A rice precision hill planter operation information monitoring system and monitoring method and a rice precision hill planter

Abstract

The application provides a rice precision hill planter operation information monitoring method, which comprises the following steps: initializing each controller of the rice precision hill planter; if the initialization is completed, the next step is entered; otherwise, a warning is continuously sent; data is collected through an infrared photoelectric sensor array; the collected data is optimized by using a Kalman filtering algorithm, and then the seed reserve of the seed box is obtained; whether the seed is blocked is judged according to the seed reserve change time calibrated in advance; if the seed is blocked, a prompt is given through a man-machine interface, and an alarm is given; the gear of a power output device and the seed groove width of a seed metering device are adjusted again. The application also provides a rice precision hill planter operation information monitoring system, an infrared photoelectric distance sensor array is used to monitor the seed reserve and blocking condition in the seed box in real time, a Kalman filtering algorithm is used to optimize the data, the height error of the fitted surface is small, and the seed reserve data is more accurate.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, specifically to a monitoring system and method for monitoring the operation information of a precision rice seeder and the precision rice seeder itself. Background Technology

[0002] Most existing monitoring systems are limited to single-dimensional data collection and analysis, making it difficult to comprehensively reflect the actual state of the target object. Furthermore, they suffer from inconsistent communication protocols used for each individual 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 data from precision rice seeders and achieve intelligent early warning and rapid response.

[0003] Existing precision rice seeders cannot effectively monitor the operation section to solve the problem of missed seeding due to insufficient seed stock or blockage in the seed metering box. In addition, existing precision rice seeders also have problems with low integration and low automation. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a method for monitoring the operation information of a precision rice seeder, so as to avoid the problem of missed sowing caused by insufficient seed quantity and blockage in the seed metering box.

[0005] Another objective of this invention is to provide a monitoring system for the operation information of a precision rice seeding machine.

[0006] Another objective of this invention is to provide a precision rice seeding machine for monitoring operational information.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] A method for monitoring the operation information of a precision rice seeding machine includes the following steps:

[0009] S1. Initialize each controller of the precision rice seeder. If the initialization is successful, proceed to step S2; otherwise, continue to issue warnings.

[0010] S2. Data is collected through an infrared photoelectric sensor array, and the data collected by the infrared photoelectric sensor array is optimized using a Kalman filter algorithm to obtain the remaining seed quantity in the seed metering box.

[0011] S3. Based on the pre-calibrated seed balance change time, determine whether there is seed blockage. If so, provide a prompt through the human-computer interaction interface and issue an alarm.

[0012] S4. Readjust the gear position of the power output device and the width of the seed metering wheel groove of the seed metering device.

[0013] Preferably, the step S2 comprises the following steps:

[0014] S21, calibrating the height h between the bottom of the seed box and the plane where the sensor is located in the plane where the infrared photoelectric sensor array is located, fitting the surface to obtain the calibrated empty box height h 空 ;

[0015] S22, obtaining the height information h between the seed in the seed box and the plane where the sensor is located based on the infrared photoelectric ranging sensor ∆ ;

[0016] S23, using Kalman filtering algorithm to optimize the above obtained data to obtain the optimized empty box height h' 空 and the height information h between the seed in the seed box and the plane where the sensor is located ∆ ;

[0017] S24, based on the optimized empty box height h' 空 and the height information h between the seed in the seed box and the plane where the sensor is located ∆ , obtaining the height information h of the remaining seeds to the bottom of the seed box 剩 , the calculation formula is as follows: ;

[0018] S25, according to the height information h of the remaining seeds to the bottom of the seed box 剩 and the bottom area S, the remaining amount N of the remaining seeds is obtained, and the calculation formula is as follows: .

