Monitoring system and control method for rhizome traditional Chinese medicinal material outcrop film mulching transplanter

Abstract

The invention discloses a monitoring system and a control method for a rhizome traditional Chinese medicinal material outcrop film mulching transplanter, and relates to the technical field of precision agriculture, the monitoring system comprises an intelligent interconnection management platform, and the intelligent interconnection management platform is in communication connection with an ECU monitoring unit, a transplanting amount detection unit, a blockage detection unit, a transplanting posture monitoring unit and a remote monitoring analysis unit. Through cooperative work of the transplanting amount detection unit, the blockage detection unit and the transplanting posture monitoring unit, the transplanting amount, the seedling posture and the transplanting depth can be monitored and adjusted in real time, the transplanting amount detection unit ensures that the transplanting density accords with a preset value, and the blockage detection unit avoids uneven crop growth caused by seedling missing; and the transplanting posture monitoring unit ensures the consistency of the posture and transplanting depth of the seedlings in the planting furrows, so that the transplanting precision is remarkably improved, and the phenomena of missing planting and re-planting are reduced, thereby improving the growth quality and yield of the traditional Chinese medicinal materials.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision agriculture, in particular to a rhizome type Chinese herbal medicine exposed head film transplanting machine monitoring system and control method. BACKGROUND

[0002] The rhizome part of rhizome type Chinese herbal medicine, such as radix codonopsis and astragalus root, is the value of medicine, and the accuracy of transplanting is required, and the parameters such as plant spacing and depth of seedling directly affect the growth quality and yield of medicinal materials. Modern agriculture emphasizes precision, intelligence and efficiency. Precision agriculture improves resource utilization efficiency, reduces waste and improves agricultural product quality and yield by precisely controlling various parameters in the agricultural production process. With the continuous development of sensor technology, automation control technology and Internet of Things technology, intelligent agricultural equipment is increasingly widely used in agricultural production.

[0003] In the prior art, the traditional rhizome type Chinese herbal medicine transplanting method cannot accurately control the transplanting amount, seedling posture and transplanting depth, resulting in missed transplanting, retransplanting or inconsistent transplanting depth, affecting crop growth and yield. Therefore, how to monitor and adjust the transplanting amount, seedling posture and transplanting depth in real time, improve the transplanting accuracy and ensure that the missed transplanting rate and retransplanting rate are significantly reduced is a problem to be solved by the present application. Therefore, a rhizome type Chinese herbal medicine exposed head film transplanting machine monitoring system and control method is proposed. SUMMARY

[0004] The present application aims to provide a rhizome type Chinese herbal medicine exposed head film transplanting machine monitoring system and control method to solve the problems raised in the background art.

[0005] To solve the above technical problems, the technical solution adopted by the present application is:

[0006] In a first aspect, a rhizome type Chinese herbal medicine exposed head film transplanting machine monitoring system comprises an intelligent interconnection management platform, wherein the intelligent interconnection management platform is communicatively connected with an ECU monitoring unit, a transplanting amount detection unit, a blockage detection unit, a transplanting posture monitoring unit and a remote monitoring and analysis unit.

[0007] The ECU monitoring unit is used to connect and coordinate the work of the transplanting amount detection unit, the blockage detection unit and the transplanting posture monitoring unit, receive data from each unit, process and analyze, and issue control instructions of the transplanting machine.

[0008] The transplanting amount detection unit is used to monitor the number and quality of seedlings on the conveying belt of the transplanting machine in real time, dynamically calculate the transplanting amount per unit time, ensure that the transplanting density meets the preset value, improve the accuracy of the transplanting amount, and reduce the phenomenon of missed transplanting and retransplanting.

[0009] The blockage detection unit is used to monitor the seedling falling trajectory and quantity, compare it with the data of the transplanting quantity detection unit, determine whether there is a transplanting blockage or fault state, and monitor the seedling transplanting and conveying status of the conveyor belt in real time. If there is a blockage or interruption, an alarm will be immediately issued and related operations will be suspended to avoid uneven crop growth caused by seedling shortage;

[0010] The transplanting posture monitoring unit is used to monitor the posture of the seedlings in the planting furrow, calculate the transplanting qualification rate and the missed planting rate according to the seedling transplanting spacing parameters, and at the same time, monitor the height of the whole machine and the furrow bottom in real time through the laser ranging sensor, sense the terrain undulation and furrowing depth, and automatically adjust the furrow opener's immersion depth in the soil to ensure the consistency of the transplanting depth and avoid insufficient or excessive transplanting depth due to terrain changes;

[0011] The remote monitoring and analysis unit is used to automatically calculate the actual transplanting area through GPS positioning and operation time recording, analyze the operation quality and efficiency, and generate an operation log for user analysis.

[0012] A further improvement of the technical solution of the present invention is that the ECU monitoring unit specifically includes:

[0013] The ECU monitoring unit receives data from the transplanting volume detection unit, the blockage detection unit, and the transplanting posture monitoring unit. It pre-processes the received data to remove noise and outliers. It also performs preliminary verification and validation on the data to check its integrity and consistency, ensuring that it is within a reasonable range. It then performs preliminary integration of the received data to form a global view of the transplanting process.

[0014] The pre-processed data is integrated into the centralized data pool of the ECU monitoring unit. Using data fusion technology, data from different units are integrated to construct a complete scenario of the transplanting process. The data is then analyzed and compared with the preset values ​​to assess whether the transplanting density, blockage situation, and seedling posture meet the requirements. Based on the analysis results, the corresponding control strategy is formulated.

[0015] The ECU monitoring unit converts the formulated control strategy into specific control instructions and sends them to the transplanter's actuators, including adjusting the roller motor speed and pausing operations to deal with blockages.

