Method for detecting falling of object

Abstract

The invention discloses a method for detecting falling of an object, which comprises the following steps of: starting a monitoring probe, acquiring the initial voltage of a corresponding port, and recording the voltage of an infrared receiving tube at the moment as a reference voltage value and a previous voltage reference value; after the reference voltage value of the monitoring probe is set, the seeding machine performs seeding operation, the monitoring probe monitors the falling path of seeds and repeatedly and quickly performs analog-to-digital (A / D) conversion on each infrared receiving tube for several times to obtain the voltage value of each corresponding port, and the voltage value corresponding to each infrared receiving tube is recorded as the current voltage value; the current voltage value is compared with the previous voltage reference value of the corresponding receiving tube through the single-chip microcomputer, whether an object falls off or not is judged by judging the difference degree of the voltage values, and the problems that when an existing detection method is used for monitoring, small-particle crops cannot be judged, and when the front portion of a probe is blocked by dust, the object falls off or not are solved. The difference of voltage change is very small, and accurate detection cannot be realized.

Description

Technical Field

[0001] The present invention relates to the field of object drop detection, and particularly to a method for detecting object drops. Background Art

[0002] Tractor seeding is an indispensable part of modern agricultural production and is widely used in the planting of various crops. During the seeding of seeds, it can be achieved by a tractor. The power output of the tractor drives the seeding device of the seeder to evenly spread the seeds into the farmland. This technology has played an important role in improving seeding efficiency and reducing labor intensity. The flow process of seeds during tractor seeding is fully enclosed, so it is almost impossible to directly monitor the operation quality only by human sight and hearing. For example, during seeding operations, failures such as the seed box being emptied, the seed delivery pipe being blocked, the seed metering device malfunctioning, or the seed metering transmission failing will all cause missed seeding. Especially for large-scale wide-row tillage and seeding machines, their operating speeds are high and the seeding widths are wide. If blockages or seed metering failures occur, large areas of missed seeding will be caused.

[0003] Most existing products use infrared receiving tubes to detect missed seeding of seeds, and judge by the high and low levels of the corresponding interfaces of the single-chip microcomputer. The difference between the high / low levels of the single-chip microcomputer ports is very large, and small-grain crops cannot be judged. And when there is dust blocking in front of the probe, the difference in voltage change will be very small, and it is very likely that the high / low level change of the single-chip microcomputer port will not be caused. In view of the above problems, a solution is proposed below. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for detecting object drops to solve the problems raised in the above background art.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions:

[0006] A method for detecting object drops includes a monitoring probe, a single-chip microcomputer installed inside the monitoring probe, an infrared transmitting tube, and an infrared receiving tube.

[0007] The specific detection method is as follows: Before step one of the detection, start the monitoring probe, and record the monitored initial voltage as the reference benchmark voltage value and the previous voltage reference value;

[0008] During step two of the detection, after the reference benchmark voltage value of the monitoring probe is set, the seeder will perform seeding operations. The monitoring probe will monitor the dropping path of the seeds. By repeatedly and quickly performing several analog-to-digital (A / D) conversions on each infrared receiving tube, the voltage values of the corresponding ports are obtained, and the voltage values corresponding to each infrared receiving tube are recorded as the current voltage values;

[0009] Data processing during the detection in Step 3. The microcontroller is used to compare the current voltage value with the previous voltage reference value of the corresponding infrared receiving tube. If, in the comparison result, the voltage values of one or more infrared receiving tubes change significantly, it is determined that an object has fallen, and no alarm signal is sent.

[0010] If, in the comparison result, the difference between the current voltage value and the previous voltage reference value is not significant, and this situation lasts for 1 - 2 seconds, then the current voltage is compared with the corresponding reference benchmark voltage value. If the voltage difference from the reference benchmark voltage value is relatively large, it is determined that the monitoring probe is blocked, and a blocking signal is sent; if there is not much difference between the current voltage value and the corresponding reference benchmark voltage value, it is determined that there is no object falling on the monitoring probe, and a missed broadcast signal is sent.

[0011] Processing when it is detected in Step 4 that there is no object falling or the probe is blocked. The monitoring probe is connected to a missed broadcast alarm through a CAN bus structure. If the current vehicle speed has reached the starting speed, an audible and visual alarm is sent through the missed broadcast alarm to notify the operator that a missed broadcast or blocking situation has occurred.

