Seed counting sensor with dust compensation function and control method thereof

Abstract

The invention discloses a seed counting sensor with a dust compensation function and a control method thereof. The sensor comprises a main control module and a signal processing module which are mounted on a main frame of a seeding and fertilizing system, an upper computer display module mounted on a cab of a tractor, and a transmitting module and a receiving module which are respectively mounted on two sides of a seed guide pipe, the optical detection module comprises a group of transmitting modules and a group of receiving modules in one-to-one correspondence with the transmitting modules, and the transmitting modules are wrapped by optical masks; the signal processing module is used for processing the signal according to the light intensity signal sent by the receiving module; the working modes of the main control module are mainly divided into a seeding mode and a non-seeding mode, and the main control module is used for counting and analyzing the seed guiding quantity in the seeding mode; the dust compensation module is used for performing dust compensation on the transmitting module in a non-seeding mode; the seed counting sensor can effectively solve the problem that the sensitivity of the seed counting sensor is reduced due to pollution of an optical component in an environment with more dust and particulate matters.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural automation machinery and equipment, and in particular relates to a seed counting sensor with a dust compensation function and a control method thereof. Background Art

[0002] In agricultural production, seed counting sensors are widely used in sowing equipment to accurately monitor and measure the flow of seeds in order to achieve precision sowing. However, due to the large amount of dust and particulate matter often present in the environment, the optical components of the sensor (such as light sources and photodetectors) are easily contaminated, causing the sensor sensitivity to gradually decrease, ultimately affecting its counting accuracy. At the same time, in the seed counting process, seed overlap is inevitable. Therefore, how to maintain long-term stable and accurate counting of seed sensors in a dusty environment is a technical problem that needs to be solved urgently.

[0003] In order to solve the above problems, Chinese patent application CN202410729878.2 discloses a counting method and related device of seed sensors, which mainly collects waveform data by setting a sensor receiving end above the seed guide belt, and combines the detection of the time points of three consecutive peaks in the waveform data to achieve accurate counting. The system uses the difference in the waveform time interval between the seed and the baffle to effectively distinguish the peaks belonging to the seed and count them, thereby optimizing the counting accuracy, monitoring the sowing situation in real time, avoiding the problem of missed sowing or re-seeding due to baffle interference, and improving the overall efficiency of the sowing operation.

[0004] In addition, the existing seed counting sensors have the following shortcomings: First, in an environment with a lot of dust and particulate matter, the optical components are easily contaminated, resulting in a decrease in sensor sensitivity and affecting the counting accuracy. At the same time, in the case of overlapping seeds, the existing technology only relies on the time interval of the waveform for counting, and may not be able to accurately distinguish the signals of multiple overlapping seeds, resulting in inaccurate counting. In addition, the existing methods have poor adaptability to external factors such as changes in ambient light intensity and noise, and are easily disturbed and cause false detection or missed detection. Finally, the processing method that relies on waveform data is complex and has poor real-time performance, which makes it difficult to meet the needs of fast and accurate counting in high-speed sowing operations. Therefore, it is necessary to design a seed counting sensor that can accurately count in a dusty environment and identify overlapping seeds. Summary of the invention

[0005] In view of the above problems, the present invention proposes a seed counting sensor with dust compensation function and a control method thereof, which can effectively solve the problem of decreased sensor sensitivity caused by optical component contamination in an environment with a lot of dust and particles. At the same time, the present invention can accurately identify and count overlapping seeds, improve the adaptability of the sensor in complex agricultural environments, and avoid the influence of external light interference or noise on the counting results, thereby meeting the real-time and reliability requirements for seed counting in high-speed sowing operations.

