A method and system for adaptive control of flat seeding density of cucurbitaceous fruits and vegetables

Abstract

The present application relates to the technical field of agricultural automatic seeding, and particularly relates to a melon family fruit and vegetable flat-disk seeding density self-adaptive control method and system. The method comprises the following steps: obtaining a target seeding density parameter; collecting a unit seeding area image and / or a seed dropping process image of a seedling flat disk; calculating a density deviation according to an actual seed quantity and a target seed quantity, and calculating a seeding quality deviation according to a vacancy area, an overlapping area and strip continuity; determining a current working condition according to the density deviation and the seeding quality deviation; determining a primary responsible execution element, a secondary responsible execution element and a limiting execution element according to the current working condition, performing at least two parameter linkage changes, and generating a linkage adjustment amount according to a preset weight; continuing to collect a seeding result after adjustment and performing closed-loop correction until an actual seeding density enters a target allowable interval; after an abnormal pouring occurs, entering a locking state, and then entering a pre-set recovery process. The method realizes stable seeding density, strip continuity and abnormal protection.

Description

Technical Field

[0001] This invention relates to the field of agricultural automated seeding technology, and in particular to an adaptive control method and system for seeding density of cucurbitaceous fruits and vegetables such as watermelon, cucumber, and melon in seed trays, which is suitable for automatic broadcasting, row sowing, and density control. Background Technology

[0002] In the grafting and seedling cultivation of cucurbitaceous fruits and vegetables, the scion seedlings usually need to form a relatively uniform seed distribution in a flat tray to ensure uniform germination, consistent stem thickness, and facilitate mechanized grafting. Existing automatic flat tray seeding equipment typically includes a roller seed supply mechanism, an inclined seed dropping tray, a vibration dispersing mechanism, and a conveyor belt mechanism, which can replace manual labor to complete a certain degree of continuous sowing.

[0003] However, the following problems still exist in actual use: First, the strip seeding roller usually has multiple seed-collecting grooves or strips, and there are physical barriers between different strips. When the seeds are discharged from the seed outlet, slight intervals are easily formed, resulting in discontinuous seed discharge in local strips. Secondly, if the seed scraping or blocking structure at the bottom of the inclined seed-dropping plate is adjusted manually with a knob, the response speed is slow, and it is difficult to cut off the seed flow in time when encountering major abnormalities such as sudden seed spillage, jamming, or piling of materials. Third, existing control logic mostly adopts a simple single-parameter control method of "increasing seed supply when too sparse and decreasing seed supply when too dense", without distinguishing between the primary and secondary responsible factors of different anomalies, which can easily lead to overshoot, slow response or incorrect adjustment. Fourth, the seeding density is affected not only by the rotation speed of the seed supply roller, but also by the slope of the seed dropping plate, vibration frequency, amplitude, conveyor belt speed, seed scraping opening, seed particle size, friction characteristics, and seeding continuity. Therefore, a multi-parameter collaborative control method needs to be established.

[0004] Therefore, it is necessary to propose an adaptive control method for sowing density that can identify multiple sowing conditions, determine the main control parameters, link the control actuators, and have the ability to stop and cut off seeds in case of abnormal sowing. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned defects in the existing technology and to propose an adaptive control method and system for the seeding density of cucurbitaceous fruits and vegetables in a tray. The method divides the seeding state into multiple working conditions and adopts different primary, secondary and limiting parameter adjustment strategies for different working conditions to achieve stable seeding density, continuous strips and abnormal protection.

[0006] The technical solution of this invention is: an adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables, comprising the following steps: S1. Obtain the target seeding density parameters; S2. Collect images of the seeding area and / or the seeding process of the seedling tray, and identify the actual number of seeds, seed spacing, empty areas, overlapping areas, strip continuity and seeding amount per unit time. S3. Calculate the density deviation based on the actual number of seeds and the target number of seeds, and calculate the sowing quality deviation based on the gaps, overlapping areas and strip continuity. S4. Determine the current working condition based on density deviation and sowing quality deviation; S5. Determine the primary responsible execution element, secondary responsible execution element, and restricted execution element based on the current working conditions, perform at least two parameter linkage changes, and generate linkage adjustment quantities according to preset weights; S6. After adjustment, continue to collect sowing results and perform closed-loop correction until the actual sowing density enters the target allowable range. S7. After an abnormal spill occurs, the system enters a locked state and then proceeds to the pre-set recovery process.

