Monitoring system and monitoring method for operation information of rice precision hill-drop planter and rice precision hill-drop planter

Abstract

The invention provides a method for monitoring operation information of a rice precision hill-drop planter, which comprises the following steps of: initializing each controller of the rice precision hill-drop planter, if the initialization is completed, entering the next step, otherwise, continuously giving an alarm; the method comprises the following steps: acquiring data through an infrared photoelectric sensor array, optimizing the data acquired by the infrared photoelectric sensor array by using a Kalman filtering algorithm, and further acquiring the seed allowance of a seed metering box; judging whether the seeds are blocked or not according to the change time of the seed allowance calibrated in advance, and if the seeds are blocked, prompting through a human-computer interaction interface and giving an alarm; and the gear of the power output device and the groove width of the seed-metering wheel of the seed-metering device are readjusted. The invention further provides a monitoring system for the operation information of the rice precision hill planter, the infrared photoelectric distance measuring sensor array monitors the remaining amount of seeds in the seed metering box and the blockage condition in real time, the Kalman filtering algorithm is used for optimizing data, the height error measured by the fitting surface is small, and the data of the remaining amount of the seeds is more accurate.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery and equipment, and in particular to a monitoring system and a monitoring method for operation information of a precision rice hole seeder and the precision rice hole seeder. Background Art

[0002] Most existing monitoring systems are limited to single-dimensional data collection and analysis, which makes it difficult to fully reflect the actual status of the target object, and there is a problem of inconsistent communication protocols used in each single dimension. With the rapid development of technologies such as the Internet of Things, big data, and artificial intelligence, it is particularly important to build a monitoring system that can integrate multi-dimensional rice precision seeding machine data, realize intelligent early warning and rapid response.

[0003] The existing precision rice hole seeder cannot effectively monitor the operation part and solve the problem of missed seeds due to insufficient seed residue and blockage in the seed box. In addition, the existing precision rice hole seeder also has the problems of low integration and low automation. Summary of the invention

[0004] In order to overcome the deficiencies of the above prior art, the object of the present invention is to provide a method for monitoring the operation information of a rice precision hole seeder to avoid the problem of missed seeding due to insufficient seed remaining in the seeding box and blockage.

[0005] Another object of the present invention is to provide a monitoring system for the operation information of a rice precision seed drill.

[0006] Another object of the present invention is to provide a rice precision seed drill for monitoring operation information.

[0007] The purpose of the present invention is achieved through the following technical solutions: A method for monitoring operation information of a precision rice seed drill comprises the following steps: S1, initializing each controller of the rice precision seed drill, if completed, proceed to step S2, otherwise continue to issue a warning; S2, collecting data through an infrared photoelectric sensor array, using a Kalman filter algorithm to optimize the data collected by the infrared photoelectric sensor array, and then obtaining the seed remaining in the seeding box; S3. According to the seed remaining change time calibrated in advance, determine whether there is a seed blockage phenomenon. If it occurs, prompt it through the human-computer interaction interface and issue an alarm; S4. Re-adjust the gear position of the power output device and the width of the seed wheel groove of the seed metering device.

[0008] Preferably, step S2 comprises the following steps: S21. Calibrate the plane from the bottom of the seed box to the plane where the sensor is located based on the plane where the infrared photoelectric sensor array is located, fit the surface and obtain the calibrated empty box height h 空 ; S22, based on the infrared photoelectric distance sensor, obtain the height information h between the seed in the seeding box and the plane where the sensor is located ∆ ; S23, using the Kalman filter algorithm to optimize the above data to obtain the optimized empty box height h′ 空 The height information h′ between the seed distance sensor and the plane where the seed is located in the seed box ∆ ; S24, based on the optimized empty box height h′ 空 The height information h′ between the seed distance sensor and the plane where the seed is located in the seed box ∆ , get the height information h from the remaining seeds to the bottom of the seed box 剩 , the calculation formula is as follows: ; S25, according to the height information h from the remaining seeds to the bottom of the seeding box 剩 And the bottom area S to know the remaining seed remainder N, the calculation formula is as follows: .

