7. The single-seed precision seed metering device according to claim 1, characterized in that, The guide tube assembly (C) also includes a guide tube support rod (24) and a camera support rod (26). The guide tube group (28) is fixed on the guide tube support rod (24). The camera assembly is fixed by the camera support rod (26). The center of the camera support rod (26) is on the same horizontal line as the axis of the roller (15). The shooting end of the camera assembly is set parallel to the horizontal ground. Each guide tube in the guide tube group (28) is a variable diameter structure with different upper and lower opening sizes. The upper opening size of the guide tube is larger than the lower opening size. An extended guide slope is provided on one side of the upper opening of the guide tube.

8. The single-seed precision seed metering device according to claim 1, characterized in that, The photoelectric assembly (D) also includes a photoelectric support rod (30), and each group of photoelectric sensor groups (31) is fixed on the photoelectric support rod (30). Each group of photoelectric sensor groups (31) includes a pair of photoelectric transmitters (P) and photoelectric receivers (Q) arranged opposite to each other. Their detection area (Z) is coaxially aligned with the outlet of the corresponding guide tube and completely covers the outlet range of the guide tube.

9. The single-seed precision seed metering device according to claim 1, characterized in that, The data processing module (E) has a built-in deep learning-based seeding roller hole leakage-filling identification model. The controller (2) has a preset single-seed planting critical time threshold. The controller (2) is configured to: when it receives the re-replanting signal from the data processing module (E), first control the seed removal device (G) to perform seed removal operation on the re-replanting hole, and then control the re-planting device (H) to perform single-seed re-planting operation on the empty hole formed after seed removal.

10. A single-seed precision seeding method with a missed reseeding handling function, applied to the single-seed precision seeding device according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Before the operation, based on the seed filling images of the roller-shaped hole collected by the camera component, a deep learning-based leak-filling identification model is constructed and the model is deployed to the data processing module (E). S2. Start the device and the conveying mechanism drive the seedling tray (4) forward and the roller (15) rotates to carry out the filling and sowing operations; S3. When the roller (15) carries the seeds to the acquisition station of the camera component, the camera component acquires the seed filling status image of each variable curvature hole (16) in the row and transmits it to the data processing module (E). The leak-filling identification model is used to determine the leak or filling status of the variable curvature hole (16) and locate the position of the variable curvature hole (16). S4. If it is determined to be a missed seeding state, the data processing module (E) calculates the position of the missed seeding hole in the corresponding seedling tray (4) and transmits the signal to the controller (2). The controller (2) controls the replanting device (H) to perform replanting operation on the missed seeding hole. S5. If it is determined to be a seed filling state, the seed falls into the detection area (Z) of the photoelectric combination (D) through the guide tube assembly (C). The photoelectric sensor group (31) collects the pulse signal of the falling seed, records the falling time interval of adjacent seeds, and transmits it to the data processing module (E). S6. The data processing module (E) compares the falling time interval with the preset single-seed sowing critical time. If the falling time interval is less than the critical time, it is judged as a re-sowing state. The re-sowing hole position of the corresponding seedling tray (4) is located and the signal is transmitted to the controller (2). The controller (2) first controls the seed removal device (G) to perform seed removal operation on the re-sowing hole to form an empty hole, and then controls the re-sowing device (H) to perform single-seed re-sowing operation on the empty hole. If the falling time interval is greater than or equal to the critical time, it is judged as normal single-seed sowing and no disposal action is performed.

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