[0019] Preferably, the step S23 comprises the following steps:

[0020] S231, obtaining the estimated value covariance P last , process excitation noise covariance Q cov , measurement noise variance R cov and the measurement value X of the real state at the current time last ; ’

[0021] S232, obtaining the estimated value covariance P last at the current time at the previous time by the estimated value covariance P cov and the process excitation noise covariance Q now , the formula is as follows: ;

[0022] S233, obtaining the optimal Kalman gain K by the estimated value covariance P now at the current time and the measurement noise variance R cov , the formula is as follows: ;

[0023] S234, obtaining the optimal estimation value X of the current moment through the measurement value X of the real state of the current moment last and the optimal Kalman gain K to obtain the optimal estimation value X of the current moment now , the formula is as follows: ;

[0024] S235, obtaining the optimal estimation value X of the current moment through the optimal Kalman gain K and the estimation value covariance P of the current moment now , and obtaining the optimal estimation value covariance P' of the previous moment last , the formula is as follows: ;

[0025] S236, according to the optimal estimation value X of the current moment now and the optimal estimation value covariance P' of the previous moment last , realizing the prediction and update of the data collected by the infrared photoelectric sensor array.

[0026] Preferably, the step S3 judges whether the seed exists the blocking phenomenon, and the specific steps are as follows:

[0027] S31, when h 剩 =0 in the calibrated seed residual change time, it is determined that the seed is blocked;

[0028] S32, when h 剩 ≠0 in the calibrated seed residual change time, it is determined that the seed is not blocked.

[0029] Preferably, the seed residual change time is the interval time of the seed calculated by the vehicle driving speed and the hole distance, and the time when the seed residual does not change after more than 10 times of the interval time of the seed.

[0030] Preferably, the specific steps of adjusting the gear of the power output device in the step S4 are as follows:

[0031] S41, the driver inputs the target gear through the host computer according to the paddy field condition and the seed type;

[0032] S42, judging whether the target gear is consistent with the current gear, if yes, the sub-controller does not make any operation;

[0033] S43, if the target gear is not consistent with the current gear, traversing according to the gear shifting sequence of the power output device, and then obtaining the forward rotation step number and the reverse rotation step number to reach the target gear; the sub-controller compares the forward rotation step number with the reverse rotation step number, selects the direction with less step number, and then controls the rotation of the gear shifting motor;

[0034] S44, after reaching the target gear, the gear shifting motor stops rotating, and the gear shifting is successful.

[0035] Preferably, the specific steps of adjusting the seed metering wheel groove width in step S4 are as follows:

[0036] S45, the driver inputs the seed variety to be sown through the man-machine interface;

[0037] S46, the sub-controller calculates the seed groove width according to the input seed variety by calling the seed-related parameter database;

[0038] S47, the seed metering wheel groove width is converted to obtain the number of rotations of the seed metering wheel groove width adjustment motor, and the corresponding groove width is achieved.

[0039] A rice precision hill planter operation information monitoring system, comprising:

[0040] An initialization module for initializing each controller of the rice precision hill planter, if completed, proceed to the next step, otherwise continue to issue a warning;

[0041] A seed remaining amount calculation module in the seed metering box acquires data through an infrared photoelectric sensor array, optimizes the data acquired by the infrared photoelectric sensor array using a Kalman filter algorithm, and then obtains the seed remaining amount in the seed metering box;

[0042] A strategy selection module judges whether the seed is blocked according to the seed remaining amount change time calibrated in advance, if so, prompts through the man-machine interface and alarms; readjusts the gear of the power output device and the seed metering wheel groove width of the seed metering device.

[0043] A rice precision hill planter for monitoring operation information, comprising a seed metering box, a seed metering device, a power output device, an electronic control module and a monitoring system, the power output device is connected with the seed metering device through a transmission shaft, the seed metering device is connected with the seed metering box; the electronic control module comprises an infrared photoelectric distance sensor array, a proximity switch sensor, a gear shifting motor, a seed metering device groove width adjustment motor, a power supply machine and a controller, the infrared photoelectric distance sensor array is connected with the seed metering box, one end of the power output device is connected with the gear shifting motor, the other end of the power output device is connected with the proximity switch sensor; the seed metering device groove width adjustment motor is connected with the seed metering device, the power supply machine is arranged in the cab, one end of the controller is connected with the seed metering box, the other end of the controller is connected with the power output device, realizing the monitoring method of the rice precision hill planter operation information.

[0044] Preferably, the infrared photoelectric distance sensor array comprises a plurality of infrared photoelectric distance sensors, which are arranged on the same horizontal plane inside the top of the seed metering box to form a sensor plane dot matrix.