[0006] The above purpose is achieved through the following technical solutions: A seed counting sensor with dust compensation function, comprising a main control module, a host computer display module, an optical detection module, and a signal processing module; the main control module and the signal processing module are installed on the main frame of the sowing and fertilization system; the host computer display module is installed on the tractor cab; The optical detection module includes a group of transmitting modules and a group of receiving modules corresponding to the transmitting modules one by one, the transmitting modules and the receiving modules are respectively installed on both sides of the seed guide tube, and the transmitting modules are wrapped by an optical mask; The signal processing module is used to process the signal according to the light intensity signal sent by the receiving module; after receiving the array diagram of the receiving module, the signal processing module transmits the data to the main control module through the third signal; The working modes of the main control module are mainly divided into a sowing mode and a non-sowing mode. When in the sowing mode, it is used to count the number of guided seeds, analyze the number of guided seeds according to the first signal transmitted by the signal processing module, and output the calculation result as a second signal to the upper computer display module; when in the non-sowing mode, it is used to perform dust compensation on the transmitting module, analyze the light intensity according to the third signal transmitted by the signal processing module, and transmit the light intensity adjustment command to the transmitting module through the fourth signal, and at the same time transmit whether the seed guide tube reaches the threshold value that needs to be cleaned of dust to the upper computer display module through the fifth signal; The host computer display module is used to display the number of seeds that have fallen according to the received second signal, and to remind the user whether multiple seeds are overlapping and falling; the host computer display module is used to display whether the seed guide tube needs to be cleaned according to the received fifth signal.

[0007] Furthermore, the transmitting module includes a transmitting module group installed under one side of the seed guide tube and a transmitting module group installed under the other side; the receiving module includes a receiving module group and a receiving module group installed on the seed guide tube on the side opposite to the transmitting module; wherein the receiving module group and the transmitting module group are applied one-to-one to receive the optical signal emitted by the transmitting module group; the receiving module group and the transmitting module group are applied one-to-one to receive the optical signal emitted by the transmitting module group.

[0008] Furthermore, the main control module includes a programmable controller, a frequency converter, and a power switch.

[0009] Furthermore, the transmitting module uses an optical signal transmitting unit to transmit a light beam; the optical mask is used to refract the light beam of the transmitting module so that it is transmitted as a light beam with uniform light intensity; the receiving module includes a phototransistor and a resistor, and the phototransistor and the resistor are connected in series; the light beam emitted by the transmitting module is received by the phototransistor and converted into a current signal.

[0010] Furthermore, the signal processing module measures the voltage of the resistor connected in series with the phototransistor through an A / D converter, wherein the measured voltage is proportional to the current of the phototransistor and proportional to the intensity of the light beam; at the same time, the signal processing module measures the operating point current of the phototransistor to check whether the current value is within the expected range; the signal processing module is connected to the programmable controller of the main control module through the A / D converter.

