A method and system for detecting seeding by infrared light intensity adaptive regulation

Abstract

The application provides a seeding detection method and system with infrared light intensity self-adaptive adjustment, and mainly relates to the field of agriculture. In the commonly used detection method, only the number of seeds falling in the seeding process is detected, and the pollution caused by the special working environment of farmland to the target surface of the detection device during emission and / or reception is not considered. The detection method provided by the application comprises obtaining a first voltage value output by a receiving end, and in response to the first voltage value being less than a first threshold range, adjusting the driving current of the emitting end to a first current value. According to the light intensity of the detection light beam received by the receiving end, the application self-adaptively adjusts the emitting light intensity, so as to ensure the accuracy in the measurement process, reduce the measurement error, and improve the accuracy and stability of the detection device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agriculture, more particularly, to a seeding detection method and system with infrared light intensity adaptive adjustment. BACKGROUND

[0002] With the increasing degree of automation of agriculture, the intelligence of plowing, planting, management and harvesting is also changing rapidly. As a key link, the intelligence of "planting" is particularly important. Artificial sowing is converted to mechanical sowing of seeding machines. In the seeding machine, the seeding detection function is an important part of modern agricultural technology. The number of seeds in the operation process needs to be counted, so as to further accurately control and adjust the number of seeds in the subsequent seeding process, ensure the uniformity and efficiency of crop planting, and achieve the purpose of scientific seeding.

[0003] In the current conventional seeding detection scheme, the falling seeds are generally detected by infrared transmission technology. However, due to the special working environment in the field, there are problems such as wind and sand, mud splashing, etc. The target surface of the emission end or receiving end of the infrared transmission is polluted during the operation process, thereby forcing the detection terminal or causing a large error to the detection, affecting the detection accuracy, and thus affecting the falling seed spacing and the growth of subsequent plants.

[0004] Therefore, how to provide a seeding detection method with high accuracy in the agricultural working environment is an urgent technical problem to be solved. SUMMARY

[0005] The present application provides a seeding detection method and system with infrared light intensity adaptive adjustment. In the agricultural working environment, the emission end can adaptively adjust the emission light intensity according to the cleanliness of the target surface of the receiving end, so as to ensure the accuracy in the measurement process, reduce the measurement error, and ensure the accurate and stability of the falling seed spacing.

[0006] In a first aspect, an infrared light intensity self-adaptive adjustment seeding detection method is provided. The method is applied to a seeding detection device for detecting the number of seeds dropped by a seeding machine during seeding. The seeding detection device comprises a transmitting end and a receiving end. The transmitting end is configured to emit an infrared detection beam, and the receiving end is configured to receive the infrared detection beam and convert the light intensity signal of the received infrared detection beam into a voltage signal. The detection method comprises obtaining a first voltage value output by the receiving end at a first time, the first time being when an agricultural machine carrying the seeding machine turns at the edge of a seeding area. The detection method further comprises adjusting the driving current of the transmitting end to a first current value in response to the first voltage value being less than the minimum value of a first threshold range. The first current value is greater than a second current value, and the second current value is the value of the driving current of the transmitting end at the first time. A second voltage value output by the receiving end at a second time is obtained, and the second voltage value belongs to the first threshold range. The value of the driving current of the transmitting end at the second time is the first current value. The second time is separated from the first time by a first time length, and the first time length is less than the time length required for the agricultural machine to turn.

[0007] Based on the technical solution, the seeding detection device of the seeding machine is calibrated for light intensity before the agricultural machine turns at the edge of the seeding area for the next row of seeding. If the voltage signal output by the receiving end is detected to be lower than the threshold range at the turning time, the current of the transmitting end is adjusted so that the voltage signal output by the receiving end is within the threshold range. The present application self-adaptively adjusts the exit light intensity of the transmitting end of the seeding detection device so that the light intensity of the receiving end is within the calibrated threshold range, avoiding the inaccuracy of detection caused by the weak light intensity signal received by the receiving end. In particular, during the operation process, the special geographical environment in the field can cause the soil to be soft, and the target surface of the transmitting end and the receiving end can easily fall dust, which can interfere with the light intensity signal received by the receiving end. When the degree of pollution of the target surface is relatively low, compared with cleaning the target surface, adjusting the exit light intensity of the transmitting end is faster and does not require additional manual operation. Further, the present application detects and adjusts the seeding detection device during the turning of the agricultural machine, which does not affect the current seeding and is beneficial to the accuracy of subsequent seeding. By self-adaptively adjusting during the gap when the seeding device pauses seeding, the overall seeding progress is not affected, and the efficiency of seeding is improved.

[0008] In some implementations of the first aspect, the method further includes obtaining a third voltage value output by the receiving end at a third time and a fourth voltage value output by the receiving end at a fourth time. The third time and the fourth time are times when the seeding machine is performing a seeding operation, and the third time and the fourth time are adjacent times. In response to the third voltage value and the fourth voltage value both being less than the minimum value of the first threshold range, the first indication information is sent. The first indication information is used to indicate that the target surface of the transmitting end and / or the receiving end needs to be cleaned. The second time length is obtained, and a fifth voltage value output by the receiving end at a fifth time is obtained. The fifth voltage value belongs to the first threshold range. The second time length is greater than the time length required for cleaning the target surface. The fifth time is separated from the fourth time by the second time length.