[0045] Preferably, the sub-controller is an STM32F103 series controller.

[0046] The present application has the following advantages and beneficial effects compared with the prior art:

[0047] (1) The present application sets up an infrared photoelectric distance measuring sensor array, which can monitor the remaining amount and blockage of seeds in the seed box in real time, uses Kalman filtering algorithm to optimize the data collected by the infrared photoelectric sensor array, and makes the height error measured by fitting small, so that the data of the remaining amount of seeds in the seed box is more accurate, and the problem of missing planting caused by insufficient seed amount and blockage of the seed box is avoided.

[0048] (2) The present application sets up a proximity switch sensor, which can monitor the gear position of the power output device gear box in real time, and then obtain the current gear position of the power output device.

[0049] (3) The present application uses CAN bus for communication between the controller and the display screen, which can realize real-time communication, has fast communication speed and strong reliability, and can be widely applied to the rice direct seeding machine operation information monitoring system. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 It is a structural schematic diagram of the present application.

[0051] Figure 2 It is a schematic diagram of the seed metering device of the present application.

[0052] Figure 3 It is a schematic diagram of the power output device of the present application.

[0053] Figure 4 It is a work flow chart of the present application.

[0054] Markings of components in the drawings:

[0055] 1-seed box, 2-seed metering device, 3-power output device, 4-electronic control module, 5-monitoring system, 6-infrared photoelectric distance measuring sensor array, 7-proximity switch sensor, 8-gear shifting motor, 9-seed metering device slot width adjusting motor, 10-power supply motor, 11-controller. DETAILED DESCRIPTION

[0056] The invention purpose of the present application will be described in further detail below in combination with the drawings and specific embodiments, and the embodiments cannot be described one by one here, but the implementation manner of the present application is not limited to the following embodiments.

[0057] Example 1

[0058] The present embodiment discloses a rice precision hill planter operation information monitoring method, which comprises the following steps:

[0059] S1, initialize each controller of the rice precision hill planter, if completed, go to step S2, otherwise continue to issue a warning;

[0060] S2, collect data through the infrared photoelectric sensor array, use Kalman filtering algorithm to optimize the data collected by the infrared photoelectric sensor array, and then obtain the seed reserve of the seed box;

[0061] S3, according to the seed reserve change time calibrated in advance, judge whether the seed exists the blocking phenomenon, if so, prompt through the man-machine interface and alarm;

[0062] S4, readjust the gear of the power output device and the seed wheel groove width of the seed metering device.

[0063] Step S2 includes the following steps:

[0064] S21, calibrate the plane where the infrared photoelectric sensor array is located to the plane where the sensor is located at the bottom of the seed box, fit the surface and obtain the calibrated empty box height h 空 ;

[0065] S22, based on the infrared photoelectric ranging sensor, obtain the height information h ∆ between the seed in the seed box and the plane where the sensor is located;

[0066] S23, use Kalman filtering algorithm to optimize the above obtained data to obtain the optimized empty box height h′ 空 and the height information h′ ∆ between the seed in the seed box and the plane where the sensor is located;

[0067] S24, based on the optimized empty box height h′ 空 and the height information h′ ∆ between the seed in the seed box and the plane where the sensor is located, obtain the height information h 剩 of the remaining seed to the bottom of the seed box, the calculation formula is as follows:

[0068] ;

[0069] S25, according to the height information h 剩 of the remaining seed to the bottom of the seed box and the bottom area S, the remaining seed reserve N is obtained, the calculation formula is as follows: .

[0070] Step S23 includes the following steps:

[0071] S231, obtain the estimated value covariance P last , process excitation noise covariance Q cov and measurement noise variance Rcov and the measurement value X of the real state at the current time last ; ’

[0072] S232, the estimation value covariance P at the previous time is obtained by last and the process excitation noise covariance Q cov the estimation value covariance P at the previous time at the current time is obtained now , the formula is as follows: ;

[0073] S233, the estimation value covariance P at the current time is obtained by now and the measurement noise variance R cov the optimal Kalman gain K is obtained, the formula is as follows: ;

[0074] S234, the optimal estimation value X at the current time is obtained by last and the optimal Kalman gain K now , the formula is as follows: ;

[0075] S235, the optimal estimation value covariance P' at the previous time is obtained by now and the estimation value covariance P at the current time last , the formula is as follows: ;

[0076] S236, according to the optimal estimation value X at the current time now and the optimal estimation value covariance P' at the previous time last , the prediction and update of the data collected by the infrared photoelectric sensor array are realized.