[0016] A transplanting control algorithm based on model predictive control (MPC) incorporates parameters such as machine speed and drum motor speed into the optimization objective function. It then uses a PID controller to dynamically adjust the drum motor speed, achieving millisecond-level response of transplanting volume to speed fluctuations.

[0017] The effect of instruction execution is continuously monitored, the data changes before and after control are compared, it is judged whether the transplanting process is improved in the expected direction, if it is found that the control effect is not ideal or new deviation occurs, the ECU monitoring unit adjusts the control strategy, generates the control instruction again, carries out feedback adjustment, until each parameter of the transplanting process reaches the preset target, accurate monitoring and adjustment of the transplanting process are realized, and the quality and efficiency of the Chinese herbal medicine transplanting are ensured.

[0018] Further improvement of the technical scheme of the application is that the process of dynamically adjusting the roller motor speed by the PID controller is:

[0019] The data of the agricultural machine speed and the roller motor speed are collected in real time by the sensor, and are used as the basic input of the model predictive control (MPC) algorithm, at the same time, a mathematical model containing the dynamic characteristics of the agricultural machine and the transplanting process is constructed, the relationship among the agricultural machine speed, the roller motor speed and the transplanting amount is described, and then the change trend of the transplanting amount under different input parameters is predicted;

[0020] Based on the constructed mathematical model, the model predictive control (MPC) algorithm adopts a rolling optimization mechanism, and the agricultural machine speed and the roller motor speed and other parameters are optimized and calculated once every 50 ms, the agricultural machine speed and the roller motor speed and other parameters are included in the optimization objective function, and by solving the optimization objective function, a set of parameter values capable of making the transplanting amount optimal under the current agricultural machine state is obtained;

[0021] After the optimal transplanting amount is obtained, the deviation value is calculated by comparing the optimal transplanting amount with the actual transplanting amount, and then the roller motor speed is dynamically adjusted by the PID controller according to the deviation value, so as to reduce the difference between the actual transplanting amount and the optimal transplanting amount, the deviation between the actual transplanting amount and the target transplanting amount is continuously monitored, and the control strategy is continuously adjusted through the feedback mechanism, so as to ensure the accurate control of the transplanting amount.

[0022] Further improvement of the technical scheme of the application is that the transplanting amount detection unit specifically comprises:

[0023] The transplanting amount detection unit comprises a cover, a light, a binocular camera A and a wire harness, the seedlings on the conveying belt of the transplanting machine are monitored in real time by the binocular camera A, the images of the seedlings are captured, and the number and quality of the seedlings are identified through image processing technology; the seedling quality is determined by comparing the manually set seedling length thresholds A and B (A > B), and the seedling quality is determined as first level (seedling length >= A), second level (A > seedling length > B) and third level (B >= seedling length), and at the same time, the total number of seedlings passing through the conveying belt per unit time is recorded;

[0024] Based on the identified seedling quantity and seedling quality, the transplanting quantity per unit time is dynamically calculated according to the marked seedling quantity, combined with the speed of the conveying belt and the time interval of image acquisition, and the actual transplanting quantity is compared with the preset transplanting quantity to judge whether the current transplanting quantity meets the requirements, wherein the seedling quality is first, second and third, if the transplanting quantity is low or high, an alarm is sent to prompt the operator that there is a missing or over-transplanting phenomenon; the speed of the roller motor is automatically adjusted to change the speed of the conveying belt, so as to realize accurate control of the transplanting quantity, effectively improve the accuracy of the transplanting quantity, and reduce the occurrence of missing and over-transplanting phenomenon;

[0025] The transplanting quantity detection unit feeds back the calculated transplanting quantity data to the ECU monitoring unit in real time, and the ECU monitoring unit dynamically adjusts the speed of the roller motor combined with the forward speed of the whole machine and the crop type parameter.

[0026] The further improvement of the technical scheme of the application is that the blockage detection unit specifically comprises:

[0027] The blockage detection unit includes a binocular camera B and a wire harness, which is installed below the front end of the transplanter and directly opposite the channel of the seedling falling, for monitoring the seedling falling, wherein the binocular camera B continuously collects image data of the seedling falling process at a high frequency, and captures the process of the seedling falling from the end of the conveying belt to the planting ditch, and the wire harness transmits the collected image data to the ECU monitoring unit in real time, and at the same time, starts a timer to record the timestamp of image acquisition, and in this stage, ensures that the field of view of the binocular camera B covers the whole seedling falling area, avoiding the occurrence of monitoring blind area;

[0028] After the ECU monitoring unit receives the image data from the blockage detection unit, it compares the seedling quantity and time data transmitted by the transplanting quantity detection unit, analyzes the frequency of the seedlings in the image of the blockage detection unit and the change of the seedling quantity of the conveying belt recorded by the transplanting quantity detection unit, calculates the deviation between the actual falling seedling quantity and the seedling quantity that should fall per unit time, and determines that blockage or flow interruption fault occurs according to the preset blockage determination threshold;

[0029] Once it is determined that blockage or flow interruption fault occurs, the ECU monitoring unit immediately triggers the alarm system to send sound and light alarm signals to remind the operator, and at the same time, sends instructions to the control system of the transplanter to suspend the transplanting work of the relevant operation line, so as to avoid the uneven growth of crops caused by lack of seedlings, the operator can clear the blockage or repair the faulty parts according to the alarm prompt, and after the fault is eliminated, the operator sends a reset instruction through the control interface, the ECU monitoring unit reinitializes the data of the blockage detection unit and the transplanting quantity detection unit, and restores the transplanting work, to ensure the continuity and stability of the transplanting process.