[0012] Preferably, in Step 1, the microcontroller inside the monitoring probe performs the first analog - to - digital (A / D) conversion on all infrared receiving tubes to obtain the voltage of the corresponding ports, obtaining a primary reference benchmark voltage. Then, the microcontroller processes the data, thereby recording the voltage as the reference benchmark voltage value and the previous voltage recorded value.

[0013] Preferably, in Step 3, after comparing the current voltage value with the previous voltage value, the current voltage value is saved as the previous voltage recorded value, and then the next voltage change and comparison are continued, and this is repeated.

[0014] Preferably, in Step 4, the missed broadcast alarm is installed inside the tractor cab. When the microcontroller in the monitoring probe detects that there is no object falling or the probe is blocked, it transmits a signal to the missed broadcast alarm. If the current vehicle speed has reached the starting speed, the processor inside the missed broadcast alarm processes the data and determines whether to send an alarm.

[0015] Preferably, the missed broadcast alarm is externally equipped with a satellite positioning antenna. Through the satellite positioning antenna, the sown acreage of the tractor is measured. The missed broadcast alarm can also measure the moving speed of the tractor through the satellite positioning system. When the tractor reaches the starting speed, the alarm monitoring function is automatically activated, and when the traveling speed of the tractor is lower than this speed, the alarm monitoring function is automatically deactivated.

[0016] Preferably, there are 2 infrared emitting tubes in total, and 8 infrared receiving tubes in total.

[0017] Beneficial effects: By means of analog-to-digital (A / D) conversion and voltage comparison, the falling situation of an object can be detected more accurately. Even small particle crops can be effectively detected. Compared with the traditional method of judging by the high and low levels of the single-chip microcomputer port, this method is more sensitive and accurate in detecting small particle crops; in the case where the infrared receiving tube is blocked by dust, the falling of an object can still be detected through the comparison of voltage changes, improving the reliability and adaptability of the detection system and enabling it to work properly in harsh environments; by comparing the current voltage value with the reference reference voltage value and judging the duration, the situations of false alarms and missed alarms can be effectively avoided. If the voltage change lasts for a long time and has a large difference from the reference voltage value, it can be accurately judged as a probe blockage rather than the falling of an object. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a schematic flow chart of an embodiment for showing the process of the present application;

[0019] Figure 2 FIG. is a schematic diagram of an embodiment for showing the connection of each device of the missed seeding alarm;

[0020] Figure 3 FIG. is a schematic structural diagram of an embodiment for showing the monitoring probe;

[0021] Figure 4 FIG. is a schematic internal structural diagram of an embodiment for showing the monitoring probe;

[0022] Figure 5 FIG. is a schematic corresponding structural diagram of an embodiment for showing a single infrared emitting tube and multiple infrared receiving tubes;

[0023] Figure 6 FIG. is a schematic connection diagram of an embodiment for showing the connection between the infrared receiving tube and the single-chip microcomputer.

[0024] Reference numerals: 1, monitoring probe; 2, single-chip microcomputer; 3, infrared emitting tube; 4, infrared receiving tube; 5, missed seeding alarm; 6, satellite positioning antenna. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The following description is only a preferred embodiment of the present invention, and the protection scope is not limited to this embodiment. All technical solutions falling within the idea of the present invention shall belong to the protection scope of the present invention. At the same time, it should be pointed out that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

[0026] See Figures 1 to 6As shown in the figure, a method for detecting the dropping of an object includes a monitoring probe 1, a single-chip microcomputer 2 installed inside the monitoring probe 1, an infrared transmitting tube 3, and an infrared receiving tube 4. There are a total of 2 infrared transmitting tubes 3 and a total of 8 infrared receiving tubes 4. The monitoring probe 1 has a hollow structure and is installed at the discharge port of the seeder through a clamp. Each single monitoring probe 1 corresponds to a single discharge port. During the actual detection process, the two infrared transmitting tubes 3 continuously emit infrared rays. The two infrared transmitting tubes 3 are arranged oppositely, and each infrared receiving tube 4 receives the infrared light and conducts. The single-chip microcomputer 2 obtains the voltage of the corresponding port through analog-to-digital (A / D) conversion through the corresponding port.

[0027] Each single infrared transmitting tube 3 corresponds to 4 infrared receiving tubes 4. Through the setting of 2 infrared transmitting tubes 3 and 8 infrared receiving tubes 4, a circular detection area is formed. During detection, seeds or fertilizers enter the monitoring probe 1 from the discharge port and pass through the circular area. When the seeds or fertilizers pass through Figure 1 the circular area, one or more of the infrared receiving tubes 4 will be partially or completely blocked. The infrared light received by the blocked infrared receiving tubes 4 becomes weaker or is not received at all, and the conduction state of the infrared receiving tubes 4 changes, resulting in a change in the voltage of the corresponding port. Through the voltage change of the corresponding port, the detection of the dropping of the object is realized.