[0007] In this invention, the target sowing density parameters in step S1 include the target number of seeds per unit sowing area, the allowable density range, the allowable gap rate, the allowable overlap rate, and the target strip continuity index. Let the target number of seeds in the unit sowing area be . The actual number of seeds identified within a unit sowing area is Density deviation for: , when The time indicates excessive neglect; when The time indicates excessive density; vacancy rate for: , in, S represents the area of ​​the vacant area, and S represents the area of ​​the unit sowing area. Overlap rate for: , in, The number of seeds identified as stuck together or overlapping; Strip discontinuity rate for: , in, L represents the strip interruption length, and L represents the theoretical continuous strip length.

[0008] In step S2, the seed supply per unit time Estimate using the following formula: , in, This represents the theoretical seed yield per single rotation of the row-seeding roller. The rotational speed of the strip seeding roller. This is a correction factor for seed volume or particle size. For the continuity correction coefficient of the rotating uniform planting brush; The continuity correction factor for the rotating uniform seeding brush is expressed as: , in, The rotational speed of the uniform seed brush, Based on the refresh rate, To smooth out the gain coefficient.

[0009] In step S3, density deviation Calculate according to the following formula: , Sowing quality deviation Calculate according to the following formula: , in, , , , All are weighting coefficients.

[0010] The working conditions described in step S4 include moderate working conditions, slightly sparse working conditions, severely sparse working conditions, slightly dense working conditions, severely dense working conditions, locally intermittent working conditions, and abnormal pouring working conditions. when When both the vacancy rate and overlap rate are below the set threshold, it is judged as a moderate working condition. when At that time, it was determined to be a slightly oversupplied working condition; when At that time, it was determined to be a severe overslack working condition; when At that time, it was determined to be a slightly over-density working condition; when At that time, it was determined to be a case of excessive density. when When the density deviation does not reach the level of severe anomaly but the strip discontinuity rate exceeds the set threshold, it is judged as a local discontinuity condition. An abnormal pouring condition is defined as follows: the amount of seeds falling per unit time exceeds the set multiple of the target amount of seeds falling; image recognition shows continuous large-area overlapping seeds; the seed accumulation height at the lower end of the tilted seeding plate exceeds the threshold; the pressure and displacement near the slide rail baffle are abnormal; the motor load is abnormal; or the speed of the strip seeding roller does not increase but the amount of seeds falling suddenly increases.

[0011] In step S5, Under slightly sparse operating conditions, the primary control element is the rotational speed of the seeding rollers. and the slope of the inclined planting plate The secondary responsibility execution element is the vibration frequency. and rotating uniform brush speed The execution element is restricted to conveyor belt speed. ; Under severe oversparse conditions, the primary execution element is the rotational speed of the strip-seeding rollers. The secondary responsibility execution element is the slope of the inclined plate. and vibration frequency The auxiliary execution element is the flatbed conveying speed. ; Under slightly dense conditions, the primary control element is the rotational speed of the seeding rollers. and the slope of the inclined planting plate The secondary execution elements are the vibration amplitude A and the opening degree h of the sliding rail scraper baffle; the conveyor belt speed remains constant. Under heavy-duty operating conditions, the primary controlling element is the rotational speed of the strip-laying rollers. The position h of the sliding rail type seed scraper baffle, and the secondary responsible execution element is the slope of the inclined seed dropping plate. Vibration frequency f and flat conveyor speed v; Under intermittent operating conditions, the primary actuator is the rotational speed of the uniform brush. The secondary execution element is the rotational speed of the strip-laying roller. and vibration frequency f; The linkage adjustment amount is calculated according to the following formula: , in, Let be the adjustment amount of the i-th parameter; for , , Any one of f, A, h, v; This is the density adjustment coefficient. This is the quality adjustment coefficient. Let g be the density weight of the i-th execution parameter under the current operating condition g. Let be the quality weight of the i-th execution parameter under the current operating condition g.