[0011] A control method for the seed counting sensor with dust compensation function, the method comprising the following steps: When in the non-seeding state, that is, the working mode of the main control module is in the non-seeding mode, the control method is as follows: S200, start dust compensation adjustment; S300, determining whether the seeder is sowing; if yes, executing step S800, otherwise executing S400; S400, determining whether the intensity of the light beam received by the receiving module is the same as that of the last calibration; if yes, executing S800, otherwise executing S401; S401, determining whether the intensity of the light beam received by the receiving module is smaller than that of the last calibration; if so, executing S500, otherwise executing S501; S500, increasing the intensity of the corresponding light beam of the emission module; S501, reducing the corresponding light beam intensity of the emission module; S600, waiting for the light intensity of the transmitting module to stabilize and reach the receiving intensity of the last light intensity; S700, determining whether the sowing operation has started; if yes, executing step S800, otherwise executing step S400; S800, ending dust compensation adjustment; When in the sowing state, that is, the working mode of the main control module is in the sowing mode, S100, during the sowing process, the seed counting system starts to be initialized; S101, determining whether a shadow is detected at the top of the receiving module; if so, executing step S102, otherwise executing step S101; S102, determining whether the same receiving module detects the light beam again, or the receiving module on one side detects the light beam again, and the light beam received by the uppermost end of the receiving module on the other side remains unchanged; if yes, executing step S103, otherwise executing step S102; S103, recording the shadow condition of the receiving module at that moment; S104, calculating the number of shadow-covered receiving modules; S105, analyzing the area of ​​the receiving module covered by the shadow; S106, determining whether the shadow coverage of both sides is that the shadow area first increases and then decreases; if so, executing step S109, otherwise executing step S107; S107, determining whether the shadow coverage of both sides is that the shadow area first increases, then decreases, and finally increases; if so, executing step S110, otherwise executing step S108; S108, determining whether the shadow coverage on both sides is a situation where the shadow area increases or decreases three times; if so, executing step S114, otherwise executing step S115; S109, determining whether the side with the smaller shadow coverage area is smaller than or equal to the upper limit of the shadow area of ​​a seed; if so, executing step S112, otherwise executing step S111; S110, determining whether the shadow coverage area before and after the turning point is less than or equal to the upper limit of the shadow area of ​​a seed; if so, executing step S113, otherwise executing step S114; S111, determining that the seed guide tube has fallen seeds and adding two seeds that are close to the seed guide tube; S112, determining that one seed falls from the seed guide tube; S113, determining that two partially overlapping seeds are added when the seeds fall from the seed guide tube; S114, determining that seeds dropped from the seed guide tube increase three seeds; S115, determining that the seed guide tube is blocked; S116, end counting; S117, stop the sowing operation.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The present invention processes the received light intensity information through a signal processing module, cooperates with the upper computer display module and each module to achieve high-precision and rapid seed counting, ensures the accurate operation capability of the sowing process, and improves agricultural production efficiency. The present invention can also adjust the light intensity in real time according to the dust condition of the seed guide tube when not sowing, ensures the accuracy of seed counting, reduces counting errors and ensures the ability to operate for a long time, reduces the problem of inaccurate counting caused by dust, and further improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of the structure of the seed sensor; Figure 2 This is the distribution diagram of the light beam irradiating the seeds during seed guidance; Figure 3 To improve the front and rear beam illumination effect of the structure; Figure 4 A method flow chart of a counting method for a seed sensor; Figure 5 A flow chart of a method for dust compensation of a seed sensor; Figure 6 This is a module diagram of the seed sensor. DETAILED DESCRIPTION

