A rhizome traditional Chinese medicinal material exposed head film transplanting machine monitoring system and control method

Abstract

The application discloses a rhizome Chinese herbal medicine exposed film transplanting machine monitoring system and a control method, and relates to the technical field of precision agriculture, which comprises an intelligent interconnected management platform, wherein the intelligent interconnected 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 analyzing unit. Through the 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 meets the preset value, the blockage detection unit avoids uneven crop growth caused by seedling loss, and the transplanting posture monitoring unit ensures the consistency of the posture and the transplanting depth of the seedlings 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.

Description

Technical Field

[0001] This invention relates to the field of precision agriculture technology, specifically to a monitoring system and control method for a transplanting machine for rhizomes and rootstock medicinal herbs with exposed seedlings and mulching. Background Technology

[0002] Rhizome-based Chinese medicinal herbs, such as Codonopsis pilosula and Astragalus membranaceus, rely on their rhizomes for medicinal value. These herbs require high precision in transplanting, as parameters such as plant spacing and planting depth directly impact their growth quality and yield. Modern agriculture emphasizes precision, intelligence, and efficiency. Precision agriculture improves resource utilization efficiency, reduces waste, and enhances agricultural product quality and yield by precisely controlling various parameters in the agricultural production process. With the continuous development of sensor technology, automated control technology, and the Internet of Things (IoT), intelligent agricultural equipment is increasingly widely used in agricultural production.

[0003] In the existing technology, traditional transplanting methods for rhizomatous Chinese medicinal herbs are difficult to precisely control the transplanting quantity, seedling posture, and transplanting depth, resulting in missed planting, replanting, or inconsistent transplanting depth, which affects crop growth and yield. Therefore, how to monitor and adjust the transplanting quantity, seedling posture, and transplanting depth in real time, improve transplanting accuracy, and ensure a significant reduction in missed planting and replanting rates is the problem that this invention aims to solve. To this end, a monitoring system and control method for a rhizomatous Chinese medicinal herb exposed seedling mulching transplanting machine are proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a monitoring system and control method for transplanting rhizomes and other root-type medicinal herbs with exposed seed heads and mulch, in order to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] In the first aspect, a monitoring system for a transplanting machine for rhizomes and rootstock medicinal herbs with exposed tops and mulch is provided, comprising an intelligent interconnected management platform, wherein the intelligent interconnected management platform is communicatively connected to an ECU monitoring unit, a transplanting quantity 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 it, and issue control commands to the transplanter.

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

[0009] The blockage detection unit is used to monitor the trajectory and quantity of seedlings falling, compare the data with the data from the transplanting quantity detection unit, determine whether there is a transplanting blockage or malfunction, monitor the seedling transplanting and conveying status of the conveyor belt in real time, and immediately alarm and suspend related operations if there is a blockage or flow interruption to avoid uneven crop growth caused by missing seedlings.

[0010] The transplanting posture monitoring unit is used to monitor the posture of the seedlings in the planting trench. Based on the seedling transplanting spacing parameters, it calculates the transplanting qualification rate and the missed transplanting rate. At the same time, it monitors the height of the whole machine and the bottom of the trench in real time through the laser rangefinder, senses the terrain undulation and trenching depth, and automatically adjusts the trencher's soil penetration depth to ensure the consistency of 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 operation logs for user analysis.

[0012] A further improvement to 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 amount detection unit, the blockage detection unit, and the transplanting posture monitoring unit. It preprocesses the received data to remove noise and outliers. At the same time, it performs preliminary verification and validation of the data to check its integrity and consistency, ensuring that the data is within a reasonable range. Then, it performs preliminary integration of the received data to form a global view of the transplanting process.

[0014] The preprocessed data is integrated into the centralized data pool of the ECU monitoring unit. Data fusion technology is used to merge data from different units to construct a complete scenario of the transplanting process. Various data are analyzed, and by comparing preset values ​​with actual monitoring data, the transplanting density, blockage, and seedling posture are evaluated to determine whether they meet the requirements. Based on the analysis results, corresponding control strategies are formulated.

[0015] The ECU monitoring unit translates the established control strategy into specific control commands and sends them to the actuators of the transplanter, including adjusting the speed of the drum motor and pausing operations to handle blockages.

[0016] The transplanting regulation algorithm based on model predictive control (MPC) incorporates parameters such as agricultural machinery speed and drum motor speed into the optimization objective function, and then combines a PID controller to dynamically adjust the drum motor speed to achieve a millisecond-level response of transplanting volume to speed fluctuations.

[0017] The system continuously monitors the execution effect of commands and compares the changes in data before and after control to determine whether the transplanting process is improving in the expected direction. If the control effect is not ideal or new deviations occur, the ECU monitoring unit adjusts the control strategy, regenerates control commands, and performs feedback adjustment until all parameters of the transplanting process reach the preset target, thereby achieving precise monitoring and adjustment of the transplanting process and ensuring the quality and efficiency of Chinese medicinal herb transplanting.

[0018] A further improvement to the technical solution of this invention lies in the following: the process of dynamically adjusting the speed of the drum motor in conjunction with the PID controller is as follows:

[0019] The system collects real-time data on the speed of the agricultural machinery and the rotation speed of the drum motor using sensors. This data serves as the basic input for the model predictive control (MPC) algorithm. Simultaneously, a mathematical model is constructed that incorporates the dynamic characteristics of the agricultural machinery and the transplanting process. This model describes the relationship between the speed of the agricultural machinery, the rotation speed of the drum motor, and the transplanting amount, thereby predicting the changing trend of the transplanting amount under different input parameters.