[0077] In step S3, it is judged whether the seed exists the blocking phenomenon, and the specific steps are as follows:

[0078] S31, in the calibrated seed remaining change time, h 剩 =0, then it is determined that it is blocked;

[0079] S32, in the calibrated seed remaining change time, h 剩 ≠0, then it is determined that it is not blocked.

[0080] Among them, the seed remaining change time is the interval time of sowing calculated by the vehicle driving speed and the hole distance, when the seed remaining change time exceeds 10 times the sowing interval time.

[0081] The specific steps of adjusting the gear position of the power output device in step S4 are as follows:

[0082] S41, the driver inputs a target gear position through the upper computer according to the working paddy field condition and the seed variety;

[0083] S42, it is judged whether the target gear position is consistent with the current gear position, if yes, the sub-controller does not make any operation;

[0084] S43, if the target gear position is not consistent with the current gear position, the power output device shifting sequence is traversed to obtain the forward rotation step number and the reverse rotation step number to reach the target gear position; the sub-controller compares the forward rotation step number with the reverse rotation step number, selects the direction with less step number, and then controls the shifting motor to rotate;

[0085] S44, after reaching the target gear position, the shifting motor stops rotating, and the gear shifting is successful.

[0086] The specific steps of adjusting the seed metering wheel groove width in step S4 are as follows:

[0087] S45, the driver inputs the seed variety to be sown through the man-machine interaction interface;

[0088] S46, the sub-controller calculates the seed metering wheel groove width by calling the seed related parameter database according to the input seed variety;

[0089] S47, the seed metering wheel groove width adjustment motor is rotated to reach the corresponding groove width by converting the obtained seed metering wheel groove width.

[0090] Embodiment 2

[0091] The embodiment discloses a rice precision hill planter operation information monitoring system, comprising:

[0092] An initialization module is configured to initialize each controller of the rice precision hill planter, and if the initialization is completed, the next step is entered, otherwise, a warning is continuously sent out.

[0093] A seed remaining amount calculation module in the seed metering box acquires data through an infrared photoelectric sensor array, optimizes the data acquired by the infrared photoelectric sensor array by using a Kalman filtering algorithm, and then obtains the seed remaining amount in the seed metering box.

[0094] A strategy selection module is configured to judge whether the seed is blocked according to the seed remaining amount change time calibrated in advance, if yes, a prompt is sent out through a man-machine interaction interface, and an alarm is sent out; the gear position of the power output device and the seed metering wheel groove width of the seed metering device are adjusted again.

[0095] Embodiment 3

[0096] The embodiment discloses a kind of monitoring operation information precision rice hill-drop machine, including seed box 1, seed metering device 2, power output device 3, electronic control module 4 and monitoring system 5, seed metering device 2 is located at the seed outlet below seed box 1;Power output device 3 is linked with seed metering device 2 by transmission shaft.

[0097] Electronic control module 4 includes infrared photoelectric distance sensor array 6, proximity switch sensor 7, gear shifting motor 8, seed metering device groove width adjusting motor 9, power supply machine 10 and controller 11,

[0098] Infrared photoelectric distance sensor array 6 is arranged in the inside of the top of seed box 1, and 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 in the inside of the top of seed box 1, to form a sensor plane dot matrix;For the height information of the seed in seed box 1 from the inside of the top of seed box 1 is monitored in real time and sent to controller 11;

[0099] Proximity switch sensor 7 is arranged in the inner gear box of power output device 3, for monitoring the gear position of power output device 3 in real time and sending to controller 11;

[0100] Gear shifting motor 8 is arranged on the outside wall of the gear box of power output device 3, and is linked with the gear shifting fork of power output device 3, for executing the instruction of gear shifting sent by controller 11;