[0009] Preferably, step S23 comprises the following steps: S231, obtain the estimated value covariance P of the previous moment last , process excitation noise covariance Q cov , measurement noise variance R cov and the measured value X of the actual state at the current moment last ; ’ S232, through the estimated value covariance P of the previous moment last and the process excitation noise covariance Q cov Get the estimated value covariance P of the previous moment at the current moment now , the formula is as follows: ; S233, through the estimated value covariance P at the current moment now and the measurement noise variance R cov The optimal Kalman gain K is obtained as follows: ; S234, through the measurement value X of the current real state last And the optimal Kalman gain K to obtain the optimal estimate X at the current moment now , the formula is as follows: ; S235, by the optimal Kalman gain K and the estimated value covariance P at the current moment now , get the optimal estimate covariance P' of the previous moment last , the formula is as follows: ; S236, based on the optimal estimated value X at the current moment now and the optimal estimate covariance P′ of the previous moment last , to realize the prediction and update of data collected by the infrared photoelectric sensor array.

[0010] Preferably, the specific steps of determining whether the seed is blocked in step S3 are as follows: S31, within the calibrated seed residue change time, h 剩 =0, it is considered blocked; S32, within the calibrated seed residue change time, h 剩 When ≠0, it is judged as not blocked.

[0011] Preferably, the seed remainder change time is the interval time for sowing calculated based on the vehicle speed and the hole spacing, and when the interval time for sowing exceeds 10 times, the seed remainder remains unchanged.

[0012] Preferably, the specific steps of adjusting the gear position of the power output device in step S4 are as follows: S41, the driver inputs the target gear position through the host computer according to the working paddy field conditions and seed types; S42, determining whether the target gear position is consistent with the current gear position, if consistent, the sub-controller does not perform any operation; S43, if the target gear is inconsistent with the current gear, the gear shift sequence of the power output device is traversed to obtain the forward and reverse steps to reach the target gear; the sub-controller compares the forward and reverse steps, selects the direction with fewer steps, and controls the shift motor to rotate; S44: After reaching the target gear position, the gear shifting motor stops rotating and the gear shifting is successful.

[0013] Preferably, the specific steps of adjusting the groove width of the seeding wheel of the seeding device in step S4 are as follows: S45, the driver inputs the seed types to be sown through the human-computer interaction interface; S46, the sub-controller calls the seed-related parameter database to calculate according to the input seed category, and obtains the groove width of the seed wheel; S47, converting the obtained slot width of the seeding wheel to obtain the number of rotations of the slot width adjustment motor of the seeding device, and rotating to reach the corresponding slot width.

[0014] A monitoring system for operation information of a precision rice seed drill, comprising: The initialization module is used to initialize each controller of the rice precision seed drill. If completed, it will enter the next step, otherwise it will continue to issue a warning; The seed remaining amount calculation module in the seeding box collects data through the infrared photoelectric sensor array, and uses the Kalman filter algorithm to optimize the data collected by the infrared photoelectric sensor array to obtain the seed remaining amount in the seeding box; The strategy selection module determines whether there is seed blockage based on the pre-calibrated seed remainder change time. If it occurs, it will prompt through the human-computer interaction interface and issue an alarm; readjust the gear position of the power output device and the width of the seeding wheel slot of the seed metering device.

[0015] A rice precision hole seeder for monitoring operation information comprises a seeding box, a seeding device, a power output device, an electronic control module and a monitoring system, wherein the power output device is connected to the seeding device through a transmission shaft, and the seeding device is connected to the seeding box; the electronic control module comprises an infrared photoelectric ranging sensor array, a proximity switch sensor, a shifting motor, a seeding device slot width adjustment motor, a power supply machine and a controller, the infrared photoelectric ranging sensor array is connected to the seeding box, one end of the power output device is connected to the shifting motor, and the other end of the power output device is connected to the proximity switch sensor; the seeding device slot width adjustment motor is connected to the seeding device, the power supply machine is arranged in a cab, one end of the controller is connected to the seeding box, and the other end of the controller is connected to the power output device, so as to realize a method for monitoring operation information of a rice precision hole seeder.

