Adaptive grading control method of seed grader and seed grader

Abstract

The application discloses a kind of self-adapting grading control method and seed grader of seed grader, method includes: the screen surface utilization rate data of grading cylinder is obtained;Screen surface utilization rate data is based on the parameter of grading cylinder is adjusted, to improve screen surface utilization rate;Parameter includes: rotational speed, eccentricity, feed quantity and the rotational speed difference of grading cylinder and middle axis two.This application, based on the screen surface utilization rate data of the grading cylinder, the operating parameter of the grading cylinder can be changed to effectively improve the screening efficiency of the grading cylinder, the three-dimensional parameter of adjustment can change the attribute of the grading cylinder from three dimensions, save grading operation time.In the changed parameter, eccentricity and rotational speed difference are introduced as adjustable objects, wherein the eccentricity can change the maximum distance difference of the drum edge when the grading cylinder rotates.Due to the existence of rotational speed difference, the maximum deviation position in the grading cylinder is always changing, which can improve the activity of the population, so the screening efficiency can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grading control of agricultural materials, in particular to a self-adaptive grading control method of a seed grader and the seed grader. BACKGROUND

[0002] In the field of agriculture, grading treatment of seeds is of great significance. Grading treatment can not only effectively distinguish the size and quality of seeds, but also ensure the uniformity and consistency of seeds during sowing, thereby improving the overall yield and quality of crops and achieving precision agricultural management. Currently, seed graders have been widely popularized and have become an indispensable part of modern agriculture. Reasonable control of seed graders, such as adjusting grading standards and optimizing machine parameters, can significantly improve grading efficiency, reduce labor costs, and ensure the accuracy and reliability of grading results. Therefore, reasonable use and effective control of seed graders are one of the key measures to realize agricultural modernization and improve agricultural production efficiency.

[0003] In the prior art, the applicant's prior application CN115318633A discloses a nut grading method, which discloses using sensors to collect data such as flow, grading quality, and blockage state of grading operation. The improvement of grading efficiency is mainly achieved by setting a material guiding mechanism in the grading cylinder to improve the utilization rate of the screen surface and the residence time of the material in the cylinder. In the above method, a material guiding mechanism needs to be added, and it needs to be customized according to the size of the cylinder when applied to different grading equipment, which is difficult to apply and has low applicability. SUMMARY

[0004] The present application provides a self-adaptive grading control method of a seed grader and the seed grader, which has low application difficulty and can effectively improve the grading efficiency of seeds.

[0005] Technical solution: To achieve the above purpose, the self-adaptive grading control method of the seed grader of the present application comprises:

[0006] Obtaining screen surface utilization rate data of a grading drum; the grading drum is a circular drum, and the center of the grading drum is arranged offset relative to the central axis, and the relative offset distance between the two is called the eccentricity;

[0007] Adjusting parameters of the grading drum based on the screen surface utilization rate data to improve the screen surface utilization rate; the parameters include: rotational speed, eccentricity, feed quantity, and rotational speed difference between the grading drum and the central axis.

[0008] Among the changed parameters, the eccentricity and the speed difference are introduced as adjustable objects, where the eccentricity can change the maximum distance difference of the edge of the grading drum during rotation. Due to the existence of the speed difference, the position farthest from the central axis of the grading drum edge (referred to as: the maximum deviation position) is always changing, and changing the speed difference can change the period of the grading drum edge positions taking turns as the maximum deviation position. Changing these two parameters can effectively improve the tumbling movement of the graded population in the grading drum, improve the screen utilization and the activity of the population, so as to effectively improve the screening efficiency.

[0009] Further, the central axis is driven to rotate by a first motor, and the seed grader includes an eccentric position rotation mechanism for driving the grading drum to rotate, which is driven to rotate by a second motor; the adjustment method of the speed and the speed difference includes:

[0010] Controlling the first motor to rotate based on the target speed;

[0011] Determining the speed of the second motor based on the target speed and the target speed difference, and controlling the second motor to rotate accordingly.