[0012] In step S6, the adjusted parameters are: , Simultaneously set parameter boundaries: , When the calculation result exceeds the boundary, the boundary value is taken, and an alarm or prompt for manual inspection is triggered.

[0013] To avoid over-adjustment, a dead zone is set: , When the density deviation is within the dead zone, only data is recorded, and no parameter changes are performed.

[0014] In step S7, when an abnormal pouring condition is determined, the strip-seeding roller is prohibited from starting, the vibration component is prohibited from returning to the high-frequency state, and the slide rail baffle remains in the seed-cutting position. The following recovery process then begins: S7.1 Confirm that there is no large accumulation at the bottom of the tilted seed-dropping tray; S7.2 The slide rail baffle returns to the flow-limiting position instead of opening fully; S7.3, The strip-seeding rollers are tested at low speed; S7.4. Run the rotating uniform brush at low speed and observe the continuity of the strips; S7.5 The industrial camera continuously identifies several planting areas and confirms that the density has returned to the allowable range; S7.6 Normal recovery closed-loop control.

[0015] This application also proposes an adaptive control system for implementing the above-mentioned adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables, including: The image acquisition module is used to acquire images of seedling tray sowing and / or seed landing. The density recognition module is used to identify the actual number of seeds, the gap rate, the overlap rate, and the strip discontinuity rate within a unit sowing area; The working condition determination module is used to determine the current working condition based on density deviation and sowing quality deviation; The parameter decision module is used to determine the primary responsible execution element, secondary responsible execution element, and restricted execution element under the current operating conditions. The linkage control module is used to control the rotation speed of the strip seeding roller, the rotation speed of the rotating seeding brush, the slope of the inclined seed dropping plate, the vibration frequency, the amplitude, the position of the sliding rail seed scraper baffle, and the speed of the plate conveying. The emergency stop seed cutting module is used to drive the sliding rail seed scraper baffle to the seed cutting position and stop seed supply in abnormal pouring conditions.

[0016] The beneficial effects of this invention are: (1) By setting a rotating seed uniform brush at the seed outlet of the strip seeding roller, the seeding interval caused by the gap between different seed strips can be reduced, making the seed strip more continuous; (2) By setting the seed scraping device at the bottom of the inclined seed dropping plate as a motor-driven slide rail structure, it can not only accurately adjust the flow restriction opening, but also quickly move to the seed cutting position when the seeds are abnormally poured. (3) By dividing the working conditions into moderate, slightly sparse, heavily sparse, slightly dense, heavily dense, locally intermittent and abnormal pouring, we can avoid misadjustment caused by a single control strategy. (4) By hierarchically controlling the primary, secondary, and limiting elements, the most effective adjustment object can be selected according to the actual problem, thereby improving the adjustment speed and stability; (5) The sowing quality is comprehensively evaluated by density deviation, vacancy rate, overlap rate and strip discontinuity rate, which not only controls the number of seeds, but also controls uniformity and continuity. Attached Figure Description

[0017] Figure 1 This is a flowchart of the method described in this application. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0019] Specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many ways other than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0020] An adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables is described in the flowchart below. Figure 1 As shown.

[0021] This application implements the above-mentioned control method using an automatic seeding device. The automatic seeding device includes a row-seeding roller seed supply mechanism, an inclined seed-discharging plate, a vibration component, an angle adjustment component, a sliding rail seed scraper, a conveyor belt, and an industrial camera. The row-seeding roller seed supply mechanism supplies seeds to the inclined seed-discharging plate; the inclined seed-discharging plate receives and disperses the seeds; the vibration component breaks up seed accumulation and adhesion; the conveyor belt moves the seedling plate; and the industrial camera captures images of the seeding results.

[0022] A rotating seed-leveling brush is installed at the seed outlet of the seed-raising roller. Driven by an independent motor, the brush bristles are made of flexible material, with the bristle tips close to the outer circumference of the seed-raising roller or the lower edge of the seed outlet. When there is a short period of no seed or discontinuous seed output due to interruptions between different seed-collecting strips on the seed-raising roller, the rotating seed-leveling brush, through sweeping, dispersing, and temporary storage and release actions, homogenizes the seed flow at the seed outlet, thereby improving the continuity of the seed strip.