[0009] Based on the technical solution, in addition to the light intensity of the transmitting end being automatically calibrated when the agricultural machine drives to the seeding edge, if a large amount of mud splashes or it is raining during the seeding process, the target surface of the transmitting end and / or the receiving end of the seeding detection device is seriously contaminated during the seeding operation, which triggers the cleaning device to clean the target surface, and the light intensity is calibrated again after cleaning. If the light intensity signal received by the receiving end continuously falls below the standard range during the continuous seeding operation of the seeding device, that is, the output light intensity of the receiving end continuously falls below the threshold range, it is considered that the target surface is seriously contaminated. The indication information is sent to the cleaning device to indicate that the target surface needs to be cleaned. The light intensity of the transmitting end is calibrated again after cleaning. In addition to automatically performing adaptive calibration of the light intensity after each row of seeding, the target surface is also cleaned if the target surface is seriously contaminated during the seeding process, which further ensures the accuracy of the seeding detection during the seeding process.

[0010] In some implementations of the first aspect, the method further includes sending a first pulse width modulation (PWM) signal to the transmitting end at a first time, and sending a second PWM signal to the transmitting end at a second time. The duty cycle of the first PWM signal is less than the duty cycle of the second PWM signal.

[0011] Based on the technical solution, by controlling the duty cycle of the PWM signal sent to the transmitting end of the detection device, the driving current of the transmitting end is adjusted, and the outgoing light intensity is adjusted. By adjusting the duty cycle, more fine adjustment of the outgoing light intensity can be achieved, so as to offset the influence caused by the dust pollution of the target surface.

[0012] In some implementations of the first aspect, the first time length and / or the second time length are greater than a third time length. The third time length includes a time length required for the current of the transmitting end to reach stability again after the transmitting end receives the second PWM signal.

[0013] Based on the technical solution, the adjustment of the driving current is not instantaneous by adjusting the duty cycle of the PWM signal. In actual tests, after changing the duty cycle of the PWM signal of the emission end, the driving current of the emission end changes and basically stabilizes at 4ms. In the seeding detection device provided in the application, the third time length of the test is 4ms. The time interval of the stable outgoing light intensity is short, so that the process of calibration and adjustment can be more sensitive and rapid, and the time required for adaptive calibration is shortened.

[0014] In combination with the first aspect, in some implementations of the first aspect, the time interval between the third time and the fourth time is negatively related to the driving speed of the agricultural machine.

[0015] Based on the technical solution, during the driving and seeding process of the agricultural machine, if the continuously measured voltages of the receiving end are continuously lower than the standard threshold range, it is considered that the target surface of the seeding detection device is seriously contaminated and needs to be cleaned. The time interval between the two continuous time points is negatively related to the driving speed of the agricultural machine. That is, the faster the agricultural machine drives, the shorter the time interval between the two continuous time points; the slower the agricultural machine drives, the longer the time interval between the two continuous time points. According to the setting of the time interval between the two continuous time points according to the vehicle speed, the contamination of the target surface can be more accurately monitored during the driving process of the agricultural machine.

[0016] In combination with the first aspect, in some implementations of the first aspect, the first voltage value is obtained in response to the seeder rising and stopping seeding.

[0017] Based on the technical solution, when the agricultural machine drives to the edge of the seeding area and stops seeding, the implement is lifted, at which time the seeder stops seeding and automatically triggers the light intensity adaptive calibration of the seeding detection device. According to the operation process of the agricultural machine during seeding, the application designs an automatic triggering adjustment mechanism, so that the operation personnel do not need to perform additional operations to complete the light intensity adaptive adjustment of the seeding detection device, and the accuracy and stability of seeding are further ensured.

[0018] The second aspect provides a seeding detection device. The seeding detection device is used for detecting the number of seeds dropped by the seeder during seeding. The detection device comprises an emission end, a receiving end and a control device. The emission end is used for emitting an infrared detection beam, the receiving end is used for receiving the infrared detection beam and converting the light intensity signal of the received infrared detection beam into a voltage signal. The control device is used for sending a modulation signal to the emission end, and the control device is also used for receiving the voltage signal from the receiving end. The control device is also used for executing the seeding detection method of any implementation manner of the first aspect.

[0019] With reference to the second aspect, in some implementations of the second aspect, the seeding detection device further comprises a cleaning device. The cleaning device is configured to receive the first indication information and clean the target surface of the emitting end and / or the receiving end.

[0020] With reference to the second aspect, in some implementations of the second aspect, the cleaning device comprises a spraying device, a rotating motor and a rubber wiper. The spraying device is configured to spray cleaning liquid to the target surface of the emitting end and / or the receiving end, and the rotating motor is configured to drive the rubber wiper to clean the target surface.

[0021] The third aspect provides a seeding machine. The seeding machine comprises a seed tank, a guide tube and the seeding detection device of any implementation of the second aspect. The seed tank is configured to contain seeds. The guide tube is connected to a seed outlet of the seed tank, and an outlet of the guide tube faces the ground. The guide tube is configured to seed the seeds into the soil. The seeding detection device is configured to perform the seeding detection method of any implementation of the first aspect. The seeding detection device is configured to detect the number of seeds seeded via the guide tube.

[0022] The fourth aspect provides a control device. The control device comprises a processor. The processor is configured to cause the control device to perform the seeding detection method of any implementation of the first aspect by executing computer programs or instructions, or by a logic circuit.

[0023] The fifth aspect provides a chip system. The chip system comprises a processor, a memory and an input / output port. The memory is configured to store computer programs; and the processor is configured to execute the computer programs stored in the memory, so that the processor performs the seeding detection method of any implementation of the first aspect.

[0024] It should be understood that the advantages of the second aspect to the fifth aspect described above can refer to the first aspect and any possible implementation thereof, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 A schematic structural block diagram of a seeding machine 100 is shown.

[0026] Figure 2 A schematic cross-sectional view of a seeding detection device 200 in a guide tube 101 is shown.

