Precise seed sowing monitoring device and method based on dust compensation

Abstract

The invention discloses a seed precision sowing monitoring device and method based on dust compensation. The device comprises a transmitting end, a receiving end and an algorithm control module, the transmitting end comprises a plurality of signal transmitting channels, and each signal transmitting channel is connected with a pulse width modulation module; the receiving end comprises a plurality of signal receiving channels and is used for receiving signals transmitted by the signal transmitting channels; the algorithm control module processes the signals received by the receiving end, then compares the sampling value of each signal receiving channel with a theoretical value, and if the sampling value of the channel is smaller than the theoretical value, the voltage amplitude of the corresponding signal transmitting channel is increased through the pulse width modulation module; and if the sampling value of the channel is equal to the theoretical value, maintaining the voltage of the signal transmitting channel of the channel.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a device and method for monitoring grain precision sowing based on dust compensation. Background Art

[0002] The sowing process is the primary link in the process of crop cultivation, management and harvesting. The quality of sowing seriously affects the yield of crops. In order to reduce the amount of seeds sown, reduce seed waste, save and reduce losses, and increase yields, precision sowing technology is currently being integrated and promoted to sow seeds into the soil according to a certain spacing between plants and rows.

[0003] In order to achieve precision seeding, a seeding monitoring device is needed to count the seeding amount and identify situations such as reseeding and missed seeding. Currently, most commonly used seeding monitoring devices are in the form of photoelectric sensing, with one end emitting light and the other end receiving light. When the seeds fall, they block the light source, and the receiving end cannot receive the light source, generating a pulse voltage signal to count the seeds. However, under certain seeding conditions, dust from the passage of machinery will fill the vicinity of the seeding monitoring device, and with the continuous use of the seeding monitoring device, dust is easily accumulated at both ends of the emitting and receiving light sources, resulting in a weakening of the intensity of the emitted and received light sources during operation, reducing the sensitivity of the seeding monitoring device, and thus affecting the monitoring effect. Summary of the invention

[0004] In order to solve the problem that dust is blocked during the use of the existing sowing monitoring device, resulting in low sowing monitoring accuracy and even affecting the monitoring results, the present invention designs a grain precision sowing monitoring device and method based on dust compensation. The sowing monitoring device adopts a photoelectric sensing method and is installed under the seed meter. When it is detected that dust blocks the light source, the input PWM voltage amplitude of the transmitting end is increased to strengthen the light source, offset the dust interference, accurately identify the sowing state, and realize grain precision sowing monitoring.

[0005] In order to achieve the above object, the specific solution of the present invention is:

[0006] A first aspect of the present invention provides a grain precision sowing monitoring device based on dust compensation, comprising a transmitting end, a receiving end, a signal acquisition module and an algorithm control module;

[0007] The transmitting end includes a plurality of signal transmitting channels, each of which is connected to a pulse width modulation module;

[0008] The receiving end includes a plurality of signal receiving channels for receiving signals transmitted by the signal transmitting channel;

[0009] The algorithm control module processes the signal collected by the signal acquisition module, and then compares the sampling value of each signal receiving channel with the theoretical value. If the sampling value of the channel is less than the theoretical value, the voltage amplitude of the corresponding signal transmission channel is increased through the pulse width modulation module; if the sampling value of the channel is equal to the theoretical value, the voltage of the signal transmission channel of the channel is maintained.

[0010] As a further technical solution, each signal transmission channel is equipped with an infrared transmitting tube, and multiple infrared transmitting tubes are installed in parallel.

[0011] As a further technical solution, each signal receiving channel is installed with two patch-type photosensitive elements, and the patch-type photosensitive elements of multiple channels are installed in parallel.

[0012] As a further technical solution, an infrared emitting tube and two surface mount photosensitive elements form a monitoring channel.

[0013] As a further technical solution, a plurality of infrared emitting tubes are powered in turn according to a periodic phase difference.

[0014] As a further technical solution, by adjusting the emission angle of the infrared emitting tube and the distance between the transmitting end and the receiving end, the two patch photosensitive elements can completely cover the illumination range of the light source emitted by the infrared emitting tube of the corresponding channel.

[0015] As a further technical solution, the pulse width modulation module increases the voltage amplitude of the corresponding signal transmission channel until the sampling value is equal to the theoretical value.

[0016] As a further technical solution, the transmitting end is protected by a shell; and the receiving end is protected by a shell.

[0017] As a further technical solution, the algorithm control module is also connected to the communication module.