[0012] In the above steps, the target speed and the target speed difference can be selected forward or backward according to the current data and a preset step distance. When the speed needs to be increased, the value obtained by increasing the preset first step distance based on the current speed is taken as the target speed. When the speed needs to be reduced, the value obtained by reducing the preset first step distance based on the current speed is taken as the target speed. Similarly, the target speed difference is obtained by increasing or decreasing the preset second step distance based on the current speed difference. In this way, different combinations of speed and speed difference can be tested to continuously obtain the screen utilization data under the parameter combination, and the best parameter combination can be obtained.

[0013] Further, the step S101 of obtaining the screen utilization data of the grading drum includes:

[0014] Obtaining an image from the end of the grading drum;

[0015] Extracting and marking the image of the seed part in the image to obtain a population distribution map; in this step, the identified seeds are marked with marker points;

[0016] Extracting the inner contour of the grading drum to obtain an inner contour curve;

[0017] Obtaining the screen utilization data based on the population distribution map and the inner contour curve.

[0018] Further, the obtaining of the screen utilization data based on the population distribution map and the inner contour curve includes:

[0019] The population distribution map is corrected by twisting based on the inner contour curve, and the inner contour curve is circular after correction.

[0020] In this step, the image is processed as a whole with reference to the inner contour curve. The inner contour curve is corrected to a circular contour line, and the positions of various sub-corresponding marks are corrected.

[0021] The distribution area of the population is determined based on the corrected population distribution map.

[0022] In this step, when determining the outer contour of the distribution area, the seed distribution density near the outer contour should be no less than the set density, and then the outer contour of the distribution area is obtained by smooth fitting. The specific method is as follows: select a point at the edge of the distribution area, and make a circle with the point as the center and a predetermined radius. Analyze the number of mark points in the circle. If the number is greater than or equal to the set density, the point is taken as a fitting point. If the density is less than the set density, move the point to the inside of the distribution area and continue to calculate the number of mark points by the above method until the number of mark points is greater than or equal to the set number. Fit the multiple fitting points found on the periphery of the distribution area to obtain the outer contour of the distribution area.

[0023] The screen utilization data is calculated based on the outer contour of the distribution area. The screen utilization data is the ratio of the screen arc length participating in the screening operation to the total circumference, or the ratio of the central angle between the two ends of the screen participating in the screening operation to 360°.

[0024] The outer contour of the distribution area is extracted accurately by the above method, and the obtained data can accurately reflect the actual screen utilization.

[0025] Further, the method further comprises:

[0026] The number of marks is counted to obtain a statistical number.

[0027] It is judged whether the value of the statistical number is within a preset interval.

[0028] When the statistical number is less than the minimum value of the preset interval, the feeding mechanism is controlled to feed. When the statistical number is greater than the maximum value of the preset interval and the feeding mechanism is still feeding, the feeding mechanism is controlled to stop feeding.

[0029] The seed grading machine comprises a grading roller and a middle shaft, the middle shaft is provided with an eccentric mechanism connected with the grading roller, the grading roller can rotate relative to the eccentric mechanism; the seed grading machine further comprises an eccentric position switching mechanism for driving the grading roller to operate; the middle shaft is driven to operate by a first motor, the eccentric position switching mechanism is driven to operate by a second motor; the seed grading machine further comprises a feeding mechanism, a camera and a controller, the controller is connected with the camera, the first motor and the second motor, and the controller can implement the adaptive grading control method.

[0030] Beneficial effects: the adaptive grading control method of the seed grading machine and the seed grading machine have the following beneficial effects:

[0031] (1) in the method, the operation parameters of the grading roller are changed based on the screen surface utilization data of the grading roller, which can effectively improve the screening efficiency of the grading roller, and the three-dimensionally adjusted parameters can change the properties of the grading roller from three dimensions, thereby saving grading time.

[0032] (2) the screen surface utilization data can be automatically obtained based on images, so that the parameters of the grading roller can be adjusted in a timely manner based on the data.

[0033] (3) the statistical number obtained based on the mark can reflect the amount of material in the grading roller, and the feeding is controlled based on the statistical number, so that the amount of material in the grading roller is appropriate, and the grading efficiency is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a structural diagram of the seed grading machine;

[0035] Figure 2 It is a structural diagram of the connection and driving structure part between the middle shaft and the grading roller;

[0036] Figure 3 It is a flowchart of the adaptive grading control method.