[0027] Figure 3 A schematic signal waveform diagram detected by the seeding detection device 200 is shown.

[0028] Figure 4 A schematic flow chart of an infrared light intensity self-adaptive adjustment seeding detection method 400 is shown.

[0029] Figure 5 Fig. 6 shows a circuit structure schematic diagram of a seeding detection device 200 provided by an embodiment of the present application.

[0030] Figure 6 Fig. 7 is a schematic diagram of a control device provided by an embodiment of the present application.

[0031] Figure 7 Fig. 8 is a schematic diagram of a control device provided by another embodiment of the present application.

[0032] Figure 8 Fig. 9 shows a schematic structure block diagram of another seeding machine 500 provided by an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described below with reference to the drawings.

[0034] The terms used in the embodiment part of the present application are only used for explaining the specific embodiments of the present application, and are not intended to limit the present application.

[0035] In the present application, the terms “first”, “second”, “third” and the like are used to distinguish the same items or similar items with basically the same function and action, and it should be understood that there is no logical or time sequence dependency between “first”, “second” and “third”, and the quantity and execution order are not limited.

[0036] In the embodiments of the present application, the words “example”, “for example” and the like are used to represent as an example, illustration or description. Any embodiment or design scheme described as “example” in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word “example” is intended to present the concept in a specific manner.

[0037] In the present specification, the reference to “one embodiment” or “some embodiments” and the like means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements “in one embodiment”, “in some embodiments”, “in other some embodiments”, “in yet some embodiments” and the like appearing in different places in the present specification are not necessarily all referring to the same embodiment, but mean “one or more but not all embodiments”, unless otherwise specifically emphasized. The terms “include”, “contain”, “have” and their variants mean “including but not limited to”, unless otherwise specifically emphasized.

[0038] In the present application, “at least one” means one or more, and “multiple” means two or more than two.

[0039] It should be understood that the specific examples herein are only to help those skilled in the art better understand the embodiments of the present application, and not to limit the scope of the embodiments of the present application.

[0040] It should also be understood that the various embodiments described in the specification can be implemented alone or in combination, and the embodiments of the present application do not limit this.

[0041] Unless otherwise specified, all technical and scientific terms used in the embodiments of the present application have the same meanings as understood by those skilled in the art in the technical field of the present application. The terms used in the present application are only for the purpose of describing the specific embodiments and are not intended to limit the scope of the present application. The term "and / or" used in the present application includes any and all combinations of one or more related listed terms.

[0042] With the increasing degree of automation of agriculture, the intelligence of plowing, planting, management and harvesting is also changing with each passing day. As a key link, the intelligence of "planting" is particularly important. Manual sowing is converted to mechanical sowing by a seeding machine. In the seeding machine, the seeding detection function is an important part of modern agricultural technology. The number of seeds in the operation process needs to be counted, so that the number of seeds in the subsequent seeding process can be further accurately controlled and adjusted, to ensure the uniformity and efficiency of crop planting, and to achieve the purpose of scientific seeding.

[0043] In the current conventional seeding detection scheme, the falling seeds are generally detected by infrared transmission technology. However, due to the special working environment in the field, there are problems such as wind and sand, mud splashing, etc. The target surface of the transmitting end or receiving end of the infrared transmission is polluted during the operation process, thereby forcing the detection terminal or causing a large error in detection, affecting the detection accuracy, and thus affecting the falling seed spacing and the growth of subsequent plants.

[0044] Therefore, how to provide a seeding detection method with high accuracy in the agricultural working environment is a technical problem to be solved.

[0045] Based on this, the present application provides a seeding detection method and system with infrared light intensity self-adaptive adjustment. The method and system provided by the present application can self-adaptively adjust the light intensity according to the pollution caused by the working environment to the target surface, so as to ensure the accuracy of the seeding detection, and thus further ensure the uniformity and consistency of the seeding machine under different working speeds; thereby improving the seeding quality and growth effect of crops, and improving the yield and harvest.

[0046] The seeding detection method and system involved in the present application can be applied to a seeding machine in the field of agriculture. The seeding machine will be described below. Figure 1

[0047] ​The present application relates to a seeding machine in the field of agriculture, which can support the seeding of seeds of various crops, such as corn, soybean, sorghum, etc.

[0048] Figure 1 A schematic structural block diagram of a seeding machine 100 provided by an embodiment of the present application is shown.

[0049] As shown in Figure 1 , the seeding machine 100 includes a seed tank, a seed distribution system, a seeding system, a detection system, a driving system, and a control system.

[0050] The seed tank is used to store seeds, and is usually located at the top or side of the seeding machine.

[0051] The seed distribution system is used to uniformly distribute the seeds in the seed tank to the seeding system, to ensure that each seeding point can accurately seed a specified number of seeds. Optionally, the seed distribution system can include various types of rotating distribution discs, air distribution devices, vibration distribution devices, screw distribution devices, etc., and the structure of the seed distribution system is not limited in the embodiments of the present application.

[0052] The seeding system is used to accurately seed the seeds into the soil. In some embodiments, the seeding system can include a seeding tube, which can also be referred to as a guide tube, for guiding the seeds from the distribution system to the seeding position, and ensuring that the seeds are seeded into the soil at the correct angle and depth, so as to achieve the purpose of uniform and accurate seeding. Optionally, in addition to the seeding tube, the seeding system can further include other components such as furrow openers and soil covering devices, to further optimize the seeding process.