[0030] Further improvement of the technical scheme of the present application is that the calculation expression of the deviation between the actual number of seedlings falling in unit time and the number of seedlings that should fall is:

[0031]

[0032] In the formula, D is the percentage of seedling number deviation, N a is the actual number of seedlings falling, N e is the number of seedlings that should fall. If D is close to 0%, it indicates that the actual number of seedlings falling is very close to the number of seedlings that should fall, and the transplanting process is normal. If D is significantly greater than 0%, it indicates that the actual number of seedlings falling is less than the number of seedlings that should fall, and there is a blockage or flow failure.

[0033] Further improvement of the technical scheme of the present application is that the transplanting posture monitoring unit specifically comprises:

[0034] The transplanting posture monitoring unit includes a binocular camera C and a laser ranging sensor. The binocular camera C is installed below the middle of the transplanting machine and faces the planting trench, used to capture the posture image of the seedlings in the planting trench in real time, capture the placement angle and posture information of the seedlings, the laser ranging sensor simultaneously measures the height of the transplanting machine and the trench bottom, obtains the terrain undulation and trench depth data, and transmits them to the ECU monitoring unit in real time through a wire harness.

[0035] After the ECU monitoring unit receives the data from the transplanting posture monitoring unit, it analyzes the seedling posture image transmitted by the binocular camera C according to the seedling transplanting plant spacing parameters, calculates the actual plant spacing between the adjacent two seedlings, compares the actual plant spacing with the designed plant spacing, and determines whether each seedling is qualified for transplanting. If the actual plant spacing is within the allowable error range of the designed plant spacing, it is determined to be qualified, otherwise, it is determined to be unqualified. At the same time, by analyzing the seedling posture image, the position and quantity of missed transplanting are identified, and then the transplanting qualification rate, the missed transplanting rate and the retransplanting rate are calculated to determine the transplanting state.

[0036] According to the height data of the transplanting machine and the trench bottom monitored by the laser ranging sensor in real time, the ECU monitoring unit senses the changes of the terrain undulation and the trench depth. If it is detected that the trench depth does not meet the preset value, the ECU monitoring unit automatically adjusts the depth of the trench opener to ensure the consistency of the transplanting depth, and at the same time, feeds back the calculated transplanting qualification rate and missed transplanting rate data to the system for the reference of the operator. If the transplanting qualification rate is lower than the preset standard or the missed transplanting rate is too high, an alarm is sent to remind the operator to take appropriate measures.

[0037] Further improvement of the technical scheme of the present application is that the remote monitoring and analysis unit specifically comprises:

[0038] The GPS positioning module carried by the transplanting machine is used to obtain the position information of the transplanting machine in real time. With the movement of the transplanting machine, the GPS continuously records the driving track, and accurately locates the transplanting operation area. Meanwhile, the built-in timer records the starting time and ending time of the operation, and calculates the total operation time.

[0039] Based on the obtained position and operation time length data, the remote monitoring and analysis unit automatically calculates the actual transplanting area according to the driving track recorded by the GPS positioning module and the operation time length, in combination with the preset operation width parameters. Meanwhile, according to the operation time length and the actual transplanting area, the operation efficiency is calculated to evaluate the operation results of the transplanting machine in unit time.

[0040] After the area calculation and quality efficiency analysis are completed, all related data and analysis results are integrated to generate a detailed operation log. The operation log includes the actual transplanting area, operation quality indicators, operation efficiency data, and abnormal situation record contents in the operation process.

[0041] In the second aspect, a control method of a rhizome Chinese herbal medicine exposed head film transplanting machine is realized based on the rhizome Chinese herbal medicine exposed head film transplanting machine monitoring system described above, and includes the following steps:

[0042] The position information of the transplanting machine is obtained, and the driving track and operation time are recorded. The seedling quantity and seedling quality on the conveying belt are monitored in real time by the transplanting quantity detection unit through the binocular camera A, the image is captured and grayscale, filtering and denoising pretreatment operations are performed to ensure the image quality.

[0043] Based on the pretreated image data, in combination with the conveying belt speed and image acquisition time interval, the transplanting quantity in unit time is dynamically calculated. The actual transplanting quantity is compared with the preset value. If the deviation exceeds the allowed range, the ECU monitoring unit automatically adjusts the roller motor speed to change the conveying belt speed, so as to realize the accurate control of the transplanting quantity.

[0044] The clogging detection unit monitors the falling track and quantity of seedlings through the binocular camera B, compares the data with the transplanting quantity detection unit, calculates the percentage of seedling quantity deviation, and if the deviation exceeds the preset threshold, determines that it is a clogging or flow interruption fault. The ECU monitoring unit immediately triggers an alarm and suspends the related operation to remind the operator to remove the blockage or repair the faulty parts.

[0045] The transplanting posture monitoring unit uses the binocular camera C and the laser ranging sensor to monitor the posture of the seedlings in the planting ditch and the height of the whole machine and the ditch bottom in real time, calculates the transplanting qualification rate, the missing transplanting rate and the retransplanting rate, and according to the data of the laser ranging sensor, the ECU monitoring unit automatically adjusts the depth of the ditch opener into the soil to ensure the consistency of the transplanting depth.

[0046] The remote monitoring and analyzing unit automatically calculates the actual transplanting area and work efficiency based on GPS positioning and work duration data, in combination with a preset work width parameter, integrates all monitoring data and analysis results, and generates a detailed work log.

[0047] Due to the adoption of the above technical solutions, the present application has achieved the following technical progress compared with the prior art:

[0048] 1. The root rhizome type Chinese herbal medicine exposed head film transplanting machine monitoring system and control method can monitor and adjust the transplanting amount, seedling posture and transplanting depth in real time through the cooperative work of the transplanting amount detection unit, the blockage detection unit and the transplanting posture monitoring unit, the transplanting amount detection unit ensures that the transplanting density meets the preset value, the blockage detection unit avoids uneven crop growth caused by seedling deficiency, and the transplanting posture monitoring unit ensures the consistency of the posture and transplanting depth of the seedling in the planting ditch, thereby significantly improving the transplanting precision, reducing the missing and re-transplanting phenomenon, and improving the growth quality and yield of the Chinese herbal medicine.