[0018] In a second aspect, the monitoring method of the grain precision sowing monitoring device based on dust compensation is as follows:

[0019] When the sowing monitoring device is operated for the first time, there is no dust blocking and no seeds falling. The light source emitted by the transmitting end completely covers the photosensitive element of the receiving end, and the initial sampling value of the signal receiving channel is obtained; when seeds pass through, a low-level signal of the signal receiving channel is obtained;

[0020] During the monitoring process, the algorithm control module compares the sampling values ​​of multiple signal receiving channels with the theoretical values ​​in real time. If the sampling value of the channel is less than the theoretical value, the voltage amplitude of the corresponding signal transmitting channel is increased through the pulse width modulation module; if the sampling value of the channel is equal to the theoretical value, the voltage of the signal transmitting channel of the channel is maintained.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The invention discloses a grain precision sowing monitoring device based on dust compensation. By installing a pulse width modulation module at the transmitting end, an algorithm control module compares the sampling value of each signal receiving channel with the theoretical value. If the sampling value of the channel is less than the theoretical value, the pulse width modulation module is used to increase the voltage amplitude of the corresponding signal transmitting channel, thereby realizing the sowing count of normal seeds in the presence of dust, avoiding dust interference, improving the sowing monitoring accuracy, and having a high application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute improper limitations on the present invention.

[0024] Figure 1 This is a schematic diagram of a monitoring sensor according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a side view of the transmitting end of the monitoring sensor of Example 1 of the present invention;

[0026] Figure 3 This is a side view of a receiving end of a monitoring sensor according to Embodiment 1 of the present invention;

[0027] Figure 4 This is a diagram showing the internal layout of the monitoring sensor according to Embodiment 1 of the present invention;

[0028] Figure 5 This is an internal circuit diagram of a monitoring sensor according to Embodiment 1 of the present invention;

[0029] Figure 6 This is a system structure diagram of a sowing monitoring device according to Embodiment 1 of the present invention;

[0030] Figure 7 is a waveform diagram of embodiment 1 of the present invention;

[0031] Figure 8 This is a closed-loop block diagram of the light intensity adjustment of the transmitting tube according to Embodiment 1 of the present invention;

[0032] Fig. 9 This is a flow chart of the dust compensation and seeding counting algorithm of Embodiment 2 of the present invention.

[0033] Among them: 1. Transmitter shell; 2. Sensor transmitter; 3. Infrared transmitting tube; 4. Receiving shell; 5. Sensor receiving end; 6. Receiving circuit module; 7. Transmitting circuit module; 8. SMD photosensitive element; 9. Signal processing module; 10. Plug; 100. Power module; 200. Algorithm control module; 300. CAN communication module. DETAILED DESCRIPTION

[0034] The following is a description of the embodiments with reference to the accompanying drawings, and further detailed descriptions are given of the specific implementation methods of the present invention, such as the shapes and structures of the components involved, the relative positions and connection relationships between the components, the functions and working principles of the components, the monitoring methods, etc., to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0035] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0038] Example 1

[0039] Embodiment 1 of the present invention provides a grain precision seeding monitoring device based on dust compensation, which increases the output power of the transmitting end according to the degree of dust accumulation and improves the light transmittance, thereby realizing the seeding detection of small and medium-sized grains in a dusty environment, while improving the monitoring accuracy and having a wide range of applications.

[0040] In order to solve the problem that dust is blocked during the use of the existing sowing monitoring device, resulting in low sowing monitoring accuracy and even affecting the monitoring result, the present invention discloses a grain precision sowing monitoring device and method based on dust compensation; the sowing monitoring device adopts a counter-beam photoelectric sensing method and is installed as a whole below the seed meter of the sowing device. When the sampling value of the signal acquisition module in the monitoring device changes compared with the theoretical value, it means that dust blocks the light source. At this time, the input PWM voltage amplitude of the transmitting end can be increased to strengthen the light source, offset the dust interference, accurately identify normal sowing, perform sowing counting, and realize grain precision sowing monitoring.

[0041] Specifically, the present embodiment provides a dust compensation-based grain precision sowing monitoring device, which mainly includes a monitoring sensor, a signal processing module 9 and a plug 10; Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the monitoring sensor includes a sensor transmitting end 2 and a sensor receiving end 5; the sensor transmitting end 2 includes a transmitting end shell 1, an infrared transmitting tube 3 and a transmitting circuit module 7; the sensor receiving end 5 includes a receiving end shell 4, a patch type photosensitive element 8 and a receiving circuit module 6; wherein the signal processing module 9 includes a power module 100, an algorithm control module 200, and a CAN communication module 300; the plug 10 is used to connect to an external power supply.