[0053] The detection system is used to detect various parameters in the seeding machine through various sensors and monitoring devices, to ensure the accuracy and efficiency of the seeding operation. The detection system can include a seeding detection device for detecting the number of seeds seeded during the operation of the seeding machine. As an example, as shown in Figure 1 , the seeding detection device in the detection system can be arranged in the guide tube of the seeding system, for real-time detection of the number of seeds passing through the guide tube. Optionally, in addition to the seeding detection device, the detection system can include other types of sensors, such as a seeding depth sensor, a plant spacing sensor, a soil temperature and humidity sensor, etc., to achieve the detection of various parameters of the seeding machine, which is beneficial to further optimize the seeding process.

[0054] The driving system is used to provide the power required for the operation of the seeding machine, and is usually driven by a tractor or other power source. In some embodiments, the driving system can provide the power required by the seed distribution system and the seeding system in the seeding machine.

[0055] The control system can receive various parameters detected by the detection system and adjust and control the various components in the seeder in real time according to preset sowing parameters. For example, the control system can adjust relevant parameters of the seed distribution system, thereby adjusting parameters such as row spacing, plant spacing, and sowing speed.

[0056] It should be noted that, Figure 1 This invention is merely an illustration of the structural framework of a seeder to which this application applies. In some alternative embodiments, the seeder may include, in addition to, Figure 1 In addition to the system components shown, other system components may be further included, such as a seed delivery system, etc. Alternatively, in some alternative embodiments, the seeder may be omitted according to actual design requirements. Figure 1 The components shown are not limited to the specific structure of the seeder in this application embodiment.

[0057] As described above, in a seeder, the seed detection device of the detection system can be used to detect the number of seeds during the seeding operation. In some embodiments, the seed detection device may include a transmitter and a receiver, both disposed on the inner wall of the seeder's guide tube for monitoring seeds passing through the guide tube. Specifically, when no seeds fall into the guide tube, the receiver continuously receives the light signal from the transmitter, and the resulting electrical signal can be a relatively stable and continuous high-level signal. When a seed passes through the guide tube, the seed blocks the light signal from the transmitter, and the receiver cannot receive at least a portion of the emitted light signal as the seed falls, thus generating a falling low-level pulse signal. Based on the waveform of the receiver, the number of seeds passing through the guide tube can be detected.

[0058] Figure 2 A schematic cross-sectional view of a seed detection device 200 in a guide tube 101 is shown. The cross-section is perpendicular to the axial direction of the guide tube 101.

[0059] like Figure 2 As shown, the seeding detection device 200 includes at least one set of through-beam devices. Each set of through-beam devices includes at least one transmitter 210 and at least one receiver 220. The transmitter 210 is located at one end of the guide tube 101, and the receiver 220 is opposite to the transmitter 210 and located at the other end of the guide tube 101.

[0060] It should be understood that in each set of transmitting devices, one transmitter 210 may correspond to multiple receivers 220, or multiple transmitters 210 may correspond to multiple receivers 220, or there may be a specific correspondence between the multiple transmitters 210 and the multiple receivers 220. This application does not impose any special limitations on the number of transmitters 210, the number of receivers 220, or the correspondence between transmitters 210 and receivers 220.

[0061] By way of example and not limitation, the transmitter 210 and the receiver 220 may be a pair of infrared beam-emitting devices. The transmitter 210 is driven by current and emits an infrared beam; the receiver 220 receives the infrared beam emitted by the transmitter 210 and converts the received light signal into a voltage signal.

[0062] Under ideal experimental conditions, when the seeder 100 is not planting seeds, the light intensity signal received by the receiver 220 is stable and constant. That is, the voltage signal output by the receiver 220 can be approximated as a constant wave, fluctuating within a very small range of signal interference, and can be approximated as a fixed value. When the seeder 100 periodically plants seeds according to the set planting interval, the light intensity signal received by the receiver 220 will show periodic changes. The voltage signal output by the receiver 220 will also periodically generate a falling low-level pulse signal. For example... Figure 3 As shown.

[0063] Figure 3 A schematic signal waveform diagram obtained by the above-mentioned seed detection device 200 is shown.

[0064] like Figure 3 As shown, when the seeder 100 is dropping seeds, it blocks the light intensity signal received by the receiver 220, causing the voltage signal at the receiver to generate a low-level pulse signal.

[0065] It should be understood that, due to the different sizes of seeds of different crops, the degree to which they block the light intensity signal received by the receiver 220 is also different, and the falling low-level pulse signal generated by the receiver 220 is also different. This application does not make any special limitations on this.

[0066] It should be understood that, since the seeds of different crops are of different sizes, the projected area of ​​the crop seeds can also be obtained based on the changes in the voltage signal output by the receiver 220, thereby identifying the type of crop seeds.

[0067] However, in actual operation scenarios, due to the special environment in the field, dust or mud may be stirred up during the seeding process of the seeder 100, which may cause the target surface of the transmitter 210 or receiver 220 to be contaminated, thereby causing the level of the pulse signal received by the receiver 220 to decrease.

[0068] When the signal strength is below the calibration range, it can easily lead to a decrease in measurement accuracy, introducing measurement errors and resulting in inaccurate or undetectable measurements. If only manual wiping of the target surface is relied upon, operators need to get out of the agricultural machinery cab to clean the target surface before continuing the sowing work. This is time-consuming and labor-intensive, and also places higher demands on manual operation. Alternatively, other cleaning devices can be installed on the target surface, but the cleaning effect of these devices is difficult to standardize.

[0069] Based on this, this application provides a sowing detection method and system with adaptive infrared light intensity adjustment. During operation, a relative and calibrated light intensity is maintained between the transmitter 210 and the receiver 220, thereby ensuring a relatively stable pulse signal at the receiver. By adaptively adjusting the light intensity of the transmitter 210, the accuracy of sowing detection is ensured, thereby further ensuring the uniformity and consistency of sowing at different operating speeds; thus improving the sowing quality and growth effect of crops, and increasing yield and harvest.