[0049] 2. The root rhizome type Chinese herbal medicine exposed head film transplanting machine monitoring system and control method provided by the present application uses an ECU monitoring unit as the core, integrates sensor technology and automatic control technology, realizes intelligent control of the transplanting process, the ECU monitoring unit receives data from each monitoring unit, processes and analyzes the data, and issues control instructions of the transplanting machine, through centralized control and data processing, ensures the cooperative work of each unit, realizes accurate monitoring and adjustment of the transplanting process, and improves the work efficiency and resource utilization efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0051] Figure 1 It is a workflow schematic diagram of the present application;

[0052] Figure 2 It is a monitoring system module installation schematic diagram of the present application;

[0053] Figure 3 It is a seedling transplanting posture schematic diagram of the present application;

[0054] Figure 4 It is a monitoring interface of the intelligent interconnection management platform of the present application. DETAILED DESCRIPTION

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0056] Example 1, as Figure 1 As shown, the present invention provides a monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter, comprising an intelligent interconnected management platform, the intelligent interconnected management platform being communicatively connected to an ECU monitoring unit, a transplanting amount detection unit, a blockage detection unit, a transplanting posture monitoring unit, and a remote monitoring and analysis unit;

[0057] The intelligent interconnected management platform supports remote viewing of transplanting data via mobile terminals or cloud platforms, online adjustment of operating parameters to meet the needs of different plots, and records of historical operating data of each transplanter (such as transplanting volume, fault type, and maintenance records), providing data support for agricultural production decision-making.

[0058] The ECU monitoring unit, as the core of the entire monitoring system, is used to connect and coordinate the work of the transplanting quantity detection unit, the blockage detection unit and the transplanting posture monitoring unit, receive data from each unit, process and analyze it, and issue control instructions for the transplanter. Through centralized control and data processing, it ensures that each unit works together to achieve accurate monitoring and adjustment of the transplanting process. The ECU monitoring unit receives data from the transplanting quantity detection unit, the blockage detection unit and the transplanting posture monitoring unit. Among them, the transplanting quantity detection unit provides seedling quantity and seedling quality information, the blockage detection unit reports the seedling falling status, and the transplanting posture monitoring unit feedbacks the seedling posture data in the planting ditch. The received data is pre-processed to remove noise and outliers. At the same time, the data is preliminarily verified and checked to check the integrity and consistency of the data to ensure that the data is within a reasonable range. The received data is then preliminarily integrated to form a global view of the transplanting process. The pre-processed data is integrated into the centralized data pool of the ECU monitoring unit. Using data fusion technology, the data from different units are integrated to construct a complete scene of the transplanting process. , and analyzes various data. By comparing preset values ​​with actual monitoring data, it evaluates whether the transplanting density, blockage situation, and seedling posture meet the requirements. Based on the analysis results, a corresponding control strategy is formulated. The ECU monitoring unit converts the formulated control strategy into specific control instructions and sends them to the transplanter's actuator, including adjusting the roller motor speed, pausing operations to deal with blockages, etc. The transplanting control algorithm based on model predictive control (MPC) incorporates parameters such as agricultural machine speed and roller motor speed into the optimization objective function. Through the rolling optimization mechanism, the optimal transplanting amount is calculated every 50ms, and then the roller motor speed is dynamically adjusted in combination with the PID controller to achieve millisecond-level response of the transplanting amount to speed fluctuations. The execution effect of the instructions is continuously monitored. By comparing the data changes before and after the control, it is determined whether the transplanting process is improving in the expected direction. If the control effect is found to be unsatisfactory or new deviations occur, the ECU monitoring unit adjusts the control strategy, regenerates the control instructions, and performs feedback adjustment until the various parameters of the transplanting process reach the preset targets, realizing accurate monitoring and adjustment of the transplanting process and ensuring the quality and efficiency of Chinese medicinal material transplanting.

[0059] In addition, the process of dynamically adjusting the drum motor speed in combination with the PID controller is as follows:

[0060] The data of the speed of the agricultural machine and the rotating speed of the roller motor are collected in real time by the sensor as the basic input of the model predictive control (MPC) algorithm, and a mathematical model including the dynamic characteristics of the agricultural machine and the transplanting process is constructed to describe the relationship among the speed of the agricultural machine, the rotating speed of the roller motor and the transplanting amount, and then the change trend of the transplanting amount under different input parameters is predicted.

[0061] The transplanting amount detection unit is used for monitoring the number and quality of seedlings on the conveyor belt of the transplanting machine in real time, dynamically calculating the transplanting amount per unit time, ensuring that the transplanting density meets the preset value, improving the accuracy of the transplanting amount, and reducing the phenomenon of missing transplantation and retransplantation. The transplanting amount detection unit includes a housing, a light, a binocular camera A and a wire harness. The number and quality of seedlings on the conveyor belt of the transplanting machine are monitored in real time by the binocular camera A, the images of the seedlings are captured, and the number and quality of the seedlings are identified through image processing technology. The quality of the seedlings is determined by comparing the manually set seedling length thresholds A and B (A > B) to determine the quality of the seedlings as first grade (seedling length >= A), second grade (A > seedling length > B) and third grade (B >= seedling length). At the same time, the total number of seedlings passing through the conveyor belt per unit time is recorded.