[0023] A motor-driven sliding rail-type seed scraper baffle is installed at the lower part of the inclined seed-discharging plate. The sliding rail-type seed scraper baffle can move along a straight rail to form positions such as fully open, flow-limited, half-flow-intercepted, and seed-cutting. During normal sowing, the baffle is in the fully open or slightly flow-limited state to scrape the seed layer and stabilize the seed-discharging thickness; when sowing is too dense, the baffle moves in the flow-limiting direction; when seed spillage occurs, the baffle quickly moves to the seed-cutting position to block the downward flow of seeds from the inclined plate.

[0024] The control method described in this application specifically includes the following steps.

[0025] The first step is to obtain the target sowing density parameters, including the target number of seeds per unit sowing area, the allowable density range, the allowable gap rate, the allowable overlap rate, and the target strip continuity index.

[0026] Let the target number of seeds in the unit sowing area be . The actual number of seeds identified within a unit sowing area is Density deviation for: , when The time indicates excessive neglect; when The time indicates excessive density.

[0027] vacancy rate for: , in, S represents the area of ​​the vacant area, and S represents the area of ​​the unit sowing area.

[0028] Overlap rate for: , in, The number of seeds identified as stuck or overlapping.

[0029] Strip discontinuity rate for: , in, L represents the strip interruption length, and L represents the theoretical continuous strip length.

[0030] The second step is to collect images of the seeding area and / or the seeding process on the seedling tray, and identify the actual number of seeds, seed spacing, empty areas, overlapping areas, strip continuity, and the amount of seeds dropped per unit time.

[0031] Seed supply per unit time Estimate using the following formula: , in, This represents the theoretical seed yield per single rotation of the row-seeding roller. The rotational speed of the strip seeding roller. This is a correction factor for seed volume or particle size. This is the continuity correction coefficient for the rotating uniform planting brush.

[0032] The continuity correction factor for the rotating uniform seeding brush can be expressed as: , in, The rotational speed of the uniform seed brush, Based on the refresh rate, To smooth out the gain coefficient.

[0033] When the band discontinuity rate When the temperature rises, the controller prioritizes raising the temperature. To improve continuity; when Under normal circumstances, the rotating seeding brush should be kept at a low speed or the reference speed to avoid excessive disturbance to the seed output.

[0034] The third step is to calculate the density deviation based on the actual number of seeds and the target number of seeds, and to calculate the sowing quality deviation based on the gaps, overlapping areas, and strip continuity.

[0035] density deviation Calculate according to the following formula: , Sowing quality deviation Calculate according to the following formula: , in, , , , The weighting coefficient can be determined based on different seed varieties such as watermelon, cucumber, and melon.

[0036] The fourth step is to determine the current working condition based on the density deviation and the sowing quality deviation. The working condition includes at least moderate working condition, slightly sparse working condition, severely sparse working condition, slightly over-dense working condition, severely over-dense working condition, locally intermittent working condition, and abnormal pouring working condition.

[0037] when When both the vacancy rate and overlap rate are below the set threshold, it is judged as a moderate working condition. when When the condition is slightly sparse, it is mainly characterized by slightly fewer seeds per unit area, but without obvious broken strips or equipment abnormalities.

[0038] when When the condition is determined to be a severe oversparse working condition, it is mainly manifested as insufficient seeds in multiple consecutive unit areas, which may be caused by insufficient seed supply, insufficient seed picking by rollers, low throughput of flat trays, or excessive speed of conveyor belt.

[0039] when When the density is slightly too high, it is mainly characterized by a slightly higher number of seeds per unit area, but no obvious accumulation or large-area overlap.

[0040] when When the condition is determined to be an excessively dense working condition, it is mainly characterized by continuous excessive density and increased seed overlap rate, which may be caused by excessive seed supply, excessive vibration, excessive slope or excessive baffle opening.