[0016] Preferably, the infrared photoelectric distance measuring sensor array includes a plurality of infrared photoelectric distance measuring sensors, and the infrared photoelectric distance measuring sensors are arranged on the same horizontal plane inside the top of the seeding box to form a sensor plane dot matrix.

[0017] Preferably, the sub-controller is a controller of the STM32F103 series.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects: (1) The present invention is provided with an infrared photoelectric ranging sensor array, which can monitor the seed remaining amount and blockage in the seeding box in real time, and uses the Kalman filter algorithm to optimize the data collected by the infrared photoelectric sensor array. The height error measured by the fitting surface is small, so that the data of the seed remaining amount in the seeding box is more accurate, avoiding the problem of seed missing due to insufficient seed remaining amount and blockage in the seeding box.

[0019] (2) The present invention is provided with a proximity switch sensor, which can monitor the gear position of the gear box of the power output device in real time, and then obtain the current gear position of the power output device.

[0020] (3) The controller of the present invention communicates with the display screen by using the CAN bus, which can realize real-time communication with high communication speed and high reliability, and can be widely used in the operation information monitoring system of the rice direct seeding machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention.

[0022] Figure 2 It is a schematic diagram of a seed metering device of the present invention.

[0023] Figure 3 It is a schematic diagram of the power output device of the present invention.

[0024] Figure 4 It is the work flow chart of the present invention.

[0025] The markings of the components in the accompanying drawings: 1-seed box, 2-seed device, 3-power output device, 4-electronic control module, 5-monitoring system, 6-infrared photoelectric ranging sensor array, 7-proximity switch sensor, 8-shift motor, 9-seed device slot width adjustment motor, 10-power supply machine, 11-controller. DETAILED DESCRIPTION

[0026] The purpose of the present invention is further described in detail below with reference to the accompanying drawings and specific examples. The examples cannot be described one by one here, but the implementation methods of the present invention are not therefore limited to the following examples.

[0027] Example 1 This embodiment discloses a method for monitoring operation information of a rice precision seed drill, comprising the following steps: S1, initializing each controller of the rice precision seed drill, if completed, proceed to step S2, otherwise continue to issue a warning; S2, collecting data through an infrared photoelectric sensor array, using a Kalman filter algorithm to optimize the data collected by the infrared photoelectric sensor array, and then obtaining the seed remaining in the seeding box; S3. According to the seed remaining change time calibrated in advance, determine whether there is a seed blockage phenomenon. If it occurs, prompt it through the human-computer interaction interface and issue an alarm; S4. Re-adjust the gear position of the power output device and the width of the seed wheel groove of the seed metering device.

[0028] Step S2 includes the following steps: S21. Calibrate the plane from the bottom of the seed box to the plane where the sensor is located based on the plane where the infrared photoelectric sensor array is located, fit the surface and obtain the calibrated empty box height h空 ; S22, based on the infrared photoelectric distance sensor, obtain the height information h between the seed in the seeding box and the plane where the sensor is located ∆ ; S23, using the Kalman filter algorithm to optimize the above data to obtain the optimized empty box height h′ 空 The height information h′ between the seed distance sensor and the plane where the seed is located in the seed box ∆ ; S24, based on the optimized empty box height h′ 空 The height information h′ between the seed distance sensor and the plane where the seed is located in the seed box ∆ , get the height information h from the remaining seeds to the bottom of the seed box 剩 , the calculation formula is as follows: ; S25, according to the height information h from the remaining seeds to the bottom of the seeding box 剩 And the bottom area S to know the remaining seed remainder N, the calculation formula is as follows: .

[0029] Step S23 includes the following steps: S231, obtain the estimated value covariance P of the previous moment last , process excitation noise covariance Q cov , measurement noise variance R cov and the measured value X of the actual state at the current moment last ; ’ S232, through the estimated value covariance P of the previous moment last and the process excitation noise covariance Q cov Get the estimated value covariance P of the previous moment at the current moment now , the formula is as follows: ; S233, through the estimated value covariance P at the current moment now and the measurement noise variance R cov The optimal Kalman gain K is obtained as follows: ; S234, through the measurement value X of the current real state last And the optimal Kalman gain K to obtain the optimal estimate X at the current moment now , the formula is as follows: ; S235, by the optimal Kalman gain K and the estimated value covariance P at the current moment now , get the optimal estimate covariance P' of the previous moment last , the formula is as follows: ; S236, based on the optimal estimated value X at the current moment now and the optimal estimate covariance P′ of the previous moment last , to realize the prediction and update of data collected by the infrared photoelectric sensor array.