[0101] Seed metering device groove width adjusting motor is arranged on the outside of seed metering device 2, and is linked with the seed metering wheel of seed metering device 2, for executing the adjustment of the groove width of the seed metering wheel of seed metering device 2 sent by controller 11;

[0102] Power supply machine 10 is arranged on the right side of the cab of precision rice hill-drop machine, and is connected with each sensor and controller 11, and each sensor and controller 11 is powered after the voltage of 24V is converted to 5V voltage by voltage reduction module;

[0103] Controller 11 is arranged on the side of seed box 1 and the side of the gear box of power output device 3, and controller 11 includes first sub-controller, second sub-controller and third sub-controller, and the sub-controllers all adopt STM32F103 series controller.

[0104] The first sub-controller is connected with each infrared photoelectric sensor in infrared photoelectric distance sensor array 6, for receiving the distance information collected by each infrared photoelectric distance sensor, and calculating the real-time height information after A / D digital-analog conversion;

[0105] The signal input end of the second sub-controller is connected with proximity switch sensor 7, for receiving the high-low level information of proximity switch sensor 7, to obtain the gear position information of current power output device 3;

[0106] The third sub-controller is used to control the seed slot width adjusting motor 9 according to the seed category input by the driver.

[0107] The input of the controller 11 is connected with the monitoring system 5 and the sensors, the output of the controller 11 is connected with the monitoring system 5 and the executing motor module, the controller 11 is used to process the received information and send to the monitoring system 5, and receive the instructions sent from the monitoring system 5 and drive the executing motor module;

[0108] The above specific embodiments are the preferred embodiments of the present application, and cannot limit the present application, any changes or other equivalent replacement ways without departing from the technical solutions of the present application, are included in the protection scope of the present application.

Claims

1. A method of monitoring operation information of a precision hiller for rice, characterized by, The method comprises the following steps: S1, initializing each controller of the rice precision hill planter, if the initialization is completed, entering step S2, otherwise continuously issuing a warning; S2, collecting data through an infrared photoelectric sensor array, optimizing the data collected by the infrared photoelectric sensor array using a Kalman filter algorithm, and then obtaining the seed reserve of the seed box; S3, judging whether the seed is blocked according to the seed reserve change time calibrated in advance, if so, prompting through a man-machine interface and alarming; S4, readjusting the gear of the power output device and the seed wheel groove width of the seed metering device; The step S2 comprises the following steps: S21, calibrate the bottom of the seed box to the plane where the infrared photoelectric sensor array is located, fit the surface to obtain the calibrated empty box height h 空 ; S22, based on the infrared photoelectric distance measuring sensor, the height information h between the seed distance sensor in the seed box is obtained ∆ ; S23, using Kalman filtering algorithm to calibrate the empty box height h 空 And the height information h between the seed distance sensor in the seed box and the plane ∆ Optimization is carried out to obtain the optimized empty box height h' 空 And the height information h' between the seed distance sensor in the seed box and the plane ∆ ; S24, based on the optimized empty box height h' 空 and the height information h' between the seed distance sensor in the seed box ∆ , get the height information h of the remaining seeds to the bottom of the seed box 剩 , the calculation formula is as follows: ; S25, the height information h of the remaining seeds to the bottom of the seed box 剩 And the bottom area S to know the remaining seeds N, the calculation formula is as follows: .

2. The method of claim 1, wherein the method is characterized by: The step S23 comprises the following steps: S231, obtain the estimated value covariance P of the previous time last , process excitation noise covariance Q cov , measurement noise variance R cov and the measurement value X of the real state at the current time last ; ’ S232, the estimation value covariance P of the previous time is used last and process excitation noise covariance Q cov get the estimation value covariance P of the previous time at the current time now , the formula is as follows: ; S233, obtain the estimation value covariance P of the current time now and the measurement noise variance R cov obtain the optimal Kalman gain K, the formula is as follows: ; S234, by the current time real state measurement value X last and the optimal Kalman gain K to obtain the optimal estimate value X of the current time now , the formula is as follows: ; S235、 through the optimal Kalman gain K and the estimated value covariance P of the current time now , get the optimal estimated value covariance P' of the previous time last , the formula is as follows: ; S236, the optimal estimation value X of the current moment now and the optimal estimation value covariance P' of the previous moment last , to realize the prediction and update of the data collected by the infrared photoelectric sensor array.