[0042] like Figure 1 As shown, when the dust compensation-based grain precision seeding monitoring device provided by this embodiment is in a normal installation position, the sensor transmitting end 2 is facing the sensor receiving end 5.

[0043] like Figure 4 As shown, the infrared emitting tube 3 is installed inside the sensor emitting end 2. In this embodiment, the sensor emitting end 2 includes 4 infrared emitting tubes 3; the patch photosensitive element 8 is installed inside the sensor receiving end 5, and the sensor receiving end 5 includes 8 patch photosensitive elements 8. Each infrared emitting tube 3 and the corresponding two patch photosensitive elements 8 form a monitoring channel. In this embodiment, there are 4 monitoring channels in total. Among them, the infrared emitting tube 3 is powered in turn according to the periodic phase difference, and the power supply period T=1ms, so as to avoid continuous power supply of the monitoring device, increase the service life of the infrared emitting tube 3, and improve the reliability of the monitoring device. By adjusting the emission angle of the infrared emitting tube 3 and the distance between the sensor emitting end 2 and the sensor receiving end 5, the two patch photosensitive elements 8 can completely cover the irradiation range of the light source emitted by the corresponding infrared emitting tube, ensuring that there is no monitoring blind spot.

[0044] Of course, it is not difficult to understand that the number of the above-mentioned infrared emitting tubes 3 is not limited to four, and different numbers can be set according to needs; when the number of infrared emitting tubes 3 changes, the number of corresponding chip-type photosensitive elements 8 also changes, but the number of chip-type photosensitive elements 8 is always twice that of infrared emitting tubes 3.

[0045] Furthermore, the transmitting end and the receiving end of the monitoring device are symmetrical about the plane where the seed metering device is located.

[0046] Furthermore, when the sowing monitoring device is operated for the first time, there is no dust obstruction and no seeds fall. The light source emitted by the transmitting end completely covers the photosensitive element of the receiving end, and the initial ADC sampling values ​​of the four channels of the monitoring sensor are obtained; when a seed passes through, the low-level signal of the sensor channel is obtained. According to the comparison between the ADC sampling values ​​of the four channels of the monitoring sensor and the theoretical values, dust monitoring is carried out, the PWM voltage amplitude is increased, and dust compensation is realized; the sowing count is carried out according to the change of the low-level signal of the monitoring sensor channel; the monitoring sensor channel is composed of a transmitting end and a receiving end, and adopts a counter-beam photoelectric sensing method and is installed below the seed meter;

[0047] If the ADC sampling values ​​of the four channels of the monitoring sensor are equal to the ADC sampling theoretical values, it means that the sensor is not blocked by dust; if the ADC sampling values ​​of the four channels of the monitoring sensor are not equal to the ADC sampling theoretical values ​​(generally less than), it means that there is dust blocking the transmitting end and the receiving end. The PWM voltage amplitude of the corresponding channel is increased until the ADC sampling value of the channel is equal to the theoretical value to achieve dust compensation; if the receiving end of the monitoring sensor cannot receive the light source, a falling edge signal is generated, and the high level turns to a low level, then a seed has passed and the sowing count is performed.

[0048] like Figure 5 As shown, the circuit corresponding to the sensor transmitting end 2 and the sensor receiving end 5 includes an infrared transmitting tube LED11, a photosensitive element D21, a photosensitive element D22, a resistor R34, a resistor R35, a resistor R36, a resistor R37, and a transistor Q8; wherein the infrared transmitting tube LED11 model is GL538, the cathode of the infrared transmitting tube LED11 is grounded, the anode is connected to the second end of the resistor R36 and the first end of the resistor R37, the second end of the resistor R37 is a power output, the first end of the resistor R36 is connected to the collector of the transistor Q8, the emitter of the transistor Q8 is grounded to the second end of the resistor R35, the base of the transistor Q8 is connected to the first end of the resistor R35 and the second end of the resistor R34, the first end of the resistor R34 is a PWM input, and the internal circuit diagrams of other channels of the monitoring sensor transmitting end are designed for this purpose. The collector of the photosensitive element D21 is connected to the collector of the photosensitive element D22, and the emitter of the photosensitive element D21 is connected to the emitter of the photosensitive element D22, and the signal is transmitted to the signal processing module. The internal circuit diagrams of other channels at the receiving end of the monitoring sensor are designed for this purpose.