[0030] In step S3, it is determined whether there is a blockage in the seed, and the specific steps are as follows: S31, within the calibrated seed residue change time, h 剩 =0, it is considered blocked; S32, within the calibrated seed residue change time, h 剩 When ≠0, it is judged as not blocked.

[0031] The seed remainder change time is the interval time for sowing calculated based on the vehicle speed and hole spacing. When the interval time exceeds 10 times, the seed remainder remains unchanged.

[0032] The specific steps of adjusting the gear position of the power output device in step S4 are as follows: S41, the driver inputs the target gear position through the host computer according to the paddy field conditions and seed types; S42, determining whether the target gear position is consistent with the current gear position, if consistent, the sub-controller does not perform any operation; S43, if the target gear is inconsistent with the current gear, the gear shift sequence of the power output device is traversed to obtain the forward and reverse steps to reach the target gear; the sub-controller compares the forward and reverse steps, selects the direction with fewer steps, and controls the shift motor to rotate; S44: After reaching the target gear position, the gear shifting motor stops rotating and the gear shifting is successful.

[0033] The specific steps of adjusting the groove width of the seeding wheel of the seeding device in step S4 are as follows: S45, the driver inputs the type of seeds to be sown through the human-computer interaction interface; S46, the sub-controller calls the seed-related parameter database to calculate according to the input seed category, and obtains the groove width of the seed wheel; S47, converting the obtained slot width of the seeding wheel to obtain the number of rotations of the slot width adjustment motor of the seeding device, and rotating to reach the corresponding slot width.

[0034] Example 2 This embodiment discloses a monitoring system for operation information of a precision rice seed drill, comprising: The initialization module is used to initialize each controller of the rice precision seed drill. If completed, it will enter the next step, otherwise it will continue to issue a warning; The seed remaining amount calculation module in the seeding box collects data through the infrared photoelectric sensor array, and uses the Kalman filter algorithm to optimize the data collected by the infrared photoelectric sensor array to obtain the seed remaining amount in the seeding box; The strategy selection module determines whether there is seed blockage based on the pre-calibrated seed remainder change time. If it occurs, it will prompt through the human-computer interaction interface and issue an alarm; readjust the gear position of the power output device and the width of the seeding wheel slot of the seed metering device.

[0035] Example 3 The present embodiment discloses a precision rice hole seeder for monitoring operation information, including a seeding box 1, a seeding device 2, a power output device 3, an electronic control module 4 and a monitoring system 5. The seeding device 2 is arranged at the seed outlet below the seeding box 1; the power output device 3 is connected to the seeding device 2 through a transmission shaft.

[0036] The electric control module 4 includes an infrared photoelectric distance sensor array 6, a proximity switch sensor 7, a shift motor 8, a seeding device slot width adjustment motor 9, a power supply 10 and a controller 11. The infrared photoelectric distance sensor array 6 is arranged on the inner side of the top of the seeding box 1. The infrared photoelectric distance sensor array 6 includes a plurality of infrared photoelectric distance sensors. Each infrared photoelectric distance sensor is arranged on the same horizontal plane on the inner side of the top of the seeding box 1 to form a sensor plane dot matrix. It is used to monitor the height information of the seeds in the seeding box 1 from the inner side of the top of the seeding box 1 in real time and send it to the controller 11. The proximity switch sensor 7 is arranged in the internal gear box of the power output device 3, and is used to monitor the gear position of the power output device 3 in real time and send it to the controller 11; The shift motor 8 is arranged on the outer side wall of the gear box of the power output device 3, and is connected to the shift fork of the power output device 3, and is used to execute the shift instruction sent by the controller 11; The slot width adjustment motor of the seeding device 2 is arranged on the outside of the seeding device 2, and is linked to the seeding wheel of the seeding device 2, and is used to execute the adjustment of the slot width of the seeding wheel of the seeding device 2 sent by the controller 11; The power supply machine 10 is arranged on the right side of the cab of the rice precision seed drill, connected to each sensor and controller 11, and supplies power to each sensor and controller 11 after converting the 24V voltage to 5V voltage through the step-down module; The controller 11 is arranged on the side of the seeding box 1 and the side of the gear box of the power output device 3. The controller 11 includes a first sub-controller, a second sub-controller and a third sub-controller. The sub-controllers all adopt the controller of the STM32F103 series.