[0070] Figure 4 A schematic flowchart of a seed detection method 400 with adaptive infrared light intensity adjustment provided in an embodiment of this application is shown.

[0071] S401: Obtain the voltage value 1 output by the receiver 220 and compare it with the calibrated minimum voltage threshold value.

[0072] During the seeding process of the seeder 100, the voltage value output by the receiver 220 is periodically acquired. At the first moment, when the voltage value output by the receiver 220 is less than the calibrated minimum voltage threshold, the adjustment of the drive current of the transmitter 210 is triggered.

[0073] It should be understood that voltage value 1 is a specific implementation of the first voltage value in the implementation of this application, and does not constitute any limitation on the scope of protection of this application.

[0074] S402: Based on the voltage value 1 output by the receiver 220, adjust the drive current of the transmitter 210 to the first value.

[0075] Based on the acquired voltage value 1, the drive current of the transmitter 210 is adjusted to a first value. When the drive current of the transmitter 210 is the first value, the voltage value output by the receiver 220 is within the calibrated voltage threshold range.

[0076] It should be understood that the first value is a specific implementation of the first current value in the implementation mode of this application, and does not constitute any limitation on the protection scope of this application.

[0077] S403: After the first time interval, the voltage value 2 output by the receiver 220 is acquired again and compared with the calibrated voltage threshold range.

[0078] After adjusting the drive current of the transmitter 210, after a first time interval, the voltage value output by the receiver 220 is acquired again and recorded as voltage value 2. The voltage value 2 is then compared with the calibrated voltage threshold range.

[0079] It should be understood that voltage value 2 is a specific implementation of the second voltage value in the implementation of this application, and does not constitute any limitation on the scope of protection of this application.

[0080] It should be understood that the calibrated voltage threshold is a specific implementation of the first threshold range in the implementation of this application, and does not constitute any limitation on the scope of protection of this application.

[0081] In one specific implementation, if the voltage value 2 falls within the calibrated voltage threshold range, then the first value is used as the driving current of the transmitter 210 to drive the transmitter 210 to emit a detection beam, which is received by the receiver 220 and used for seed detection.

[0082] In another specific implementation, if the voltage value 2 is still less than the minimum value of the calibrated voltage threshold range, and the first value is the maximum value of the driving current of the transmitter 210, then it indicates that the target surface of the transmitter 210 and / or the receiver 220 needs to be cleaned. That is, even with the maximum driving current, the transmitter 210 cannot make the light intensity received by the receiver 220 reach the threshold range, indicating that the target surface of the transmitter 210 and / or the receiver 220 is severely contaminated, almost completely contaminated, and should be cleaned.

[0083] In another specific implementation, if the voltage value 2 is greater than the maximum value of the calibrated voltage threshold range, then the first value needs to be lowered so that the transmitter 210 emits a beam with a smaller driving current than the first value. The transmitter 210 uses the second value as the driving current, thereby ensuring that the voltage value output by the receiver 220 is within the calibrated voltage threshold range.

[0084] It should be understood that methods for determining the second value include, but are not limited to, the intermediate value method.

[0085] As an example, and not a limitation, when the driving current of the transmitter 210 is driven at a first value, the voltage output by the receiver 220 is voltage value 2, which is greater than the maximum value of the calibrated voltage threshold range. When the driving current of the transmitter 210 is driven at a third value, the voltage output by the receiver 220 is voltage value 1, which is less than the minimum value of the calibrated voltage threshold range. The second value includes the intermediate value between the first and third values.

[0086] It should be understood that when the transmitter 210 operates with the second value as the driving current, and the voltage value output by the receiver 220 still does not meet the calibrated voltage threshold range, the above-mentioned intermediate value method can be continued, and the fourth value, fifth value, etc., can be used as the driving current value so that the voltage output by the receiver 220 is finally within the calibrated voltage threshold range. This application will not elaborate further on this.

[0087] Optionally, the seeding detection device 200 may also include an automatic cleaning device. When the target surface needs cleaning, an instruction message is sent to the cleaning device, instructing it to clean the target surface of the transmitter 210 and / or receiver 220. After cleaning, the voltage value output by the receiver 220 is acquired again and recorded as voltage value 3. If voltage value 3 is within the calibrated voltage threshold range, the transmitter 210 continues to drive with the current driving current. If voltage value 3 is not within the calibrated voltage threshold range, the transmitter 210 can adjust the output current value according to the aforementioned intermediate value method, ultimately ensuring that the voltage output by the receiver 220 is within the calibrated voltage threshold range. Further details are omitted here.

[0088] As an example rather than a limitation, the first duration of the interval can be set to 10 milliseconds.

[0089] It should be understood that, in addition to periodically acquiring the output voltage of the receiver 220 and comparing it with the calibration range to trigger the adjustment of the drive current of the transmitter 210, the seeder 100 also includes other triggering methods.

[0090] As an example, and not a limitation, the agricultural machinery sows seeds along the rows of the field. After each row is sown, the machinery moves to the edge of the sowing area and stops. At this time, the optical signal received by receiver 220 is approximately a constant wave, and no falling pulse is generated. It is set that when receiver 220 receives the constant wave signal for a second duration, it triggers the adjustment of the drive current of transmitter 210. The voltage value of 1 output by receiver at this time is obtained, thereby adjusting the drive current of transmitter 210.

[0091] It should be understood that the specific adjustment steps after triggering are similar to those in method 400, and this application will not elaborate on the specific steps.