[0062] The binocular camera A is installed at the front end of the transplanting machine, and the light provides a stable light source to ensure the clarity of the image and reduce image quality problems caused by insufficient or uneven light. In addition, the collected image needs to be preprocessed, including grayscale, filtering and denoising, etc. Grayscale converts color images to grayscale images, reducing data volume while retaining the main features of the image. Filtering and denoising removes noise interference in the image, improving image quality and usability. Based on the number and quality of seedlings identified, the number of seedlings marked, the speed of the conveyor belt, and the time interval of image acquisition, the transplanting amount per unit time is dynamically calculated. The actual transplanting amount is compared with the preset transplanting amount to determine whether the current transplanting amount meets the requirements. The seedling quality is first, second, and third. If the transplanting amount is too low or too high, an alarm is issued to alert the operator of the missing or over-transplanting phenomenon. The roller motor speed is automatically adjusted to change the speed of the conveyor belt, thereby achieving precise control of the transplanting amount, effectively improving the accuracy of the transplanting amount, and reducing the occurrence of missing and over-transplanting. The transplanting amount detection unit feeds the calculated transplanting amount data to the ECU monitoring unit in real time. The ECU monitoring unit dynamically adjusts the speed of the roller motor in combination with the machine forward speed and crop type parameters. If the actual transplanting amount is lower than the preset transplanting amount, the ECU monitoring unit issues an instruction to increase the speed of the roller motor to increase the speed of the seedling conveyor and thus increase the transplanting amount. Conversely, if the actual transplanting amount is higher than the preset transplanting amount, the ECU monitoring unit slows down the speed of the roller motor to reduce the transplanting amount, ensuring that the transplanting amount always meets the preset value and improving the accuracy of the transplanting amount.

[0063] The calculation expression of the transplanting amount per unit time is:

[0064]

[0065] In the formula, Q is the transplanting amount per unit time, N is the number of seedlings identified within the image acquisition time, V is the speed of the conveyor belt, and T is the time interval of image acquisition.

[0066] The blockage detection unit is used to monitor the falling trajectory and quantity of seedlings and compare the data with the data of the transplanting quantity detection unit to determine whether there is a blockage or failure state of transplanting, and to monitor the seedling transplanting conveying state of the conveying belt in real time. If there is a blockage or flow interruption, an alarm is immediately given and the related operation is paused to avoid uneven crop growth caused by seedling shortage. The blockage detection unit includes a binocular camera B and a wire harness, which are installed below the front end of the transplanter and face the channel where the seedlings fall, and are used to monitor the falling of the seedlings. The binocular camera B continuously collects image data of the falling process of the seedlings at a high frequency, captures the process of the seedlings falling from the end of the conveying belt to the planting ditch, and the wire harness transmits the collected image data to the ECU monitoring unit in real time. At the same time, a timer is started to record the timestamp of image collection. In this stage, it is ensured that the field of view of the binocular camera B covers the entire seedling falling area to avoid blind spots. After the ECU monitoring unit receives the image data from the blockage detection unit, it compares the image data with the seedling quantity and time data transmitted by the transplanting quantity detection unit, analyzes the frequency of the seedlings in the image of the blockage detection unit and the change of the seedling quantity recorded by the transplanting quantity detection unit, calculates the deviation between the actual number of seedlings falling per unit time and the number of seedlings that should fall, and determines that a blockage or flow interruption failure has occurred according to the preset blockage determination threshold. Once a blockage or flow interruption failure is determined to have occurred, the ECU monitoring unit immediately triggers the alarm system to issue an audible and visual alarm signal to remind the operator, and sends an instruction to the control system of the transplanter to pause the transplanting work of the related operation row to avoid uneven crop growth caused by seedling shortage. The operator can clear the blockage or repair the faulty parts according to the alarm prompt. After the fault is eliminated, the operator issues a reset instruction through the control interface, the ECU monitoring unit reinitializes the data of the blockage detection unit and the transplanting quantity detection unit, and resumes the transplanting operation to ensure the continuity and stability of the transplanting process.

[0067] In addition, the calculation expression of the deviation between the actual number of seedlings falling per unit time and the number of seedlings that should fall is:

[0068]

[0069] In the formula, D is the seedling quantity deviation percentage, N a is the actual number of seedlings falling, and N e is the number of seedlings that should fall. If D is close to 0%, it means that the actual number of seedlings falling is very close to the number of seedlings that should fall, and the transplanting process is normal. If D is significantly greater than 0%, it means that the actual number of seedlings falling is less than the number of seedlings that should fall, and there is a blockage or flow interruption failure.