[0037] The first sub-controller is connected to each infrared photoelectric sensor in the infrared photoelectric ranging sensor array 6, and is used to receive the distance information collected by each infrared photoelectric ranging sensor, and calculate the real-time height information after A / D digital-to-analog conversion; The signal input end of the second sub-controller is connected to receive the proximity switch sensor 7, and is used to receive the high and low level information of the proximity switch sensor 7, and obtain the gear position information of the current power output device 3; The third sub-controller is used to control the seed meter slot width adjustment motor 9 according to the seed category input by the driver.

[0038] The input end of the controller 11 is connected to the monitoring system 5 and the sensor, and the output end of the controller 11 is connected to the monitoring system 5 and the execution motor module. The controller 11 is used to process the received information and send it to the monitoring system 5, and to receive the instructions sent from the monitoring system 5 and drive the execution motor module; The above specific implementation modes are preferred embodiments of the present invention and cannot be used to limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solution of the present invention are included in the protection scope of the present invention.

Claims

1. A method for monitoring the operation information of a precision rice seed drill, characterized in that: The following steps are involved: S1, initializing each controller of the rice precision seed drill, if completed, proceed to step S2, otherwise continue to issue a warning; S2, collecting data through an infrared photoelectric sensor array, using a Kalman filter algorithm to optimize the data collected by the infrared photoelectric sensor array, and then obtaining the seed remaining in the seeding box; S3. According to the seed remaining change time calibrated in advance, determine whether there is a seed blockage phenomenon. If it occurs, prompt it through the human-computer interaction interface and issue an alarm; S4. Re-adjust the gear position of the power output device and the width of the seed wheel groove of the seed metering device.

2. The method for monitoring the operation information of a precision rice seed drill according to claim 1, characterized in that: The step S2 comprises the following steps: S21. Calibrate the plane from the bottom of the seed box to the plane where the sensor is located based on the plane where the infrared photoelectric sensor array is located, fit the surface and obtain the calibrated empty box height h 空 ; S22, based on the infrared photoelectric distance sensor, obtain the height information h between the seed in the seeding box and the plane where the sensor is located ∆ ; S23, using the Kalman filter algorithm to optimize the above data to obtain the optimized empty box height h′ 空 The height information h′ between the seed distance sensor and the plane where the seed is located in the seed box ∆ ; S24, based on the optimized empty box height h′ 空 The height information h′ between the seed distance sensor and the plane where the seed is located in the seed box ∆ , get the height information h from the remaining seeds to the bottom of the seed box 剩 , the calculation formula is as follows: ； S25, according to the height information h from the remaining seeds to the bottom of the seeding box 剩 And the bottom area S to know the remaining seed remainder N, the calculation formula is as follows: .

3. The method for monitoring the operation information of a precision rice seed drill according to claim 2, characterized in that: The step S23 comprises the following steps: S231, obtain the estimated value covariance P of the previous moment last , process excitation noise covariance Q cov , measurement noise variance R cov and the measured value X of the actual state at the current moment last ; ’ S232, through the estimated value covariance P of the previous moment last and the process excitation noise covariance Q cov Get the estimated value covariance P of the previous moment at the current moment now , the formula is as follows: ; S233, through the estimated value covariance P at the current moment now and the measurement noise variance R cov The optimal Kalman gain K is obtained as follows: ; S234, through the measurement value X of the current real state last And the optimal Kalman gain K to obtain the optimal estimate X at the current moment now , the formula is as follows: ; S235, through the optimal Kalman gain K and the estimated value covariance P at the current moment now , get the optimal estimate covariance P' of the previous moment last , the formula is as follows: ; S236, based on the optimal estimated value X at the current moment now and the optimal estimate covariance P′ of the previous moment last , to realize the prediction and update of data collected by the infrared photoelectric sensor array.