[0092] As an example and not a limitation, if the target surface is within a slightly contaminated range during the seeding process, the intensity of the emitted light from the transmitter 210 does not need to be adjusted. That is, even if the target surface is contaminated during the seeding process, as long as the voltage value output by the receiver 220 remains within the calibrated voltage threshold range, there is no need to adjust the drive current of the transmitter 210 during the seeding process.

[0093] As an example, and not a limitation, the seeder 100 can be configured with trigger conditions for light intensity adjustment at the transmitter 210, which, upon triggering, adjusts the drive current of the transmitter 210. Trigger conditions may include light intensity adjustment occurring when the agricultural machinery travels to the edge of the sowing area and turns to the next row of seeds. The trigger condition can be set such that when the voltage fluctuation at the receiver 220 is very small, approximately constant, and remains so for a certain duration, it can be considered that the agricultural machinery carrying the seeder 100 has reached the edge of the area, and light intensity is adjusted during its journey to the next sowing area or row. This periodic adjustment allows the seeder 100 to maintain a good detection rate during sowing, reducing the need for light intensity adjustment during the sowing process. Utilizing travel time for light intensity calibration also saves time spent on calibration during sowing, further improving sowing efficiency.

[0094] As an example and not a limitation, the triggering condition may also include that when the voltage signal output by the receiver 220 during the seeding operation of the seeder 100 is continuously less than the minimum value of the calibrated voltage threshold range, the cleaning device should be instructed to clean the target surface, and the light intensity calibration and adjustment should be completed after cleaning.

[0095] It should be understood that the calibrated voltage threshold range is the threshold range calibrated for the output voltage of receiver 220. When the output voltage is within this threshold range, it indicates that receiver 220 can normally detect seed drop based on the falling low-level signal, meaning that the current light signal strength of transmitter 210 is sufficient for receiver 220 to detect normally. When the output voltage of receiver 220 is higher than the calibrated voltage threshold range, it indicates that the light signal strength of transmitter 210 is too high, and receiver 220 cannot normally sense seed drop; the drive current should be reduced. When the output voltage of receiver 220 is lower than the calibrated voltage threshold range, it indicates that the light signal strength of transmitter 210 is too low, and receiver 220 cannot normally sense seed drop; the drive current should be increased. If the drive current has been adjusted to the maximum, but the output voltage of receiver 220 is still lower than the calibrated voltage threshold range, it indicates that the target surface of transmitter 210 and / or receiver 220 is severely contaminated and needs cleaning.

[0096] It should be understood that the specific value of the above-mentioned interval duration is related to the travel speed of the agricultural machinery equipped with the seeder 100, as well as the sowing interval time of the seeder 100. The above-mentioned interval duration and voltage threshold range, etc., can be calibrated in actual operation in combination with the actual environment. This application does not make any special limitation on the specific values ​​of the above-mentioned constants.

[0097] Figure 5 A schematic diagram of the circuit structure of a seed detection device 200 provided in an embodiment of this application is shown.

[0098] The seed detection device includes a transmitter 210 and a receiver 220. The transmitter 210 includes a light source D1 for emitting a detection beam. The receiver 220 includes a phototransistor Q2 for receiving the light intensity emitted by the transmitter 210 and converting the optical signal into an electrical signal. The receiver 220 also converts the voltage signal generated by the phototransistor Q2 into a digital signal and outputs an analog-to-digital conversion (ADC) signal.

[0099] The control device adjusts the pulse width modulation (PWM) signal input to the transmitter 210, thereby controlling the duty cycle of the signal by changing the pulse width, thus regulating the drive current and output light intensity of the transmitter 210. The control device also acquires the voltage signal output from the receiver 220 and adjusts the duty cycle of the PWM signal at the transmitter 210 based on the voltage signal.

[0100] In one specific implementation, the control device includes a microcontroller unit (MCU), which is not specifically limited in this application.

[0101] It should be understood that in some specific implementations, the seeding detection device 200 also includes a separate control device for controlling the PWM signal of the transmitter 210 and controlling the cleaning device to clean the target surface. In other specific implementations, the seeder 100 includes a control device that, in addition to controlling seeding, also controls the seeding detection device 200; acquires the voltage signal output by the receiver 220 and controls the PWM signal of the transmitter 210; and controls the cleaning device to clean the target surface. This application does not impose any special limitations on the number of control devices or their location.

[0102] As an example and not a limitation, the control device controls the emitted light intensity by controlling the PWM pulse signal output by the control signal source V1. The PWM frequency is fixed at 100kHz. The control device can adjust the driving current of the transmitter 210 by changing the duty cycle using formula (1), thereby achieving modulation of the emitted light intensity.

[0103]

[0104] Where VCC represents the power supply voltage of the control device, that is, the power supply voltage of V2 in the figure; R1 represents the resistor connected in series with the light source D1.

[0105] In the transmitter 210, D1 is a transmitter lamp used to emit a detection beam. The number of transmitter lamps is related to the structure of the sensor. In some specific implementations, three transmitter lamps can be connected in series. This application describes one transmitter lamp as an example.

[0106] It should be understood that the number of electrical components in the accompanying drawings is merely illustrative and does not constitute any limitation on the scope of protection of this application.

[0107] The power supply V2 of transmitter 210 is a DC power supply with a supply voltage of 5.3V. R1, R2, and R3 are resistors, C1 is a capacitor, and Q1 is a transistor.

[0108] In receiver 220, Q2 is a phototransistor with a photosensitive surface, also known as a receiving target surface. Power supply V3 is a DC power supply with a supply voltage of 5.3V. The number of light intensity receiving elements is related to the structure of the sensor. In some specific implementations, three elements can be connected in series. This application describes a single receiving element as an example.