[0014] like Figure 1 As shown, the seed counting sensor control system of this embodiment is as follows Figure 6 , including a main control module 100, a host computer display module 300, an optical detection module 400, and a signal processing module 200; the main control module 100 and the signal processing module 200 are installed on the main frame of the sowing and fertilization system; the host computer display module 300 is installed on the tractor cab; the optical detection module 400 is installed on both sides of the seed guide tube 700; the optical detection module 400 includes a group of transmitting modules and a group of receiving modules corresponding to the transmitting modules one by one, and its structure is as follows Figure 1 The transmitting module includes a transmitting module group 401 installed at one side of the seed guide tube 700 and a transmitting module group 402 installed at the other side; the receiving module includes a receiving module group 411 and a receiving module group 412 installed at the opposite side of the transmitting module on the seed guide tube 700; wherein the receiving module group 412 and the transmitting module group 401 are used to receive the optical signal emitted by the transmitting module group 401 in a one-to-one manner; and the receiving module group 402 and the transmitting module group 411 are used to receive the optical signal emitted by the transmitting module group 411 in a one-to-one manner. The transmitting module group 401 and the transmitting module group 402 are wrapped by an optical mask 800.

[0015] The main control module 100 is the control core of the seed counting sensor, including a programmable controller, a frequency converter, a power switch and other devices. Its working mode is mainly divided into a sowing mode and a non-sowing mode. When in the sowing mode, Figure 4, used to count the number of guided seeds, and analyze the number of guided seeds according to the first signal transmitted by the signal processing module 200, and output the calculation result to the second signal and send it to the upper computer display module 300; the first signal is used to transmit the light intensity data processed by the signal processing module 200; the second signal is used to transmit the number of guided seeds at this moment and add it to the total sowing quantity; after receiving the first signal sent by the signal processing module 200, the main control module 100 further analyzes the area information of the shadow 500 covering the receiving module, and further processes it according to the increase or decrease of the shadow 500 area; the main control module 100 first determines whether the coverage of the shadows 500 on both sides is that the area of ​​the shadows 500 increases first and then decreases, and if it meets the above situation, it further analyzes whether the side with a smaller coverage area of ​​the shadows 500 is less than or equal to the upper limit of the area of ​​the shadows 500 of a seed, and further determines whether the seed guide tube 700 drops two seeds close to each other or one seed at this moment; if it does not meet the above situation, it further analyzes whether the coverage of the shadows 500 on both sides is that the area of ​​the shadows 500 increases first, then decreases, and finally increases, and at the same time In one step, determine whether the parts before and after the turning point of the increase or decrease of the coverage area of ​​the shadow 500 are less than or equal to the upper limit of the area of ​​the shadow 500 of one seed, so as to determine whether the seed guide tube 700 drops two partially overlapping seeds or three seeds at this moment; if it still does not meet the situation that the shadow 500 area increases or decreases twice, further determine whether the coverage of the shadows 500 on both sides is the situation that the shadow 500 area increases or decreases three times. If it meets the situation, the seed guide tube 700 drops three seeds at this moment, otherwise it is determined that the seed guide tube 700 is blocked and needs to be cleaned and inspected in time; the receiving module group 412 and the transmitting module group 401 are applied one by one to receive the light signal emitted by the transmitting module group 401; the receiving module group 402 and the transmitting module group 411 are applied one by one to receive the light signal emitted by the transmitting module group 411, and different seed guiding processes are performed for different light sources on one side and corresponding different receiving modules. The size of the transmitting module is greater than the upper limit of the seed area, but when there is a same change in the shadow 500 received by the receiving module, the units with the same change are merged and processed, and it can be determined that the seeds fall across multiple transmitting modules. When in unseeded mode Figure 5 , used to perform dust compensation on the seed emission module, and analyze the light intensity according to the third signal transmitted from the signal processing module 200, and transmit the light intensity adjustment command to the emission module through the fourth signal, and transmit the fifth signal to the upper computer display module 300; the third signal is used to transmit the light intensity received by the receiving module when no seeds fall, and compare it with the light intensity received last time; the fourth signal is used to transmit the light intensity command that needs to be enhanced, to ensure that the seed sensor in the counting mode can maintain the same light intensity; the fifth signal is used to transmit whether the seed guide tube 700 has reached the threshold value that needs to be cleaned of dust.

[0016] The host computer display module 300 is used to display the number of fallen seeds according to the received second signal, and remind the user whether multiple seeds overlap and fall; the host computer display module 300 is used to display whether the seed guide tube 700 needs to be cleaned according to the received fifth signal.

[0017] The optical detection module 400 includes a transmitting module, a receiving module and an optical mask 800; the transmitting module includes a transmitting module group 401 installed at the bottom of one side of the seed guide tube 700 and a transmitting module group 402 installed at the bottom of the other side; the receiving module includes a receiving module group 411 and a receiving module group 412 installed on the seed guide tube 700 on the side opposite to the transmitting module; wherein the receiving module group 412 is applied one-to-one with the transmitting module group 401 to receive the optical signal emitted by the transmitting module group 401; the receiving module group 402 is applied one-to-one with the transmitting module group 411 to receive the optical signal emitted by the transmitting module group 411. The optical mask 800 is installed at the lower end of each receiving module, located in the middle of the seed guide tube 700, and arranged in a straight line; when in the sowing state, it is used to count the seeds through the transmitting module and the receiving module; when in the non-sowing state, the optical detection module 400 is used to detect the light intensity when not sowing; the light beam 600 emitted by the transmitting module is refracted by the optical mask 800 to form a trapezoidal light field, and its irradiation effect is as follows Figure 3 , Figure 3 (a) shows the illumination formed by the light beam 600 without being refracted by the optical mask 800, and (b) shows the uniform illumination formed by the light beam 600 being refracted by the optical mask 800; the light beam 600 is used to detect seeds passing through the light field; the transmitting module adjusts the light intensity for dust compensation adjustment; the receiving module is used to receive the light beam 600 of the transmitting module and transmit the received light intensity information to the signal processing module 200 through the sixth signal; the optical mask 800 is used to refract the light beam 600 of the transmitting module so that it is transmitted as a light beam 600 with uniform light intensity.