[0037] In the figure: 1-grading roller; 11-driving hub; 12-radial groove; 2-middle shaft; 3-eccentric mechanism; 31-first eccentric sleeve; 32-second eccentric sleeve; 33-fixing pin; 4-eccentric position switching mechanism; 41-first gear; 42-second gear; 43-driving pin; 5-first motor; 6-second motor; 7-camera; 8-feeding mechanism. DETAILED DESCRIPTION

[0038] The application will be further described below with reference to the drawings.

[0039] The adaptive grading control method of the application is based on Figure 1The seed grader shown comprises a grading roller 1 and a middle shaft 2, the middle shaft 2 is provided with an eccentric mechanism 3 connected with the grading roller 1, the grading roller 1 can rotate relative to the eccentric mechanism 3; the seed grader further comprises an eccentric position switching mechanism 4 for driving the grading roller 1 to operate; the middle shaft 2 is driven to operate by a first motor 5, the eccentric position switching mechanism 4 is driven to operate by a second motor 6; the seed grader further comprises a feeding mechanism 8, a camera 7 and a controller, the controller is connected with the camera 7, the first motor 5, the second motor 6 and the feeding mechanism 8, and the controller can implement the adaptive grading control method described above.

[0040] As shown in the figure, Figure 2 The eccentric mechanism 3 comprises a first eccentric sleeve 31 and a second eccentric sleeve 32, the first eccentric sleeve 31 is arranged between the middle shaft 2 and the second eccentric sleeve 32, the first eccentric sleeve 31 is fixed relative to the middle shaft 2, the second eccentric sleeve 32 can rotate relative to the grading roller 1, and the relative angle of the first eccentric sleeve 31 and the second eccentric sleeve 32 can be adjusted. The first eccentric sleeve 31 has a first eccentricity, the second eccentric sleeve 32 has a second eccentricity, by adjusting the relative angle of the first eccentric sleeve 31 and the second eccentric sleeve 32, the first eccentricity and the second eccentricity can be superimposed or offset each other, so as to realize the adjustment of multiple comprehensive eccentricity.

[0041] In this embodiment, the outer wall of the first eccentric sleeve 31 has a plurality of first grooves, the inner wall of the second eccentric sleeve 32 has a plurality of second grooves corresponding to the first grooves, the fixed pin 33 embedded in the first grooves and the second grooves fixes the first eccentric sleeve 31 relative to the second eccentric sleeve 32, when the eccentricity needs to be adjusted, the fixed pin 33 can be pulled out, and then inserted back after adjusting the position.

[0042] As shown in the figure, Figure 2 The eccentric position switching mechanism 4 comprises a first gear 41 connected with the output shaft of the second motor 6 and a second gear 42 having a driving relationship with the driving hub 11; the first gear 41 is engaged with the second gear 42, the second gear 42 is coaxially installed relative to the middle shaft 2, and the driving pin 43 is fixed on the second gear 42, the radial groove 12 is arranged on the driving hub 11, and the driving pin 43 is arranged in the radial groove 12 and can slide along the radial groove 12. Through the above structure, the second motor 6 can drive the grading roller 1 to rotate relative to the second eccentric sleeve 32, so as to realize that the second eccentric sleeve 32 and the grading roller 1 have a speed difference.

[0043] Based on the seed grader, the adaptive grading control method of the present application comprises the following steps S101-S102:

[0044] Step S101, obtaining the screen surface utilization data of the classification drum 1; the classification drum 1 is a circular drum, and the center of the classification drum 1 is arranged to be offset relative to the central shaft 2, and the relative offset distance of the two is referred to as the eccentricity;

[0045] Step S102, adjusting the parameters of the classification drum 1 based on the screen surface utilization data to improve the screen surface utilization; the parameters include: rotation speed, eccentricity, feed amount, and rotation speed difference of the classification drum 1 and the central shaft 2.