3. The method of claim 1, wherein the method is characterized by: The step S3 of judging whether the seed is blocked comprises the following steps: S31, in the calibrated seed remaining amount change time, h 剩 = 0, then it is determined that the blockage occurs. S32, within the calibrated seed remaining amount change time, h 剩 ≠ 0, then it is determined that there is no blockage.

4. The method of claim 3, wherein the method is characterized by, The seed reserve change time is the interval time of seed planting calculated by the vehicle speed and the hill spacing, and the time when the seed reserve does not change after 10 planting interval times.

5. The method of claim 1, wherein the method is characterized by: The specific steps of adjusting the gear of the power output device in the step S4 are as follows: S41, the driver inputs a target gear through the upper computer according to the paddy field condition and the seed type; S42, judging whether the target gear is consistent with the current gear, if so, the sub-controller does not operate; S43, if the target gear is not consistent with the current gear, traversing according to the gear shifting sequence of the power output device, and then obtaining the forward rotation step number and the reverse rotation step number to reach the target gear; the sub-controller compares the forward rotation step number with the reverse rotation step number, selects the direction with less step number, and then controls the rotation of the gear shifting motor; S44, after reaching the target gear, the gear shifting motor stops rotating, and the gear shifting is successful.

6. The method of claim 1, wherein the method is characterized by: The specific steps of adjusting the gear of the power output device and the seed wheel groove width of the seed metering device in the step S4 are as follows: S45, the driver inputs the seed type needed to be planted through the man-machine interface; S46, the sub-controller calculates the groove width of the seed wheel according to the input seed type by calling the seed related parameter database; S47, converting the obtained groove width of the seed wheel to obtain the rotation number of the seed metering device groove width adjustment motor, and rotating to reach the corresponding groove width.

7. A system for monitoring operation information of a rice precision hill planter, which implements the method for monitoring operation information of the rice precision hill planter according to any one of claims 1 to 6, characterized in that, It comprises: an initialization module for initializing each controller of the rice precision hill planter, if the initialization is completed, entering the next step, otherwise continuously issuing a warning; a seed reserve calculation module in the seed box for collecting data through an infrared photoelectric sensor array, optimizing the data collected by the infrared photoelectric sensor array using a Kalman filter algorithm, and then obtaining the seed reserve of the seed box; a strategy selection module for judging whether the seed is blocked according to the seed reserve change time calibrated in advance, if so, prompting through a man-machine interface and alarming; readjusting the gear of the power output device and the seed wheel groove width of the seed metering device.

8. A precision rice seeding machine for monitoring operational information, characterized in that, The invention relates to a rice precision hill planter, which comprises a seed box, a seed dispenser, a power output device, an electric control module and a monitoring system, wherein the power output device is connected with the seed dispenser through a transmission shaft, and the seed dispenser is connected with the seed box; the electric control module comprises an infrared photoelectric distance sensor array, a proximity switch sensor, a gear shifting motor, a seed dispenser slot width adjusting motor, a power supply machine and a controller, wherein the infrared photoelectric distance sensor array is connected with the seed box, one end of the power output device is connected with the gear shifting motor, and the other end of the power output device is connected with the proximity switch sensor; the seed dispenser slot width adjusting motor is connected with the seed dispenser, the power supply machine is arranged in a cab, one end of the controller is connected with the seed box, and the other end of the controller is connected with the power output device, so as to realize the monitoring method of the working information of the rice precision hill planter according to any one of claims 1-4; the input end of the controller is connected with the monitoring system and the sensor, the output end of the controller is connected with the monitoring system and the execution motor module, the controller is used for processing the received information and sending the information to the monitoring system and driving the execution motor module.

9. The precision hiller for rice according to claim 8, wherein The infrared photoelectric distance sensor array comprises a plurality of infrared photoelectric distance sensors, which are arranged on the same horizontal plane inside the top of the seed box to form a sensor plane dot matrix.

Images