[0041] when When the density deviation does not reach the level of severe abnormality but the strip discontinuity rate exceeds the set threshold, it is judged as a local discontinuous working condition. This is mainly manifested as the total seed quantity being close to the target, but the strips being partially broken or discontinuous. This is usually caused by the separation between different seed-taking strips of the strip-seeding roller, short-term retention of seeds at the seed outlet, or seed flow pulsation.

[0042] An abnormal pouring condition is identified when the amount of seeds falling per unit time suddenly increases, image recognition shows continuous large-area overlapping seeds, the seed accumulation height at the lower end of the tilted seeding plate exceeds the threshold, the pressure and displacement near the slide rail baffle are abnormal, the motor load is abnormal, or the seeding roller speed does not increase but the amount of seeds falling suddenly increases.

[0043] The fifth step is to determine the primary responsible execution element, secondary responsible execution element, and limiting execution element based on the current working conditions, and control at least two parameters among the following: the rotation speed of the strip seeding roller, the rotation speed of the rotating seeding brush, the slope of the inclined seed dropping plate, the vibration frequency, the amplitude, the position of the motor-driven sliding rail seed scraper baffle, and the speed of the plate conveying, and generate linkage adjustment amounts according to preset weights.

[0044] Seed throughput of tilted seed dropping tray for: , in, The slope angle of the inclined seed-dropping plate; The vibration frequency; The amplitude; The blocking amount or flow-limiting height of the sliding rail type seed scraper baffle; , , , , These are calibration coefficients.

[0045] Generally, increasing the slope It will increase the seed's descent speed and pass rate; increase the vibration frequency. It helps to break up local accumulation; increases amplitude. It will enhance dispersion, but if too large, it may cause bouncing and overlapping; increase the amount of baffle occlusion. It will lower the pass rate.

[0046] Predicted sowing density per unit sowing area It can be represented as: , Where v is the conveyor belt speed; M is the conversion factor for the unit sowing area, which is related to the hole spacing of the seedling tray, the size of the earthwork area, and the sowing width.

[0047] Therefore, we can conclude that: increasing the rotation speed of the row seeding roller will increase the seeding density; increasing the slope of the inclined plate will usually increase the seed drop rate; appropriately increasing the vibration frequency can improve dispersion and drop rate; increasing the amount of obstruction by the slide rail baffle will reduce the amount of seed drop; increasing the conveyor belt speed will reduce the seeding density per unit area; and decreasing the conveyor belt speed will increase the seeding density per unit area.

[0048] Under slightly slack operating conditions, the primary actuator is the rotational speed of the strip-laying roller. and the slope of the inclined planting plate The secondary responsibility execution element is the vibration frequency. and rotating uniform brush speed The execution element is restricted to conveyor belt speed. Under this condition, moderately increase the rotation speed of the seeding roller to increase the seed supply; moderately increase the slope of the inclined seed dropping plate to improve the seed throughput; at the same time, slightly increase the vibration frequency to make the seeds slide down more stably; if accompanied by slight intermittent movement, slightly increase the rotation speed of the rotating seed leveling brush; keep the conveyor belt speed unchanged or make only minor adjustments to avoid affecting the overall machine cycle time.

[0049] Under heavy and excessively sparse operating conditions, the primary controlling element is the rotational speed of the strip-laying rollers. The secondary responsibility execution element is the slope of the inclined plate. and vibration frequency The auxiliary execution element is the flatbed conveying speed. Under this condition, the rotational speed of the seeding rollers should be significantly increased; the slope of the inclined seed-dropping tray should be increased; the vibration frequency should be increased, but the amplitude should not be increased excessively to avoid seed jumping; and the conveyor belt speed should be reduced when the seeding density in several consecutive units is still below the target density; at the same time, the remaining amount in the seed storage box, roller jamming, and seed outlet blockage should be detected.

[0050] Under slightly dense operating conditions, the primary actuator is the rotational speed of the strip-laying rollers. and the slope of the inclined planting plate The secondary execution elements are the vibration amplitude A and the opening h of the sliding rail seed scraper baffle. Under this condition, the rotational speed of the seeding roller is reduced; the slope of the inclined seed dropping plate is reduced to decrease the throughput; the vibration amplitude is reduced to reduce the rapid drop of seeds; and the sliding rail seed scraper baffle is moved in the direction of flow restriction to reduce the amount of seeds dropped per unit time; the conveyor belt speed is usually kept constant.