[0070] The transplanting posture monitoring unit is used for monitoring the posture of the seedlings in the planting ditch, calculating the transplanting qualified rate and the missing transplanting rate according to the seedling transplanting plant spacing parameter, and simultaneously monitoring the height of the whole machine and the ditch bottom in real time through the laser ranging sensor, perceiving the terrain undulation and the ditching depth, automatically adjusting the earth-penetrating depth of the ditching device, ensuring the consistency of the transplanting depth, and avoiding the insufficient or excessive transplanting depth caused by the terrain change. The transplanting posture monitoring unit comprises a binocular camera C and a laser ranging sensor. The binocular camera C is installed below the middle of the transplanting machine and faces the planting ditch, and is used for shooting the posture image of the seedlings in the planting ditch in real time, capturing the posture information of the seedling placement angle and whether the seedling is inclined or not. The laser ranging sensor simultaneously measures the height of the transplanting machine and the ditch bottom, obtains the terrain undulation and the ditching depth data, and transmits the data to the ECU monitoring unit in real time through the wire harness. In this stage, the binocular camera C and the laser ranging sensor work cooperatively to ensure that the collected seedling posture and terrain data are comprehensive and accurate. After the ECU monitoring unit receives the data from the transplanting posture monitoring unit, the ECU monitoring unit analyzes the seedling posture image transmitted by the binocular camera C according to the seedling transplanting plant spacing parameter, calculates the actual plant spacing between the adjacent two seedlings, compares the actual plant spacing with the designed plant spacing, determines whether the transplanting of each seedling is qualified or not, and if the actual plant spacing is within the allowable error range of the designed plant spacing, the determination is that the transplanting is qualified, otherwise, the determination is that the transplanting is unqualified. Meanwhile, the missing transplanting position and quantity are identified by analyzing the seedling posture image, and then the transplanting qualified rate, the missing transplanting rate and the retransplanting rate are calculated, the transplanting state is determined, and according to the height data of the transplanting machine and the ditch bottom monitored in real time by the laser ranging sensor, the ECU monitoring unit perceives the change of the terrain undulation and the ditching depth. If it is detected that the ditching depth does not meet the preset value, the ECU monitoring unit automatically adjusts the earth-penetrating depth of the ditching device to ensure the consistency of the transplanting depth, and simultaneously feeds back the calculated transplanting qualified rate and missing transplanting rate data to the system for the reference of the operator. If the transplanting qualified rate is lower than the preset standard or the missing transplanting rate is too high, an alarm is issued to remind the operator to take corresponding measures.

[0071] The calculation expression of the transplanting qualified rate is:

[0072]

[0073] In the formula, H is the transplanting qualified rate, G is the qualified plant number, and Z is the total plant number.

[0074] The calculation expression of the missing transplanting rate is:

[0075]

[0076] In the formula, L is the missing transplanting rate, and M is the missing transplanting plant number.

[0077] The calculation expression of the retransplanting rate is:

[0078]

[0079] Z = G + M + CZ;

[0080] In the formula, C is the replanting rate, and CZ is the number of replanted plants.

[0081] The plant spacing between two adjacent plants is X, and when X is in the range of 0.5x < X≤1.5x, it is determined as a qualified plant spacing, and x is the designed plant spacing.

[0082] When the plant spacing X between two adjacent plants is in the range of 1.5x < X≤2.5x, it is determined as missing 1 plant; when in the range of 2.5x < X≤3.5x, it is determined as missing 2 plants; when in the range of 3.5x < X≤4.5x, it is determined as missing 3 plants, and so on.

[0083] When the plant spacing X between two adjacent plants is in the range of X≤0.5x, it is determined as over-planting.

[0084] The remote monitoring and analysis unit is used to automatically calculate the actual transplanting area and analyze the work quality and efficiency by GPS positioning and work time recording, generate work logs for user analysis, use the GPS positioning module carried by the transplanter to obtain the position information of the transplanter in real time, and as the transplanter moves, the GPS continuously records its driving track, accurately locates the transplanting work area, at the same time, records the starting time and ending time of the work through the built-in timer, calculates the total work time, based on the obtained position and work time data, the remote monitoring and analysis unit calculates the actual transplanting area according to the driving track recorded by the GPS positioning module and the work time, and at the same time, calculates the work efficiency according to the work time and the actual transplanting area, evaluates the work results of the transplanter in unit time, after completing the area calculation and quality efficiency analysis, integrates all related data and analysis results, and generates detailed work logs, wherein the work logs contain actual transplanting area, work quality index, work efficiency data and abnormal situation record content in the work process.

[0085] The calculation expression of the actual transplanting area is:

[0086] A = J x W;

[0087] In the formula, A is the actual transplanting area, J is the driving track length, and W is the work width.

[0088] The calculation expression of the work efficiency is:

[0089]

[0090] In the formula, E is the work efficiency, and Y is the work time.

[0091] Example 2, as Figure 1As shown, based on Example 1, the present invention further provides a control method for a rhizome Chinese medicinal material exposed head mulching and transplanting machine, which is implemented based on the above-mentioned rhizome Chinese medicinal material exposed head mulching and transplanting machine monitoring system, and includes the following steps:

[0092] The transplanter's location information is obtained, and its driving trajectory and operation time are recorded. The transplanting quantity detection unit uses binocular camera A to monitor the number and quality of seedlings on the conveyor belt in real time, capture images, and perform grayscale conversion, filtering, and denoising preprocessing to ensure image quality.

[0093] Based on pre-processed image data, combined with the conveyor belt speed and image acquisition time interval, the transplanting amount per unit time is dynamically calculated and the actual transplanting amount is compared with the preset value. If the deviation exceeds the allowable range, the ECU monitoring unit automatically adjusts the roller motor speed and changes the conveyor belt speed to achieve precise control of the transplanting amount.

[0094] The blockage detection unit uses binocular camera B to monitor the seedlings' falling trajectory and quantity, compares it with the data from the transplanting quantity detection unit, and calculates the percentage deviation of the seedling quantity. If the deviation exceeds the preset threshold, it is determined to be a blockage or flow interruption fault. The ECU monitoring unit immediately triggers an alarm and suspends related operations, reminding the operator to clear the blockage or repair the faulty component.

[0095] The transplanting posture monitoring unit uses a binocular camera C and a laser ranging sensor to monitor the seedlings' posture in the planting furrow and the height of the machine above the furrow bottom in real time. It calculates the transplanting qualification rate, missed planting rate, and replanting rate. Based on the laser ranging sensor data, the ECU monitoring unit automatically adjusts the furrow opener's immersion depth in the soil to ensure consistent transplanting depth.

[0096] The remote monitoring and analysis unit automatically calculates the actual transplanting area and operation efficiency based on GPS positioning and operation duration data, combined with preset operation width parameters, integrates all monitoring data and analysis results, and generates detailed operation logs. Users can remotely view and analyze them through the intelligent interconnected management platform, providing data support for agricultural production decisions.