[0018] The signal processing module 200 is used to process the signal according to the light intensity signal sent by the receiving module; the signal processing module 200 is installed on the control box of the main frame of the sowing and fertilization system; the signal processing module 200 processes the light intensity of each receiving module according to the received sixth signal and classifies the light intensity, obtains the receiving module array diagram of the light intensity, and transmits the data to the main control module 100 through the third signal. When the seed drill is in a non-sowing state; the signal processing module 200 measures the voltage on the measuring resistor connected in series with the phototransistor by means of an A / D converter, wherein the measured voltage is proportional to the current of the phototransistor and proportional to the intensity of the light beam 600; the signal processing module 200 measures the working point current of the phototransistor to check whether the current value is within the expected range. If it is within the expected range, the light intensity does not need to be modified and the adjustment cycle ends; if the current of the phototransistor is outside the expected range, the light intensity is corrected to the positive or negative direction according to the current strength; the signal processing module 200 monitors whether the seed flow starts in the sensor at the same time in each cycle, and when sowing is restarted, the signal processing module 200 immediately suspends the light intensity adjustment; when the seeder is in the sowing state, the seed falling situation is as follows Figure 2 ; Figure 2(a) shows a cross-sectional view of a shadow 500 formed by the light beam 600 on the seed when only one seed falls in the middle of the seed guide tube 700, (b) shows a cross-sectional view of a shadow 500 formed by the light beam 600 on the seed when only one seed falls on the edge of the seed guide tube 700, (c) shows a cross-sectional view of a shadow 500 formed by the light beam 600 on the seed when two seeds that are completely overlapping but not closely attached in a horizontal plane fall in the middle of the seed guide tube 700, (d) shows a cross-sectional view of a shadow 500 formed by the light beam 600 on the seed when two seeds that are partially overlapping but not closely attached in a horizontal plane fall in the middle of the seed guide tube 700. (e) shows a cross-sectional view of a shadow 500 formed when two seeds that do not overlap and are not close together in the horizontal plane fall in the middle of the seed guide tube 700, (f) shows a cross-sectional view of a shadow 500 formed when two seeds that completely overlap and are close together in the horizontal plane fall in the middle of the seed guide tube 700, (g) shows a cross-sectional view of three seeds that do not completely overlap and are close together in sequence in the horizontal plane fall in the middle of the seed guide tube 700, and the light beam 600 shines on the seeds to form a shadow 500, (h) shows (i) shows a cross-sectional view of a shadow 500 formed by the light beam 600 shining on the seeds when three seeds that are completely overlapped and close together in the horizontal plane fall in the middle of the seed guide tube 700; (ii) shows a cross-sectional view of a shadow 500 formed by the light beam 600 shining on the seeds when three seeds that are not completely overlapped and not close together in the horizontal plane fall in the middle of the seed guide tube 700; the signal processing module 200 first determines whether the uppermost receiving module detects the shadow 500. When the uppermost ends of the receiving module groups 411 and 412 on both sides experience the time from receiving the shadow 500 to regaining the light beam 600 signal, Or when one side of the receiving module experiences the process from receiving the shadow 500 to regaining the light beam 600 signal, and the light intensity received by the other side of the receiving module remains unchanged; the signal processing module 200 intercepts the shadow 500 situation of the receiving module at this moment for processing; the signal processing module 200 determines the area of ​​the shadow 500 by the light intensity of the receiving modules 411~420, wherein the measured voltage is proportional to the current of the phototransistor and is proportional to the light intensity after the light beam 600 passes through the seed; the light intensity can be analyzed in segments, and finally the light intensity received by the receiving module is proportional to the area of ​​the shadow 600.