4. The method for monitoring the operation information of a precision rice seed drill according to claim 2, characterized in that: The specific steps of determining whether the seed is blocked in step S3 are as follows: S31, within the calibrated seed residue change time, h 剩 =0, it is considered blocked; S32, within the calibrated seed residue change time, h 剩 When ≠0, it is judged as not blocked.

5. The method for monitoring the operation information of a precision rice seed drill according to claim 4, characterized in that: The seed remainder change time is the interval time of sowing calculated by the vehicle speed and the hole distance, and when the interval time of sowing is exceeded after 10 times, the seed remainder is unchanged.

6. The method for monitoring the operation information of a precision rice seed drill according to claim 1, characterized in that: The specific steps of adjusting the gear position of the power output device in step S4 are as follows: S41, the driver inputs the target gear position through the host computer according to the paddy field conditions and seed types; S42, determining whether the target gear position is consistent with the current gear position, if consistent, the sub-controller does not perform any operation; S43, if the target gear is inconsistent with the current gear, the gear shift sequence of the power output device is traversed to obtain the forward and reverse steps to reach the target gear; the sub-controller compares the forward and reverse steps, selects the direction with fewer steps, and controls the shift motor to rotate; S44: After reaching the target gear position, the gear shifting motor stops rotating and the gear shifting is successful.

7. The method for monitoring the operation information of a precision rice seed drill according to claim 1, characterized in that: The specific steps of adjusting the groove width of the seeding wheel of the seeding device in step S4 are as follows: S45, the driver inputs the type of seeds to be sown through the human-computer interaction interface; S46, the sub-controller calls the seed-related parameter database to calculate according to the input seed category, and obtains the groove width of the seed wheel; S47, converting the obtained slot width of the seeding wheel to obtain the number of rotations of the slot width adjustment motor of the seeding device, and rotating to reach the corresponding slot width.

8. A monitoring system for operation information of a precision rice seed drill, characterized in that: include: The initialization module is used to initialize each controller of the rice precision seed drill. If completed, it will enter the next step, otherwise it will continue to issue a warning; The seed remaining amount calculation module in the seeding box collects data through the infrared photoelectric sensor array, and uses the Kalman filter algorithm to optimize the data collected by the infrared photoelectric sensor array to obtain the seed remaining amount in the seeding box; The strategy selection module determines whether there is a seed blockage based on the pre-calibrated seed balance change time. If it occurs, it will prompt through the human-computer interaction interface and issue an alarm; Re-adjust the gear position of the power take-off device and the width of the seed wheel groove of the seed meter.

9. A rice precision seed drill for monitoring operation information, characterized in that: The invention comprises a seeding box, a seeding device, a power output device, an electric control module and a monitoring system, wherein the power output device is connected to the seeding device through a transmission shaft, and the seeding device is connected to the seeding box; the electric control module comprises an infrared photoelectric distance sensor array, a proximity switch sensor, a shifting motor, a seeding device slot width adjustment motor, a power supply machine and a controller, the infrared photoelectric distance sensor array is connected to the seeding box, one end of the power output device is connected to the shifting motor, and the other end of the power output device is connected to the proximity switch sensor; the seeding device slot width adjustment motor is connected to the seeding device, the power supply machine is arranged in a cab, one end of the controller is connected to the seeding box, and the other end of the controller is connected to the power output device, so as to realize the monitoring method of the operation information of the rice precision hole seeder according to any one of claims 1 to 5.

10. The precision rice seed drill for monitoring operation information according to claim 9, characterized in that: The infrared photoelectric distance measuring sensor array includes a plurality of infrared photoelectric distance measuring sensors, and the infrared photoelectric distance measuring sensors are arranged on the same horizontal plane inside the top of the seeding box to form a sensor plane dot matrix.

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