[0051] Under heavy and dense operating conditions, the primary actuator is the rotational speed of the strip-laying roller. The position h of the sliding rail type seed scraper baffle, and the secondary responsible execution element is the slope of the inclined seed dropping plate. The vibration frequency f and the flatbed conveying speed v are controlled. Under this condition, the rotational speed of the seeding roller is quickly reduced; the sliding rail seed scraper is moved to a half-cutoff or flow-limiting position; the slope of the inclined seed-dropping flatbed is reduced; the vibration frequency is reduced, and the flatbed conveying speed is increased or seeding is paused for cleaning when the seeding density is too high; if the overlap rate exceeds the limit threshold, the system enters a pause inspection state.

[0052] Under intermittent operating conditions, the primary actuator is the rotational speed of the uniform brush. The secondary execution element is the rotational speed of the strip-laying roller. And vibration frequency f. Under this condition, increase or periodically adjust the rotation speed of the seed uniform brush to smooth out the intermittent seed output caused by the gaps between different strips of the seeding roller; make slight compensation to the rotation speed and vibration frequency of the seeding roller; slightly increase the vibration frequency to ensure that the seeds entering the inclined plate are dispersed in time; if the intermittent condition persists, it indicates that the seed picking groove, seed outlet and brush bristle wear of the roller should be checked.

[0053] The central controller executes emergency stop logic, including: (1) Stop the drive motor of the strip seeding roller; (2) Drive the sliding rail type seed scraper baffle to move to the seed cutting position at the maximum safe speed; (3) Reduce or stop the output of the vibration component; (4) Suspend the flatbed conveyor mechanism; (5) Output alarm signal; (6) Record the rotation speed of the strip seeding roller, the slope of the inclined seed dropping plate, the vibration frequency, the amplitude, the position of the seed scraping baffle and the image recognition results before and after the abnormality, for fault tracing and parameter recovery.

[0054] The linkage adjustment amount is calculated according to the following formula: , in, Let be the adjustment amount of the i-th parameter; It can be , , Any one of f, A, h, v; This is the density adjustment coefficient. This is the quality adjustment coefficient. Let g be the density weight of the i-th execution parameter under the current operating condition g. Let be the quality weight of the i-th execution parameter under the current operating condition g.

[0055] The sixth step is to continue collecting sowing results and performing closed-loop correction after adjustment until the actual sowing density enters the target allowable range.

[0056] The adjusted parameters are: , Simultaneously set parameter boundaries: , When the calculation result exceeds the boundary, the boundary value is taken, and an alarm or prompt for manual inspection is triggered.

[0057] To avoid over-adjustment, a dead zone is set: , When the density deviation is within the dead zone, only data is recorded, and no parameter changes are performed.

[0058] Step 7: When an abnormal spillage condition is determined, stop the seed supply of the strip seeding roller, reduce or stop the output of the vibration component, stop or slow down the flat plate conveying mechanism, and drive the motor to move the sliding rail seed scraper to the seed cutting position to stop the seeds on the inclined seed dropping plate from falling further.

[0059] After an abnormal spill occurs, the system enters a locked state. In the locked state, the seeding rollers are prohibited from starting, the vibration components are prohibited from returning to high frequency, and the guide rail baffles remain in the seed-cutting position. The following recovery process then begins: (1) Confirm that there is no large accumulation at the bottom of the tilted seed-dropping plate; (2) The slide rail baffle returns to the flow-limiting position instead of opening fully directly; (3) The strip-seeding rollers were tested at low speed; (4) Rotate the uniform seeding brush at low speed and observe the continuity of the strips; (5) The industrial camera continuously identifies several units of sowing area and confirms that the density has returned to the allowable range; (6) Normal recovery of closed-loop control.

[0060] This application also discloses an adaptive control system for tray sowing density of cucurbitaceous fruits and vegetables, including: The image acquisition module is used to acquire images of seedling trays sowing and / or seed landing.