[0097] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A monitoring system for a rhizome Chinese medicinal material outcrop mulching and transplanting machine, including an intelligent interconnected management platform, characterized by: The intelligent interconnected management platform is communicatively connected to an ECU monitoring unit, a transplanting amount detection unit, a blockage detection unit, a transplanting posture monitoring unit, and a remote monitoring and analysis unit; The ECU monitoring unit is used to receive data from each unit, process and analyze it, and issue control instructions for the transplanter; The transplanting quantity detection unit is used to monitor the number and quality of seedlings on the conveyor belt of the transplanter in real time and dynamically calculate the transplanting quantity per unit time; The blockage detection unit is used to monitor the seedling falling trajectory and quantity, compare it with the data of the transplanting quantity detection unit, determine whether there is a transplanting blockage or fault state, and monitor the seedling transplanting and conveying status of the conveyor belt in real time. If there is a blockage or interruption, an alarm will be immediately issued and related operations will be suspended; The transplanting posture monitoring unit is used to monitor the posture of the seedlings in the planting furrow, calculate the transplanting qualification rate and the missed planting rate based on the seedling transplanting spacing parameters, and at the same time, monitor the height of the whole machine and the furrow bottom in real time through the laser ranging sensor, sense the terrain undulations and furrowing depth, and automatically adjust the furrow opener's penetration depth into the soil; The remote monitoring and analysis unit is used to automatically calculate the actual transplanting area through GPS positioning and operation time recording, analyze the operation quality and efficiency, and generate an operation log for user analysis.

2. The monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter according to claim 1, characterized in that: The ECU monitoring unit specifically includes: The ECU monitoring unit receives data from the transplanting volume detection unit, the blockage detection unit, and the transplanting posture monitoring unit, and pre-processes the received data. It also performs preliminary verification and validation on the data to check its integrity and consistency. It then performs preliminary integration of the received data to form a global view of the transplanting process. The pre-processed data is integrated into the centralized data pool of the ECU monitoring unit. Using data fusion technology, data from different units are integrated to construct a complete scenario of the transplanting process. The data is then analyzed and compared with the preset values ​​to assess whether the transplanting density, blockage situation, and seedling posture meet the requirements. Based on the analysis results, the corresponding control strategy is formulated. The ECU monitoring unit converts the formulated control strategy into specific control instructions and sends them to the actuator of the transplanter; The transplanting control algorithm based on model predictive control incorporates the agricultural machinery speed and drum motor speed parameters into the optimization objective function, and then dynamically adjusts the drum motor speed in combination with a PID controller; Continuously monitor the execution effect of instructions, and judge whether the transplanting process is improving in the expected direction by comparing the data changes before and after control. If it is found that the control effect is not ideal or new deviations appear, the ECU monitoring unit adjusts the control strategy, regenerates the control instructions, and performs feedback adjustment until the various parameters of the transplanting process reach the preset targets.

3. The monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter according to claim 2, characterized in that: The process of dynamically adjusting the drum motor speed by combining the PID controller is as follows: Sensors collect real-time data on the speed of the agricultural machinery and the speed of the drum motor as the basic input for the model predictive control algorithm. A mathematical model that incorporates the dynamic characteristics of the agricultural machinery and the transplanting process is constructed to describe the relationship between the speed of the agricultural machinery, the speed of the drum motor, and the transplanting amount, thereby predicting the changing trend of the transplanting amount under different input parameters. Based on the constructed mathematical model, the model predictive control algorithm uses a rolling optimization mechanism to optimize the machine speed and drum motor speed parameters every 50 milliseconds. The machine speed and drum motor speed parameters are incorporated into the optimization objective function. By solving the optimization objective function, a set of parameter values ​​that can achieve the optimal transplanting yield under the current state of the machine is obtained. After obtaining the optimal transplanting amount, it is compared with the actual transplanting amount, and the deviation value is calculated. Then, the PID controller is used to dynamically adjust the drum motor speed according to the deviation value to reduce the gap between the actual transplanting amount and the optimal transplanting amount. The deviation between the actual transplanting amount and the target transplanting amount is continuously monitored, and the control strategy is continuously adjusted through the feedback mechanism.

4. The monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter according to claim 1, characterized in that: The transplanting amount detection unit specifically includes: The transplanting quantity detection unit includes a housing, lights, a binocular camera A, and a wiring harness. The binocular camera A monitors the seedlings on the conveyor belt of the transplanter in real time, captures images of the seedlings, and uses image processing technology to identify the number and quality of the seedlings. The seedling quality is determined by comparing manually set seedling length thresholds A and B, where A>B, to determine the seedling quality as level one, level two, or level three. Level one is seedling length ≥ A, level two is A>seedling length>B, and level three is B≥seedling length. At the same time, the total number of seedlings passing through the conveyor belt per unit time is recorded. Based on the identified number and quality of seedlings, the transplanting volume per unit time is dynamically calculated according to the number of marked seedlings, combined with the speed of the conveyor belt and the time interval of image acquisition. The actual transplanting volume is compared with the preset transplanting volume to determine whether the current transplanting volume meets the requirements. Among them, the seedling quality is graded as level one, level two, and level three. If the transplanting volume is too low or too high, an alarm will be issued to remind the operator that there is a phenomenon of missed planting or repeated planting. The transplanting volume detection unit will feed back the calculated transplanting volume data to the ECU monitoring unit in real time. The ECU monitoring unit will dynamically adjust the speed of the drum motor based on the forward speed of the whole machine and the crop type parameters.