[0046] In the above method, based on the screen surface utilization data of the classification drum 1, the operating parameters of the classification drum 1 are changed to effectively improve the screening efficiency of the classification drum 1. The three-dimensional parameters adjusted can change the properties of the classification drum 1 from three dimensions, and save the classification operation time. Among the changed parameters, the eccentricity and the rotation speed difference are innovatively introduced as adjustable objects, wherein the eccentricity can change the maximum distance difference of the drum edge when the classification drum 1 rotates. Due to the existence of the rotation speed difference, the position farthest from the central shaft 2 (referred to as: the maximum deviation position) of the edge of the classification drum 1 is always changing. Changing the rotation speed difference can change the period of the positions of the edge of the classification drum 1 rotating as the maximum deviation position. Changing these two parameters can effectively improve the degree of tumbling movement of the classified population in the classification drum 1, improve the screen surface utilization and the activity of the population, so that the screening efficiency can be effectively improved.

[0047] The adjustment of the eccentricity described above needs to be suggested to the human by the display and other interactive facilities, and the adjustment is implemented after the human stops the machine.

[0048] Preferably, the adjustment method of the rotation speed and the rotation speed difference in the above step S102 includes the following steps S201-S202:

[0049] Step S201, controlling the first motor 5 to operate based on the target rotation speed;

[0050] Step S202, determining the rotation speed of the second motor 6 based on the target rotation speed and the target rotation speed difference, and controlling the second motor 6 to operate accordingly.

[0051] In the above steps, the target rotational speed and the target rotational speed difference can be selected forward or backward based on the current data and the preset step distance. When the rotational speed needs to be increased, the target rotational speed is obtained by adding the preset first step distance to the current rotational speed. When the rotational speed needs to be decreased, the target rotational speed is obtained by subtracting the preset first step distance from the current rotational speed. Similarly, the target rotational speed difference is obtained by adding or subtracting the preset second step distance based on the current rotational speed difference. In this way, different combinations of rotational speeds and different rotational speed differences can be tested to continuously obtain screen surface utilization data under parameter combinations, thus obtaining the optimal parameter combination. When the adjusted screen surface utilization data is not as good as the screen surface utilization data before adjustment, the parameters before adjustment can be restored, and the parameters can be adjusted in reverse (e.g., if the rotational speed was increased before, the parameters should be adjusted in reverse to decrease the rotational speed), and the screen surface utilization data can be monitored again. Based on this method, the optimal parameters can be found.

[0052] Preferably, obtaining the screen surface utilization rate data of the grading drum 1 in step S101 above includes the following steps S301-S304:

[0053] Step S101: Obtain an image from the end of the grading roller 1;

[0054] Step S302: Extract and label the seed portion of the image to obtain a population distribution map; in this step, the identified seeds are marked using marker points.

[0055] Step S303: Extract the inner contour of the graded cylinder to obtain the inner contour curve;

[0056] Step S304: Obtain the screen surface utilization rate data based on the population distribution map and the inner contour curve.

[0057] Using the above method, the screen surface utilization rate data can be easily and automatically obtained based on the image, so that the parameters of the grading roller 1 can be adjusted in a timely manner based on the data.

[0058] Preferably, the step S304 above, which involves obtaining the screen surface utilization data based on the population distribution map and the inner contour curve, includes the following steps S401-S403:

[0059] Step S401: The population distribution map is distorted and corrected based on the inner contour curve, and the inner contour curve is circular after correction.

[0060] In this step, the image is processed using the inner contour curve as a reference for overall image processing. While correcting the inner contour curve into a circular contour line, the positions of various corresponding sub-markers can be corrected.

[0061] Step S402, determining the distribution area of the population based on the corrected population distribution map;

[0062] In this step, when determining the outer contour of the distribution area, the seed distribution density near the outer contour should be no less than the set density, and then the outer contour of the distribution area is obtained by smooth fitting. The specific method is as follows: selecting a point at the edge of the distribution area, and making a circle with the point as the center and a preset radius, analyzing the number of marker points in the circle, and if the number is greater than or equal to the set density, the point is taken as a fitting point; if the density is less than the set density, the point is moved to the inside of the distribution area, and the number of marker points is calculated by the above method until the number of marker points is greater than or equal to the set number. The multiple fitting points found on the periphery of the distribution area are fitted to obtain the outer contour of the distribution area.