[0061] The density recognition module is used to identify the actual number of seeds, vacancy rate, overlap rate, and strip discontinuity rate within a unit sowing area.

[0062] The working condition determination module is used to determine the current working condition based on density deviation and sowing quality deviation.

[0063] The parameter decision module is used to determine the primary responsible execution element, secondary responsible execution element, and restricted execution element under the current working condition.

[0064] The linkage control module is used to control the rotation speed of the strip seeding roller, the rotation speed of the rotating seeding brush, the slope of the inclined seed dropping plate, the vibration frequency, the amplitude, the position of the sliding rail seed scraper baffle, and the speed of the plate conveying.

[0065] The emergency stop seed cutting module is used to drive the sliding rail seed scraper baffle to the seed cutting position and stop seed supply in abnormal pouring conditions.

[0066] The above provides a detailed description of the adaptive control method and system for tray sowing density of cucurbitaceous fruits and vegetables provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from the principles of this invention, and these improvements and modifications also fall within the protection scope of the claims of this invention. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this 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 method for adaptive control of tray sowing density for cucurbitaceous fruits and vegetables, characterized in that, Includes the following steps: S1. Obtain the target seeding density parameters; S2. Collect images of the seeding area and / or the seeding process of the seedling tray, and identify the actual number of seeds, seed spacing, empty areas, overlapping areas, strip continuity and seeding amount per unit time. S3. Calculate the density deviation based on the actual number of seeds and the target number of seeds, and calculate the sowing quality deviation based on the gaps, overlapping areas and strip continuity. S4. Determine the current working condition based on density deviation and sowing quality deviation; S5. Determine the primary responsible execution element, secondary responsible execution element, and restricted execution element based on the current working conditions, perform at least two parameter linkage changes, and generate linkage adjustment quantities according to preset weights; S6. After adjustment, continue to collect sowing results and perform closed-loop correction until the actual sowing density enters the target allowable range. S7. After an abnormal spill occurs, the system enters a locked state and then proceeds to the pre-set recovery process.

2. The adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables according to claim 1, characterized in that, The target seeding density parameters in step S1 include the target number of seeds per unit seeding area, the allowable density range, the allowable gap rate, the allowable overlap rate, and the target strip continuity index. Let the target number of seeds in the unit sowing area be . The actual number of seeds identified within a unit sowing area is Density deviation for: ， when The time indicates excessive neglect; when The time indicates excessive density; vacancy rate for: ， in, S represents the area of ​​the vacant area, and S represents the area of ​​the unit sowing area. Overlap rate for: ， in, The number of seeds identified as stuck together or overlapping; Strip discontinuity rate for: ， in, L represents the strip interruption length, and L represents the theoretical continuous strip length.

3. The adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables according to claim 1, characterized in that, In step S2, the seed supply per unit time Estimate using the following formula: ， in, This represents the theoretical seed yield per single rotation of the row-seeding roller. The rotational speed of the strip seeding roller. This is a correction factor for seed volume or particle size. For the continuity correction coefficient of the rotating uniform planting brush; The continuity correction factor for the rotating uniform seeding brush is expressed as: ， in, The rotational speed of the uniform seed brush, Based on the refresh rate, To smooth out the gain coefficient.

4. The adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables according to claim 1, characterized in that, In step S3, density deviation Calculate according to the following formula: ， Sowing quality deviation Calculate according to the following formula: ， in, , , , All are weighting coefficients.

5. The adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables according to claim 1, characterized in that, The working conditions described in step S4 include moderate working conditions, slightly sparse working conditions, severely sparse working conditions, slightly dense working conditions, severely dense working conditions, locally intermittent working conditions, and abnormal pouring working conditions. when When both the vacancy rate and overlap rate are below the set threshold, it is judged as a moderate working condition; when At that time, it was determined to be a slightly oversupplied working condition; when At that time, it was determined to be a severe overslack working condition; when At that time, it was determined to be a slightly over-density working condition; when At that time, it was determined to be a case of excessive density. when When the density deviation does not reach the level of severe anomaly but the strip discontinuity rate exceeds the set threshold, it is judged as a local discontinuity condition. An abnormal pouring condition is defined as follows: the amount of seeds falling per unit time exceeds the set multiple of the target amount of seeds falling; image recognition shows continuous large-area overlapping seeds; the seed accumulation height at the lower end of the tilted seeding plate exceeds the threshold; the pressure and displacement near the slide rail baffle are abnormal; the motor load is abnormal; or the speed of the strip seeding roller does not increase but the amount of seeds falling suddenly increases.