[0019] The above system and method are described as a whole in conjunction with a complete embodiment below: When in the unseeded state S200, start dust compensation adjustment; S300, determining whether the seeder is sowing; if yes, executing step S800, otherwise executing S400; S400, determining whether the intensity 600 of the light beam received by the receiving module is the same as that of the last calibration; if yes, executing S800, otherwise executing S401; S401, determining whether the intensity 600 of the light beam received by the receiving module is smaller than that of the last calibration; if so, executing S500, otherwise executing S501; S500, increasing the corresponding light beam intensity 600 of the emission module; S501, reducing the corresponding light beam intensity of the emission module by 600; S600, waiting for the light intensity of the transmitting module to stabilize and reach the receiving intensity of the last light intensity; S700, determining whether the sowing operation has started; if yes, executing step S800, otherwise executing step S400; S800, ending dust compensation adjustment; When in sowing state S100, during the sowing process, the seed counting system starts to be initialized; S101, determining whether the uppermost end of the receiving module detects a shadow 500; if yes, executing step S102, otherwise executing step S101; S102, determining whether the same receiving module detects the light beam 600 again, or whether the receiving module on one side detects the light beam 600 again, and the light beam 600 received at the top of the receiving module on the other side remains unchanged; if yes, executing step S103, otherwise executing step S102; S103, recording the shadow 500 of the receiving module at that moment; S104, calculating the number of receiving modules covered by the shadow 500; S105, analyzing the area of ​​the receiving module covered by the shadow 500; S106, determining whether the coverage of the shadows 500 on both sides is that the area of ​​the shadows 500 increases first and then decreases; if yes, executing step S109, otherwise executing step S107; S107, determining whether the coverage of the shadows 500 on both sides is that the area of ​​the shadows 500 first increases, then decreases, and finally increases; if yes, executing step S110, otherwise executing step S108; S108, determining whether the coverage of the shadows 500 on both sides is a situation where the area of ​​the shadows 500 increases or decreases three times; if yes, executing step S114, otherwise executing step S115; S109, determining whether the side with the smaller coverage area of ​​the shadow 500 is smaller than or equal to the upper limit of the area of ​​the shadow 500 of a seed; if so, executing step S112, otherwise executing step S111; S110, determining whether the area covered by the shadow 500 before and after the turning point of the increase or decrease is less than or equal to the upper limit of the area of ​​the shadow 500 of a seed; if so, executing step S113, otherwise executing step S114; S111, determining that the seed guide tube 700 drops seeds and adds two close seeds; S112, determining that one seed has been dropped from the seed guide tube 700; S113, determining that the seed guide tube 700 drops two seeds that are partially overlapped; S114, determining that three seeds are added when seeds are dropped from the seed guide tube 700; S115, determining whether the seed guide tube 700 is blocked; S116, end counting; S117, stop the sowing operation.

Claims

1. A seed counting sensor with dust compensation function, characterized in that: The system comprises a main control module (100), a host computer display module (300), an optical detection module (400), and a signal processing module (200); the main control module (100) and the signal processing module (200) are installed on a main frame of the sowing and fertilizing system; and the host computer display module (300) is installed on a tractor cab; The optical detection module (400) comprises a group of transmitting modules and a group of receiving modules corresponding to the transmitting modules one by one, the transmitting modules and the receiving modules are respectively installed on both sides of the seed guide tube (700), and the transmitting modules are wrapped by an optical mask (800); The signal processing module (200) is used to process the signal according to the light intensity signal sent by the receiving module; after receiving the receiving module array diagram, the signal processing module (200) transmits the data to the main control module (100) via a third signal; The working modes of the main control module (100) are mainly divided into a sowing mode and a non-sowing mode. When in the sowing mode, the main control module (100) is used to count the number of guided seeds, analyze the number of guided seeds according to a first signal transmitted from the signal processing module (200), and output the calculation result as a second signal to the upper computer display module (300); when in the non-sowing mode, the main control module (100) is used to perform dust compensation on the transmitting module, analyze the light intensity according to a third signal transmitted from the signal processing module (200), and transmit a light intensity adjustment command to the transmitting module via a fourth signal, and at the same time transmit whether the seed guide tube (700) has reached a threshold value requiring dust cleaning to the upper computer display module (300) via a fifth signal; The upper computer display module (300) is used to display the number of seeds that have fallen according to the received second signal, and to remind the user whether a plurality of seeds have fallen overlappingly; The upper computer display module (300) is used to display whether the seed guide tube (700) needs to be cleaned according to the received fifth signal.

2. The seed counting sensor with dust compensation function according to claim 1, characterized in that: The transmitting module comprises a transmitting module group (401) installed below one side of the seed guide tube (700) and a transmitting module group (402) installed below the other side; the receiving module comprises a receiving module group (411) and a receiving module group (412) installed on the seed guide tube (700) on the side opposite to the transmitting module; wherein the receiving module group (412) and the transmitting module group (401) are applied one-to-one to receive the optical signal emitted by the transmitting module group (401); and the receiving module group (402) and the transmitting module group (411) are applied one-to-one to receive the optical signal emitted by the transmitting module group (411).