[0049] The signal processing module includes a voltage-stabilizing diode D5, a resistor R7, a resistor R42, a resistor R51, a resistor R53, a resistor R54, a resistor R73, a capacitor C27, a capacitor C30, a capacitor C35, a capacitor C37, a capacitor C38, and an operational amplifier u89A; wherein the cathode of the voltage-stabilizing diode D5 is connected to the first end of the capacitor C30 and the first end of the resistor R51, the anode of the voltage-stabilizing diode D5 is connected to the second end of the capacitor C30, the second end of the resistor R73, the second end of the capacitor C37, the second end of the capacitor C27, and the second end of the resistor R7 and is grounded, the second end of the resistor R51 and the first end of the resistor R73 are connected to the ground. , the first end of capacitor C37 is connected to the in-phase input end of operational amplifier u89A, the second end of resistor R54, the first end of resistor R53, and the first end of capacitor C38 are connected to the inverting input end of operational amplifier u89A, the first end of resistor R54 is grounded, pin 4 of operational amplifier u89A is connected to the first end of capacitor C35, the second end of capacitor C35 is grounded, pin 1 of operational amplifier u89A is connected to the second end of capacitor C38, the second end of resistor R53, and the first end of resistor R42, and resistor R42 is connected to the first end of capacitor C27 and the first end of resistor R7, and the signal is transmitted to the ADC sampling module. The amplification factor of operational amplifier u89A is. U34 is composed of four diode packages, the cathodes of the four diodes are connected to the 4-way ADC sampling signals, and the anodes output ADC signals, which are used to prevent surges and protect components. The internal circuit diagrams of other channel signal processing modules are designed for this purpose.

[0050] like Figure 6 The figure shows the overall circuit diagram corresponding to a grain precision sowing monitoring device based on dust compensation provided in this embodiment, including a receiving circuit module 6, a transmitting circuit module 7, a power module 100, an algorithm control module 200, and a CAN communication module 300; wherein the power module 100, the algorithm control module 200, and the CAN communication module 300 are combined together to form Figure 1The signal processing module 9 in the embodiment; wherein the VIN and GND pins of the power module 100 are respectively connected to the positive and negative poles of the external power supply, and the output power pins of the power module 100 include 3.3V, 5V and 12V, wherein the power chip model for providing 5V and 12V is TPS54560DDA, and the power chip model for providing 3.3V is TLV70233DBVR. 3.3V is connected to the VDD pin of the algorithm control module 200, 5V is connected to the VDD1 pin of the CAN communication module 300, 12V is connected to the VDD2 pin of the receiving end 6 of the monitoring sensor, and the GND pins of each module are connected to the system common GND. The AD1, AD2, AD3, AD4, and AD5 pins of the monitoring sensor receiving end 6 are respectively connected to the AD1, AD2, AD3, AD4, and AD5 pins of the algorithm control module 200 to transmit the AD sampling signal to the algorithm control module 200. The PWM1, PWM2, PWM3, and PWM4 pins of the transmitting circuit module 7 of the monitoring sensor are respectively connected to the PWM1, PWM2, PWM3, and PWM4 pins of the algorithm control module 200, and the PWM_OUT pin is connected to the PWM_OUT pin of the algorithm control module 200. The algorithm control module 200 uses the chip STM32F407 to process data and send control instructions. The algorithm control module 200 improves the PWM output value through the dust compensation algorithm, eliminates dust interference, realizes seed counting, and is connected to the CAN communication module through the CAN bus. The model of the CAN communication module 300 is TJA1050, and the TXD and RXD pins are respectively connected to the CAN_TX and CAN_RX pins of the algorithm control module 200 through the CAN bus, which is mainly responsible for receiving monitoring data for output.

[0051] like Figure 7 As shown, (a) is the waveform of the first group of channels when the monitoring sensor is working normally, and the PWM voltage output range is 0-5V. When there is no dust blocking the transmitter and receiver of the monitoring sensor, the PWM voltage output value is 3.3V. When there is dust blocking the transmitter and receiver of the monitoring sensor, the PWM voltage output value is increased until the ADC sampling value is equal to the theoretical value. (b), (c), and (d) are the waveforms of the other three channels of the monitoring sensor, which are the same as (a). The four infrared emitting tubes 3 are powered in turn according to the periodic phase difference to ensure that the receiving end is covered by the light from the transmitting end within one cycle.

[0052] like Figure 8 As shown, the light intensity adjustment of the infrared emitting tube 3 adopts closed-loop control, in which the voltage value of the receiving tube when there is no dust blocking is the input value, the infrared emitting tube 3 is the actuator, the PWM signal duty cycle is the control quantity, the PWM output value is the controlled object, and the real-time voltage value of the receiving tube is the controlled quantity. The real-time voltage value of the receiving tube is used as the feedback quantity to adjust the PWM output value in real time to avoid dust interference.