6. The adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables according to claim 1, characterized in that, In step S5, Under slightly sparse operating conditions, the primary control element is the rotational speed of the seeding rollers. and the slope of the inclined planting plate The secondary responsibility execution element is the vibration frequency. and rotating uniform brush speed The execution element is restricted to conveyor belt speed. ; Under severe oversparse conditions, the primary execution element is the rotational speed of the strip-seeding rollers. The secondary responsibility execution element is the slope of the inclined plate. and vibration frequency The auxiliary execution element is the flatbed conveying speed. ; Under slightly dense conditions, the primary control element is the rotational speed of the seeding rollers. and the slope of the inclined planting plate The secondary execution elements are the vibration amplitude A and the opening degree h of the sliding rail scraper baffle; the conveyor belt speed remains constant. Under heavy-duty operating conditions, the primary controlling element is the rotational speed of the strip-laying rollers. The position h of the sliding rail type seed scraper baffle, and the secondary responsible execution element is the slope of the inclined seed dropping plate. Vibration frequency f and flat conveyor speed v; Under intermittent operating conditions, the primary actuator is the rotational speed of the uniform brush. The secondary execution element is the rotational speed of the strip-laying roller. and vibration frequency f; The linkage adjustment amount is calculated according to the following formula: ， in, Let be the adjustment amount of the i-th parameter; for , , Any one of f, A, h, v; This is the density adjustment coefficient. This is the quality adjustment coefficient. Let g be the density weight of the i-th execution parameter under the current operating condition g. Let be the quality weight of the i-th execution parameter under the current operating condition g.

7. The adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables according to claim 1, characterized in that, In step S6, the adjusted parameters are: ， Simultaneously set parameter boundaries: ， When the calculation result exceeds the boundary, the boundary value is taken, and an alarm is triggered or a manual inspection is prompted. To avoid over-adjustment, a dead zone is set: ， When the density deviation is within the dead zone, only data is recorded, and no parameter changes are performed.

8. The adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables according to claim 1, characterized in that, In step S7, when an abnormal pouring condition is determined, the strip-seeding roller is prohibited from starting, the vibration component is prohibited from returning to the high-frequency state, and the slide rail baffle remains in the seed-cutting position. The following recovery process then begins: S7.1 Confirm that there is no large accumulation at the bottom of the tilted seed-dropping tray; S7.2 The slide rail baffle returns to the flow-limiting position instead of opening fully; S7.3, The strip-seeding rollers are tested at low speed; S7.

4. Run the rotating uniform brush at low speed and observe the continuity of the strips; S7.5 The industrial camera continuously identifies several planting areas and confirms that the density has returned to the allowable range; S7.6 Normal recovery closed-loop control.

9. An adaptive control system for implementing the adaptive control method for tray sowing density of cucurbitaceous fruits and vegetables as described in any one of claims 1-7, characterized in that, include: The image acquisition module is used to acquire images of seedling tray sowing and / or seed landing. The density recognition module is used to identify the actual number of seeds, the gap rate, the overlap rate, and the strip discontinuity rate within a unit sowing area; The working condition determination module is used to determine the current working condition based on density deviation and sowing quality deviation; The parameter decision module is used to determine the primary responsible execution element, secondary responsible execution element, and restricted execution element under the current operating conditions. The linkage control module is used to control the rotation speed of the strip seeding roller, the rotation speed of the rotating seeding brush, the slope of the inclined seed dropping plate, the vibration frequency, the amplitude, the position of the sliding rail seed scraper baffle, and the speed of the plate conveying. The emergency stop seed cutting module is used to drive the sliding rail seed scraper baffle to the seed cutting position and stop seed supply in abnormal pouring conditions.

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