3. The seed counting sensor with dust compensation function according to claim 1, characterized in that: The main control module (100) comprises a programmable controller, a frequency converter, and a power switch.

4. The seed counting sensor with dust compensation function according to claim 1, 2 or 3, characterized in that: The transmitting module uses an optical signal transmitting unit to transmit a light beam (600); the optical mask (800) is used to refract the light beam (600) of the transmitting module so that it is transmitted as a light beam (600) with uniform light intensity; the receiving module comprises a phototransistor and a resistor, the phototransistor and the resistor are connected in series; the light beam emitted by the transmitting module is received by the phototransistor and converted into a current signal.

5. The seed counting sensor with dust compensation function according to claim 4, characterized in that: The signal processing module (200) measures the voltage of a resistor connected in series with a phototransistor via an A / D converter, wherein the measured voltage is proportional to the current of the phototransistor and is proportional to the intensity of the light beam (600); at the same time, the signal processing module (200) measures the operating point current of the phototransistor to check whether the current value is within an expected range; the signal processing module is connected to a programmable controller of a main control module via an A / D converter.

6. A control method for a seed counting sensor with dust compensation function according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: When in the non-sowing state, that is, the working mode of the main control module (100) is in the non-sowing mode, the control method is as follows: S200, start dust compensation adjustment; S300, determining whether the seeder is sowing; if yes, executing step S800, otherwise executing S400; S400, determining whether the intensity of the light beam received by the receiving module (600) is the same as that of the last calibration; If yes, execute S800, otherwise execute S401; S401, determining whether the intensity of the light beam received by the receiving module (600) is smaller than that of the last calibration; If yes, execute S500, otherwise execute S501; S500, increasing the corresponding light beam intensity of the emission module (600); S501, reducing the corresponding beam intensity of the emission module (600); S600, waiting for the light intensity of the transmitting module to stabilize and reach the receiving intensity of the last light intensity; S700, determining whether the sowing operation has started; if yes, executing step S800, otherwise executing step S400; S800, ending dust compensation adjustment; When in the sowing state, that is, the working mode of the main control module (100) is in the sowing mode, S100, during the sowing process, the seed counting system starts to be initialized; S101, determine whether a shadow is detected at the top of the receiving module (500); if yes, execute step S102, otherwise execute step S101; S102, determining whether the same receiving module detects the light beam (600) again, or whether the receiving module on one side detects the light beam (600) again, and the light beam (600) received at the top end of the receiving module on the other side remains unchanged; if yes, executing step S103, otherwise executing step S102; S103, recording the shadow (500) of the receiving module at that moment; S104, calculating the number of receiving modules covered by the shadow (500); S105, analyzing the area of ​​the receiving module covered by the shadow (500); S106, determining whether the coverage of the shadows (500) on both sides is that the area of ​​the shadows (500) first increases and then decreases; if so, executing step S109, otherwise executing step S107; S107, determining whether the coverage of the shadows (500) on both sides is that the area of ​​the shadows (500) first increases, then decreases, and finally increases; if so, executing step S110, otherwise executing step S108; S108, determining whether the coverage of the shadows (500) on both sides is a situation where the area of ​​the shadows (500) increases or decreases three times; if so, executing step S114, otherwise executing step S115; S109, determining whether the side with the smaller coverage area of ​​the shadow (500) is smaller than or equal to the upper limit of the area of ​​a seed shadow (500); if so, executing step S112, otherwise executing step S111; S110, determining whether the area covered by the shadow (500) before and after the turning point of the increase or decrease is less than or equal to the upper limit of the area of ​​a seed shadow (500); if so, executing step S113, otherwise executing step S114; S111, determining that the seed guide tube (700) has dropped two seeds and has added two seeds that are close to the seed guide tube (700); S112, determining that one seed has been dropped from the seed guide tube (700); S113, determining that the seed guide tube (700) drops two seeds and adds two partially overlapping seeds; S114, determining that three seeds are added when seeds are dropped from the seed guide tube (700); S115, determining whether the seed guide tube (700) is blocked; S116, end counting; S117, stop the sowing operation.

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