[0053] Example 2

[0054] Embodiment 2 of the present invention provides a method for monitoring grain precision sowing based on dust compensation as in Embodiment 1, comprising the following steps:

[0055] Step 1: Ensure that there is no dust blocking the transmitter and receiver of the monitoring sensor.

[0056] Step 2: Dust monitoring compensation, seeding counting, such as Figure 8 As shown, including:

[0057] S1, the four channels of the monitoring sensor transmit light beams, and the receiving end receives the light beams and prepares for monitoring;

[0058] S2, determine whether the light beams emitted by the four channels of the monitoring sensor are blocked: when the light beams are blocked, execute step S3; when the light beams are not blocked, execute step S1;

[0059] S3, record the ADC sampling values ​​of the four channels of the sensor, which are a1, a2, a3, and a4 respectively;

[0060] S4, judge the size of the ADC sampling values ​​a1, a2, a3, a4 of the four channels and the ADC sampling theoretical value a. i When (i=1,2,3,4)≠a, execute step S5. i When (i=1,2,3,4), execute step S7;

[0061] S5, if there is dust blocking the transmitting end or the receiving end of the monitoring sensor, execute step S6;

[0062] S6, increase the channel PWM voltage amplitude corresponding to the ADC sampling values ​​a1, a2, a3, a4, and execute step S3;

[0063] S7, monitoring the sensor transmitter or receiver to see if there is no dust blocking interference, and executing step S8;

[0064] S8, determining whether the emission light beams of the four channels of the monitoring sensor are blocked: when the light beams are blocked, executing step S9; when the light beams are not blocked, executing step S8;

[0065] S9: At this time, a seed passes through and the sowing count begins.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A grain precision sowing monitoring device based on dust compensation, characterized in that: It includes a transmitting end, a receiving end and an algorithm control module; The transmitting end includes a plurality of signal transmitting channels, each of which is connected to a pulse width modulation module; The receiving end includes a plurality of signal receiving channels for receiving signals transmitted by the signal transmitting channel; The algorithm control module processes the signal received by the receiving end, and then compares the sampling value of each signal receiving channel with the theoretical value. If the sampling value of the channel is less than the theoretical value, the voltage amplitude of the corresponding signal transmission channel is increased through the pulse width modulation module; if the sampling value of the channel is equal to the theoretical value, the voltage of the signal transmission channel of the channel is maintained.

2. The dust compensation-based seed precision sowing monitoring device according to claim 1, characterized in that: Each signal transmission channel is equipped with an infrared transmitting tube, and multiple infrared transmitting tubes are installed in parallel.

3. The dust compensation-based seed precision sowing monitoring device according to claim 2, characterized in that: Each signal receiving channel is equipped with two patch type photosensitive elements, and the patch type photosensitive elements of multiple channels are installed in parallel.

4. The dust compensation-based seed precision sowing monitoring device according to claim 3, characterized in that: An infrared emitting tube and two surface mount photosensitive elements form a monitoring channel.

5. The dust compensation-based seed precision sowing monitoring device according to claim 2, characterized in that: Multiple infrared emitting tubes are powered in turn according to periodic phase differences.

6. The dust compensation-based seed precision sowing monitoring device according to claim 3, characterized in that: By adjusting the emission angle of the infrared emitting tube and the distance between the transmitting end and the receiving end, the two patch type photosensitive elements can completely cover the illumination range of the light source emitted by the infrared emitting tube of the corresponding channel.

7. The dust compensation-based seed precision sowing monitoring device according to claim 3, characterized in that: The pulse width modulation module increases the voltage amplitude of the corresponding signal transmission channel until the sampling value is equal to the theoretical value.

8. The dust compensation-based seed precision sowing monitoring device according to claim 1, characterized in that: The transmitting end and the receiving end are both protected by a shell.

9. The dust compensation-based seed precision sowing monitoring device according to claim 1, characterized in that: The algorithm control module is also connected to the communication module.

10. The monitoring method of the grain precision sowing monitoring device based on dust compensation according to any one of claims 1 to 9, characterized in that: When the sowing monitoring device is operated for the first time, there is no dust blocking and no seeds falling. The light source emitted by the transmitting end completely covers the photosensitive element of the receiving end, and the initial sampling value of the signal receiving channel is obtained; when seeds pass through, a low-level signal of the signal receiving channel is obtained; During the monitoring process, the algorithm control module compares the sampling values ​​of multiple signal receiving channels with the theoretical values ​​in real time. If the sampling value of the channel is less than the theoretical value, the voltage amplitude of the corresponding signal transmitting channel is increased through the pulse width modulation module; if the sampling value of the channel is equal to the theoretical value, the voltage of the signal transmitting channel of the channel is maintained.

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