[0109] In receiver 220, R4, R5, and R6 are resistors, and C2 is a capacitor.

[0110] As an example and not a limitation, in one specific implementation, the resistor and capacitor components in the figure include R1 = 30Ω, R2 = 2.4kΩ, R3 = 560Ω, R4 = 2kΩ, R5 = 8.25kΩ, R6 = 22kΩ, C1 = 2.2μF, and C2 = 10nF.

[0111] This application controls the constant current drive circuit by controlling the duty cycle of the PWM signal of the transmitter 210, enabling more precise adjustment of the emitted light intensity. This application also simplifies the circuit structure of the receiver 220 by converting the light intensity signal into a voltage signal. The control device may also include an analog-to-digital converter module, which, based on voltage transformation, calculates the number of seeds dropped and distinguishes the size of the seeds.

[0112] Figure 6 This is a schematic diagram of a control device provided in an embodiment of this application.

[0113] like Figure 6 The control device 1000 shown may include a transceiver unit 1010 and a processing unit 1020. The transceiver unit 1010 can be used to implement corresponding communication functions. The transceiver unit 1010 may also be referred to as a communication interface or communication unit. The processing unit 1020 can be used to acquire data, generate indication information, and control the duty cycle of the PWM signal. Optionally, the transceiver unit 1010 may include a receiving unit and a transmitting unit, with the receiving unit implementing the receiving function and the transmitting unit implementing the transmitting function.

[0114] Optionally, the control device 1000 may further include a storage unit 1030, which can be used to store instructions and / or data. The processing unit 1020 can read the instructions and / or data in the storage unit 1030 so that the device can implement the aforementioned method embodiments.

[0115] As a design feature, the control device 1000 is used to execute the steps or processes performed by the control module in the above method embodiments. The transceiver unit 1010 is used to perform transceiver-related operations in the above method embodiments, such as acquiring the voltage signal output by the receiver 220 and sending instruction information to the cleaning device. The processing unit 1020 is used to perform data calculation and message generation-related operations in the above method embodiments. For example, the processing unit 1020 determines the number of seeds to be planted, the size of the seeds, and the duty cycle of the PWM signal of the transmitter 210 based on the acquired voltage information.

[0116] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0117] It should also be understood that the control device 1000 here is embodied in the form of a functional unit. The term "unit" here can refer to an application-specific integrated circuit (ASIC), electronic circuitry, a processor (e.g., a shared processor, a proprietary processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, integrated logic circuitry, and / or other suitable components supporting the described functions. In an alternative example, those skilled in the art will understand that the control device 1000 may specifically be a control module in the above embodiments, which can be used to execute the various processes and / or steps corresponding to the control module in the above method embodiments. To avoid repetition, these will not be described again here.

[0118] The control device 1000 of each of the above schemes has the function of implementing the corresponding steps performed by the control module in the above methods. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the transceiver unit can be replaced by a transceiver (e.g., the transmitting unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver), and other units, such as the determining unit, can be replaced by a processor, which respectively executes the transceiver operations and related determining operations in each method embodiment.

[0119] In addition, the transceiver unit 1010 may also be a transceiver circuit (for example, it may include a receiving circuit and a transmitting circuit), and the processing unit 1020 may be a processing circuit.

[0120] It should be pointed out that, Figure 5 The control device 1000 can be a chip or a chip system, such as a system-on-a-chip (SoC). The transceiver unit can be an input / output circuit or a communication interface; the determining unit is a processor, microprocessor, or integrated circuit integrated on the chip. No specific limitations are imposed here.

[0121] Figure 7 This is a schematic diagram of a control device provided in another embodiment of this application.

[0122] like Figure 7 The control device 2000 shown may include a processor 2010.

[0123] Optionally, such as Figure 7 As shown, the device 2000 also includes a transceiver 2020 for receiving and / or transmitting signals. For example, the processor 2010 controls the transceiver 2020 to receive and / or transmit signals. Optionally, the transceiver 2020 may include a receiver for receiving signals and a transmitter for transmitting signals.

[0124] The processor 2010 may be coupled to the memory 2030, which is used to store computer programs or instructions and / or data. The processor 2010 is used to execute the computer programs or instructions stored in the memory 2030, or to read the data stored in the memory 2030, in order to perform the methods in the above method embodiments.

[0125] Optionally, there may be one or more processors 2010.

[0126] Optionally, the memory 2030 may be one or more.

[0127] Alternatively, the memory 2030 can be integrated with the processor 2010, or it can be set up separately.

[0128] As an example, processor 2010 may have Figure 6 The processing unit 1020 shown has the function of [function name], and the memory 2030 may have [function name]. Figure 6 The transceiver 2020 may have the following functions as shown in the storage unit 1030: Figure 6 The function of the transceiver unit 1010 shown is illustrated.

[0129] As one option, the device 2000 is used to implement the operations performed by the control module in the various method embodiments described above.

[0130] For example, processor 2010 is used to execute computer programs or instructions stored in memory 2030 to implement the relevant operations of the control module in the various method embodiments described above.

[0131] It should be understood that the processor mentioned in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0132] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0133] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0134] Figure 6 The device mentioned can be the equipment described in the foregoing embodiments, or it can be a chip or a chip system, such as a system on a chip (SoC). The transceiver can be an input / output circuit or a communication interface; the processor can be a processor, microprocessor, or integrated circuit integrated on the chip. No limitations are imposed here.

[0135] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0136] When the device is a chip system, it may (or may be called a processing system) include logic circuits and input / output interfaces.