[0063] Step S403, calculating the screen surface utilization rate data based on the outer contour of the distribution area; the screen surface utilization rate data is the ratio of the arc length of the screen surface participating in the screening operation to the total circumference, or the ratio of the central angle between the two ends of the screen surface participating in the screening operation to 360°.

[0064] The above method can accurately extract the outer contour of the distribution area, and the obtained data can accurately reflect the actual screen surface utilization rate.

[0065] Preferably, the method further comprises steps S501-S503:

[0066] Step S501, counting the number of markers to obtain a statistical number;

[0067] Step S502, determining whether the statistical number is within a preset interval;

[0068] Step S503, when the statistical number is less than the minimum value of the preset interval, controlling the feeding mechanism 8 to feed; when the statistical number is greater than the maximum value of the preset interval and the feeding mechanism 8 is still feeding, controlling the feeding mechanism 8 to stop feeding.

[0069] In the above steps, the statistical number obtained based on the markers can reflect the amount of material in the classification drum 1, and the feeding is controlled accordingly to ensure that the amount of material in the classification drum 1 is appropriate, not too much or too little, and the classification efficiency is ensured.

[0070] In addition, the dispersion of the population can also be monitored according to the population distribution map. When the dispersion is too high, it is not conducive to the classification operation, and at least one of the parameters of the rotational speed, the eccentric distance and the rotational speed difference should be reduced.

[0071] The above merely describes the preferred embodiments of the present application, and it should be pointed out that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method of adaptive grading control of a seed grader, characterized by, The method comprises: acquiring screen surface utilization data of the grading drum; adjusting parameters of the grading drum based on the screen surface utilization data to improve the screen surface utilization; the parameters include rotational speed, eccentricity, feed quantity, and rotational speed difference between the grading drum and the central shaft; The seed grader comprises a grading drum and a central shaft, the central shaft is provided with an eccentric mechanism connected to the grading drum, and the grading drum is capable of rotating relative to the eccentric mechanism; the central shaft is driven to rotate by a first motor; the seed grader comprises an eccentric position switching mechanism for driving the grading drum to rotate, and the eccentric position switching mechanism is driven to rotate by a second motor; The eccentric position switching mechanism comprises a first gear connected to the output shaft of the second motor and a second gear having a driving relationship with a driving hub; the first gear is engaged with the second gear, the second gear is coaxially mounted relative to the central shaft, and a driving pin is fixed on the second gear; the driving hub is provided with a radial slot, and the driving pin is arranged in the radial slot and is capable of sliding along the radial slot; The adjustment method for the rotational speed and the rotational speed difference comprises: controlling the first motor to rotate based on a target rotational speed; determining the rotational speed of the second motor based on the target rotational speed and the target rotational speed difference, and controlling the second motor to rotate accordingly.

2. The adaptive grading control method of a seed grader according to claim 1, wherein, The acquisition of the screen surface utilization data of the grading drum comprises: acquiring an image from the end of the grading drum; extracting and marking the image of the seed part in the image to obtain a population distribution map; extracting the inner contour of the grading drum to obtain an inner contour curve; obtaining the screen surface utilization data based on the population distribution map and the inner contour curve.

3. The adaptive grading control method of a seed grader according to claim 2, wherein, The acquisition of the screen surface utilization data based on the population distribution map and the inner contour curve comprises: twisting and correcting the population distribution map based on the inner contour curve, and the inner contour curve is circular after correction; determining a distribution area of the population based on the corrected population distribution map; calculating the screen surface utilization data based on the outer contour of the distribution area; the screen surface utilization data is the ratio of the screen surface arc length participating in the screening operation to the total circumference, or the ratio of the central angle between the two ends of the screen surface participating in the screening operation to 360°.

4. The adaptive grading control method of a seed grader according to claim 2, wherein, The method further comprises: counting the number of the marks to obtain a statistical number; determining whether the value of the statistical number is within a preset interval; when the statistical number is less than the minimum value of the preset interval, controlling the feeding mechanism to feed; when the statistical number is greater than the maximum value of the preset interval and the feeding mechanism is still feeding, controlling the feeding mechanism to stop feeding.

5. A seed grader characterized by It comprises a camera and a controller, the controller is connected to the camera, the first motor and the second motor, and the controller can implement the adaptive grading control method of any one of claims 1-4.

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