5. The monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter according to claim 1, characterized in that: The blockage detection unit specifically includes: The blockage detection unit includes a binocular camera B and a wiring harness. The binocular camera B collects image data of the seedlings falling from the conveyor belt to the planting trench. The wiring harness transmits the collected image data to the ECU monitoring unit in real time and simultaneously starts a timer to record the timestamp of the image acquisition. After receiving the image data from the blockage detection unit, the ECU monitoring unit compares it with the seedling quantity and time data transmitted by the transplanting quantity detection unit. By analyzing the frequency of seedlings in the blockage detection unit image and the change in the number of seedlings on the conveyor belt recorded by the transplanting quantity detection unit, the ECU calculates the deviation between the actual number of seedlings dropped per unit time and the number of seedlings that should have dropped. Based on the preset blockage determination threshold, it determines that a blockage or flow interruption fault has occurred. Once a blockage or interruption of flow is determined to have occurred, the ECU monitoring unit immediately triggers the alarm system, issuing an audible and visual alarm signal to alert the operator. At the same time, it sends instructions to the transplanter's control system to suspend the transplanting work of the relevant operation row. The operator can clear the blockage or repair the faulty component according to the alarm prompt.

6. The monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter according to claim 5, characterized in that: The calculation expression for the deviation between the number of seedlings actually dropped and the number of seedlings that should have dropped within the unit time is: ； Where D is the percentage of seedling quantity deviation, is the actual number of seedlings that fell, The number of seedlings that should be dropped.

7. The monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter according to claim 1, characterized in that: The transplanting posture monitoring unit specifically includes: The transplanting posture monitoring unit includes a binocular camera C and a laser ranging sensor. The binocular camera C is used to capture real-time images of the seedlings' posture in the planting trench, capturing information such as the seedlings' placement angle and tilt. The laser ranging sensor simultaneously measures the height between the transplanter and the trench bottom, acquiring data on terrain undulations and trenching depth, and transmits this data in real time to the ECU monitoring unit via a wiring harness. After receiving the data from the transplanting posture monitoring unit, the ECU monitoring unit analyzes the seedling posture image transmitted by the binocular camera C according to the seedling transplanting spacing parameters, calculates the actual spacing between two adjacent seedlings, compares the actual spacing with the designed spacing, and determines whether the transplanting of each seedling is qualified. If the actual spacing is within the allowable error range of the designed spacing, it is determined to be qualified; otherwise, it is determined to be unqualified. At the same time, by analyzing the seedling posture image, the location and number of missed plantings are identified, and then the transplanting qualification rate, missed planting rate and replanting rate are calculated to determine the transplanting status; Based on the height data of the transplanter and the ditch bottom monitored in real time by the laser ranging sensor, the ECU monitoring unit senses the changes in terrain undulations and ditching depth. If it detects that the ditching depth does not meet the preset value, the ECU monitoring unit automatically adjusts the depth of the ditch opener into the soil. At the same time, the calculated transplanting qualification rate and missing planting rate data are fed back to the system for the operator's reference. If the transplanting qualification rate is lower than the preset standard or the missing planting rate is too high, an alarm will be issued to remind the operator to take corresponding measures.

8. The monitoring system for a rhizome Chinese medicinal material exposed film-covered transplanter according to claim 1, characterized in that: The remote monitoring and analysis unit specifically includes: The GPS positioning module on the transplanter is used to obtain the location information of the transplanter in real time. At the same time, the built-in timer is used to record the start and end time of the operation and calculate the total operation time. Based on the acquired location and operation duration data, the remote monitoring and analysis unit automatically calculates the actual transplanting area based on the driving trajectory and operation duration recorded by the GPS positioning module, combined with the preset operation width parameters. At the same time, based on the operation duration and actual transplanting area, it calculates the operation efficiency and evaluates the transplanter's operation results per unit time. After completing the area calculation and quality and efficiency analysis, all relevant data and analysis results are integrated to generate a detailed operation log, which includes the actual transplanting area, operation quality indicators, operation efficiency data, and records of abnormal situations during the operation.

9. A control method for a rhizome Chinese medicinal material exposed head mulching and transplanting machine, based on the monitoring system for the rhizome Chinese medicinal material exposed head mulching and transplanting machine according to any one of claims 1 to 8, characterized in that: The following steps are involved: The transplanter's location information is obtained, and its driving trajectory and operation time are recorded. The transplanting quantity detection unit uses binocular camera A to monitor the number and quality of seedlings on the conveyor belt in real time, capture images, and perform grayscale conversion, filtering, and denoising preprocessing. Based on the pre-processed image data, combined with the conveyor belt speed and image acquisition time interval, the transplanted amount per unit time is dynamically calculated and the actual transplanted amount is compared with the preset value. If the deviation exceeds the allowable range, the ECU monitoring unit automatically adjusts the roller motor speed and changes the conveyor belt speed. The blockage detection unit uses binocular camera B to monitor the seedlings' falling trajectory and quantity, compares it with the data from the transplanting quantity detection unit, and calculates the percentage deviation of the seedling quantity. If the deviation exceeds the preset threshold, it is determined to be a blockage or flow interruption fault. The ECU monitoring unit immediately triggers an alarm and suspends related operations, reminding the operator to clear the blockage or repair the faulty component. The transplanting posture monitoring unit uses a binocular camera C and a laser ranging sensor to monitor the posture of the seedlings in the planting furrow and the height of the whole machine and the furrow bottom in real time. It calculates the transplanting qualification rate, the missed planting rate, and the replanting rate. Based on the laser ranging sensor data, the ECU monitoring unit automatically adjusts the furrow opener's soil penetration depth. The remote monitoring and analysis unit automatically calculates the actual transplanting area and operation efficiency based on GPS positioning and operation duration data, combined with preset operation width parameters, and integrates all monitoring data and analysis results to generate a detailed operation log.

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