[0028] Generally, the seeds are very small. In this application, each single infrared transmitting tube 3 corresponds to multiple infrared receiving tubes 4, providing omnidirectional detection. If one infrared transmitting tube 3 corresponds to one infrared receiving tube 4, when the seeds drop at the place where the infrared transmitting tube 3 and the infrared receiving tube 4 are directly opposite, the infrared receiving tube 4 can sense the dropping of the seeds, but when they drop from other areas, it cannot sense them. The more infrared receiving tubes 4 there are, the fewer such insensitive areas there will be. When the number of infrared receiving tubes 4 reaches a certain level, an omnidirectional and nearly dead-angle-free detection effect will appear. In this way, even if a single rape seed drops, it can be effectively sensed. Through the layout of 2 infrared transmitting tubes corresponding to 8 infrared receiving tubes in this application, the detection of the internal area of the monitoring probe is realized as much as possible, enabling the dropping of small-particle seeds such as rape seeds to be completely detected without false alarms.

[0029] The specific detection method is as follows:

[0030] Before the detection in Step 1, start the monitoring probe 1. The infrared emitting tube 3 will continuously emit infrared rays, and each infrared receiving tube 4 will receive the infrared light. The single-chip microcomputer 2 inside the monitoring probe 1 performs the first analog-to-digital (A / D) conversion on all the infrared receiving tubes 4 to obtain the voltage of the corresponding ports, and gets the primary reference voltage. Then, through the judgment of the single-chip microcomputer 2, the initial voltage of the infrared receiving tube 4 is recorded as the reference reference voltage value and the previous voltage recorded value.

[0031] The reference reference voltage value is a fixed voltage value, which is used as the reference voltage value for subsequent detection. The previous voltage recorded value is a fluctuating voltage. The current voltage detected each time is compared with the previous voltage. After the comparison is completed, the current voltage value is saved as the previous voltage recorded value, and then the next voltage detection and comparison are continued, and so on.

[0032] During the detection in Step 2, when the reference reference value of the monitoring probe 1 is set, the seeder will perform seeding operations. The monitoring probe 1 will monitor the dropping path of the seeds. By repeatedly and quickly performing several A / D conversions on each infrared receiving tube 4, the voltage values of the corresponding ports are obtained, and the voltage values corresponding to each infrared receiving tube 4 are recorded as the current voltage values.

[0033] Data processing during the detection in Step 3: Use the single-chip microcomputer 2 to compare the current voltage value with the previous voltage recorded value of the corresponding infrared receiving tube 4. If in the comparison result, the voltage values of one or more infrared receiving tubes 4 change greatly, it is judged that an object has dropped. The voltage threshold can be set according to the type of the dropped object. When the dropped object is rapeseed, the threshold can be set to 0.05V. Compare the current voltage with the previous voltage. When it exceeds 0.05V, it is judged that an object has dropped.

[0034] If in the comparison result, the difference between the current voltage value and the previous voltage reference value is not large, and this situation lasts for a long time. The duration can be set according to actual needs. In this embodiment, the duration is set to 2 seconds. When the voltages received by each infrared receiving tube do not produce a large difference within 2 seconds, then compare the current voltage with the corresponding reference reference voltage value. If the difference from the reference reference voltage value is large, it is judged that the monitoring probe 1 is blocked and a blocking signal is sent; if the current voltage value and the corresponding reference reference voltage value do not have much difference, it is judged that there is no object dropped by the monitoring probe and a missed seeding signal is sent.

[0035] Processing when the object drops or gets blocked in Step 4. The monitoring probe 1 is connected to the missed seeding alarm 5 through a CAN bus structure. The missed seeding alarm 5 uses an acoustic-optic alarm which is relatively common in the prior art. The missed seeding alarm 5 is installed in the tractor cab. When the single-chip microcomputer 2 in the monitoring probe 1 detects that there is no object dropping or getting blocked, it will transmit a signal to the missed seeding alarm 5 through the CAN bus structure. If the current vehicle speed has reached the starting speed, an acoustic-optic alarm will be issued through the missed seeding alarm 5 to prompt the operator that there is a phenomenon of missed seeding or blockage.