[0137] The logic circuit can be a processing circuit in the chip system. The logic circuit can be coupled to a memory cell, calling instructions from the memory cell, enabling the chip system to implement the methods and functions of the embodiments of this application. The input / output interface can be an input / output circuit in the chip system, outputting processed information or inputting data or signaling information to be processed into the chip system for processing.

[0138] This application also provides an agricultural seeder with adjustable seed spacing, which includes the electric drive seeding system described in the above embodiments.

[0139] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0140] Figure 8 A schematic structural block diagram of another seeder 500 provided in an embodiment of this application is shown.

[0141] like Figure 8 As shown, the seeder 500 includes: a seed box 510, a guide tube 520, and a seed detection device 200 provided in any of the embodiments above.

[0142] The seed box 510 is used to hold seeds. A guide tube 520 is connected to the seed outlet of the seed box 510, with its outlet facing the ground. The guide tube 520 is used to sow seeds into the soil. A sowing detection device 200 is used to detect the number of seeds sown via the guide tube 520. The sowing detection device 200 also adaptively adjusts the light intensity at the emitting end based on the light intensity at the receiving end, and / or cleans the target surface of the detection device.

[0143] Alternatively, the relevant solutions for the seed box 510 and the guide tube 520 in the seeder 500 can be found in the above text. Figure 1 The relevant description of the illustrated embodiment.

[0144] It is understood that, in addition to the seed box 510, guide tube 520, and seed detection device 200, the seeder 500 may also include other components from related technologies, such as a seed dispensing system, a drive system, a control system, etc. This application does not limit the specific structure of the seeder 500.

[0145] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0146] It should also be understood that, in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0147] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0148] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0149] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0150] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0151] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0152] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A seed detection method with adaptive infrared light intensity adjustment, characterized in that, An application is made to a seeding detection device, which detects the number of seeds dropped by a seeder during the seeding process. The device includes a transmitter and a receiver. The transmitter emits an infrared detection beam, and the receiver receives the infrared detection beam and converts the intensity signal of the received beam into a voltage signal. The detection method includes: The first voltage value output by the receiving end is obtained at a first moment, where the first moment is the moment when the agricultural machinery carrying the seeder turns around at the edge of the sowing area; In response to the first voltage value being less than the minimum value of the first threshold range, the driving current of the transmitting end is adjusted to a first current value, the first current value being greater than a second current value, and the second current value being the value of the driving current of the transmitting end at the first moment; The second voltage value output by the receiving end at the second moment is obtained. The second voltage value is within the first threshold range. The value of the driving current of the transmitting end at the second moment is the first current value. The second moment is separated from the first moment by a first duration. The first duration is less than the duration required for the agricultural machinery to turn around. The third voltage value output by the receiving end at the third time and the fourth voltage value output at the fourth time are obtained. The third time and the fourth time are the times when the seeder is performing the sowing operation. The third time and the fourth time are adjacent times. In response to the fact that both the third voltage value and the fourth voltage value are less than the minimum value of the first threshold range, a first indication message is sent, which is used to indicate that the target surface of the transmitter and / or the receiver needs to be cleaned. The fifth voltage value output by the receiving end at the fifth time point is obtained. The fifth voltage value is within the first threshold range. The second time point is longer than the time required to clean the target surface. The fifth time point is separated from the fourth time point by a second time point.

2. The method according to claim 1, characterized in that, At the first moment, a first PWM signal is sent to the transmitting end; At the second moment, a second PWM signal is sent to the transmitting end; The duty cycle of the first PWM signal is less than the duty cycle of the second PWM signal.

3. The method according to claim 2, characterized in that, The first duration and / or the second duration is greater than the third duration, wherein the third duration includes the duration required for the current of the transmitting end to stabilize again after the transmitting end receives the second PWM signal.

4. The method according to claim 1, characterized in that, The time interval between the third and fourth moments is negatively correlated with the speed of the agricultural machinery.

5. The method according to claim 1, characterized in that, The first voltage value is acquired in response to the seeder rising and stopping seeding.

6. A seed detection device, characterized in that, The detection device, used to detect the number of seeds dropped by the seeder during the sowing process, includes a transmitter, a receiver, and a control device; wherein, The transmitting end is used to emit an infrared detection beam, and the receiving end is used to receive the infrared detection beam and convert the light intensity signal of the received infrared detection beam into a voltage signal. The control device is used to send a modulation signal to the transmitting end, and the control device is also used to receive a voltage signal from the receiving end; The control device is also used to perform the seed detection method as described in any one of claims 1 to 5.

7. The seed detection device according to claim 6, characterized in that, Also includes: A cleaning device for receiving first instruction information and cleaning the target surface of the transmitter and / or the receiver.

8. The seed detection device according to claim 7, characterized in that, The cleaning device includes a spraying device, a rotating motor, and a rubber scraper. The spraying device is used to spray cleaning liquid onto the target surface of the transmitting end and / or the receiving end, and the rotating motor is used to drive the rubber scraper to clean the target surface.

9. A seeder, characterized in that, include: Seed box, used to hold seeds; A guide tube is connected to the seed outlet of the seed box, with the outlet of the guide tube facing the ground. The guide tube is used to sow seeds into the soil. The seeding detection device as described in any one of claims 6 to 8 is used to detect the number of seeds sown via the guide tube.

10. A control device, characterized in that, Includes a processor, said processor being configured to, by executing computer programs or instructions, or by executing logic circuits, The control device is made to perform the method according to any one of claims 1 to 5.

11. A chip system, characterized in that, The chip system includes a processor, a memory, and input / output ports. The memory stores computer programs; the processor executes the computer programs stored in the memory. So that the processor performs the method as described in any one of claims 1 to 5.

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