[0036] To better detect the object dropping, a satellite positioning antenna 6 is externally installed on the missed seeding alarm 5. The measurement of the seeding mu number of the tractor is realized through the satellite positioning antenna 6. The missed seeding alarm 5 can also measure the moving speed of the tractor through the satellite positioning system. When the tractor reaches a certain vehicle speed, such as 3 km / h, the alarm monitoring function is automatically started. When the traveling speed of the tractor is lower than this speed, the alarm detection function is automatically turned off. In this way, the annoying alarm sound during parking can be avoided. Since the seeding machine does not leak seeds when the tractor stops, there is no need for an alarm at this time. Through the installation of satellite positioning speed measurement in this application, the alarm function can be automatically turned on or off according to the vehicle speed. The missed seeding alarm will emit an alarm sound when it detects no seeding.

[0037] The missed seeding monitoring alarm adopts a CAN bus structure, and its wiring is very simple and the installation is also very convenient. The number of monitoring probes 1 can be increased or decreased casually according to actual needs. The missed seeding monitoring alarm is respectively connected with a plurality of seed monitoring probes 1, fertilizer monitoring probes 1 and capacitive induction probes through the CAN bus.

Claims

1. A method for detecting a falling object, comprising a monitoring probe (1), a single chip microcomputer (2) installed inside the monitoring probe (1), an infrared transmitting tube (3) and an infrared receiving tube (4), characterized in that: The specific detection methods are as follows: Step 1 Before testing, start the monitoring probe (1) and record the initial voltage monitored as a reference base voltage value and a previous voltage reference value; During the detection of step 2, after the reference voltage value of the monitoring probe (1) is set, the seed drill will start the seeding operation, and the monitoring probe (1) will monitor the seed falling path, and obtain the voltage value of each corresponding port by repeatedly and quickly performing analog-to-digital A / D conversion on each infrared receiving tube (4), and record the voltage value corresponding to each infrared receiving tube (4) as the current voltage value; Step 3: Data processing during detection, using the single chip microcomputer (2) to compare the current voltage value with the previous voltage reference value of the corresponding infrared receiving tube (4). If, in the comparison result, the voltage value of one or more infrared receiving tubes (4) changes greatly, it is determined that an object has fallen, and no alarm signal is sent; If, in the comparison result, the current voltage value is not much different from the previous voltage reference value, and this situation lasts for 1-2 seconds, the current voltage is compared with the corresponding reference voltage value. If the voltage difference between the current voltage value and the reference voltage value is large, it is determined that the monitoring probe (1) is blocked, and a blocking signal is sent; If the current voltage value is not significantly different from the corresponding reference voltage value, it is determined that no object has fallen from the monitoring probe (1), and a missed broadcast signal is sent; Step 4: When the object is detected not to have fallen or blocked, the monitoring probe (1) is connected to a missed broadcast alarm (5) via a CAN bus structure. If the current vehicle speed has reached the starting speed, the missed broadcast alarm (5) emits an audible and visual alarm to alert the operator that a missed broadcast or blocked situation has occurred.

2. A method for detecting a falling object according to claim 1, characterized in that: In step one, the single chip microcomputer (2) inside the monitoring probe (1) performs the first analog-to-digital A / D conversion on all infrared receiving tubes (4), obtains the voltage of the corresponding port, obtains a reference voltage, and then processes the data through the single chip microcomputer (2), thereby recording the voltage as the reference voltage value and the previous voltage record value.

3. A method for detecting a falling object according to claim 1, characterized in that: In step three, after the comparison between the current voltage value and the previous voltage value is completed, the current voltage value is saved as the previous voltage record value, and then the next voltage change and comparison are continued, and this process is repeated.

4. A method for detecting a falling object according to claim 1, characterized in that: In step 4, a missed broadcast alarm (5) is installed in the cab of the tractor. When the single chip microcomputer (2) in the monitoring probe (1) detects that no object has fallen or blocked, a signal is transmitted to the missed broadcast alarm (5). If the current vehicle speed has reached the starting speed, the processor inside the missed broadcast alarm (5) processes the data and determines whether to issue an alarm.

5. A method for detecting a falling object according to claim 4, characterized in that: The missed seeding alarm (5) is externally provided with a satellite positioning antenna (6), and the number of acres of sowing by the tractor is measured through the satellite positioning antenna (6). The missed seeding alarm (5) can also measure the moving speed of the tractor through the satellite positioning system. When the tractor reaches the starting speed, the alarm monitoring function is automatically started, and when the tractor travels at a speed lower than the speed, the alarm monitoring function is automatically turned off.

6. A method for detecting a falling object according to claim 1, characterized in that: There are two infrared emitting tubes (3) in total, and eight infrared receiving tubes (4) in total.

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