[0020] Based on the constructed mathematical model, the Model Predictive Control (MPC) algorithm adopts a rolling optimization mechanism, performing optimization calculations on parameters such as the speed of the agricultural machinery and the rotation speed of the drum motor every 50ms. The parameters such as the speed of the agricultural machinery and the rotation speed of the drum motor are incorporated into the optimization objective function. By solving the optimization objective function, a set of parameter values ​​that can achieve the optimal transplanting volume under the current agricultural machinery state is obtained.

[0021] After obtaining the optimal transplanting amount, it is compared with the actual transplanting amount to calculate the deviation value. Then, the PID controller is used to dynamically adjust the speed of the roller motor 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 to ensure accurate control of the transplanting amount.

[0022] A further improvement to the technical solution of the present invention is that the transplanting amount detection unit specifically includes:

[0023] The transplanting quantity detection unit includes a cover, lights, a binocular camera A, and wiring harness. The binocular camera A monitors the seedlings on the transplanter's conveyor belt in real time, capturing images of the seedlings and identifying the quantity and quality of seedlings through image processing technology. Seedling quality is determined by comparing manually set seedling length thresholds A and B (A > B) to determine the seedling quality as Grade 1 (seedling length ≥ A), Grade 2 (A > seedling length > B), and Grade 3 (B ≥ seedling length). At the same time, the total number of seedlings passing through the conveyor belt per unit time is recorded.

[0024] Based on the identified seedling quantity and quality, and according to the marked seedling quantity, combined with the conveyor belt speed and image acquisition time interval, the transplanting volume per unit time is dynamically calculated. The actual transplanting volume is compared with the preset transplanting volume to determine whether the current transplanting volume meets the requirements. Seedling quality is categorized as Level 1, Level 2, and Level 3. If the transplanting volume is too low or too high, an alarm is issued to alert the operator that there is missed or repeated transplanting. The rotation speed of the roller motor is automatically adjusted to change the speed of the conveyor belt, thereby achieving precise control of the transplanting volume, effectively improving the accuracy of transplanting, and reducing the occurrence of missed and repeated transplanting.

[0025] The transplanting volume detection unit feeds back the calculated transplanting volume data to the ECU monitoring unit in real time. The ECU monitoring unit then dynamically adjusts the speed of the drum motor based on the machine's forward speed and crop type parameters.

[0026] A further improvement to the technical solution of the present invention is that the blockage detection unit specifically includes:

[0027] The blockage detection unit includes a binocular camera B and a wiring harness, which is installed below the front end of the transplanter, facing the seedling drop channel, to monitor the seedling drop. The binocular camera B continuously collects image data of the seedling drop process at a high frequency, capturing the process of the seedling falling from the end of the conveyor belt into the planting ditch. The wiring 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 the image acquisition. During this stage, it is ensured that the field of view of the binocular camera B covers the entire seedling drop area to avoid monitoring blind spots.

[0028] 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 seedling appearance 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 deviation between the actual number of seedlings falling per unit time and the number of seedlings that should fall is calculated. Based on the preset blockage judgment threshold, it is determined that a blockage or flow interruption fault has occurred.

[0029] Once a blockage or flow interruption fault is detected, the ECU monitoring unit immediately triggers the alarm system, issuing an audible and visual alarm signal to alert the operator. Simultaneously, it sends a command to the transplanter's control system to suspend transplanting work in the relevant row, preventing uneven crop growth due to missing seedlings. The operator can then clear the blockage or repair the faulty component based on the alarm prompts. After the fault is resolved, the operator issues a reset command through the control interface. The ECU monitoring unit then reinitializes the data from the blockage detection unit and the transplanting volume detection unit, resuming transplanting operations and ensuring the continuity and stability of the transplanting process.

[0030] A further improvement to the technical solution of this invention lies in the following: the calculation expression for the deviation between the actual number of seedlings falling per unit time and the number of seedlings that should fall is:

[0031]

[0032] In the formula, D represents the percentage deviation in seedling quantity, and N... a N represents the actual number of seedlings that fell. e The number of seedlings that should have fallen is D. If D is close to 0%, it means that the actual number of seedlings that fell is very close to the number that should have fallen, and the transplanting process is normal. If D is significantly greater than 0%, it means that the actual number of seedlings that fell is less than the number that should have fallen, and there is a blockage or flow interruption fault.

[0033] A further improvement to the technical solution of the present invention is that the transplanting posture monitoring unit specifically includes:

[0034] The transplanting posture monitoring unit includes a binocular camera C and a laser rangefinder. The binocular camera C is installed in the lower middle of the transplanter, facing the planting furrow, to capture real-time images of the seedlings' posture in the planting furrow, and to capture the seedlings' placement angle and whether they are tilted. The laser rangefinder simultaneously measures the height of the transplanter above the furrow bottom, obtains data on terrain undulation and furrow depth, and transmits it to the ECU monitoring unit in real time via a wiring harness.

[0035] After receiving 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 judged as qualified; otherwise, it is judged as unqualified. At the same time, by analyzing the seedling posture image, the location and number of missed transplants are identified, and then the transplanting qualification rate, missed transplant rate and replanting rate are calculated to determine the transplanting status.

[0036] Based on the real-time height data of the transplanter and the bottom of the trench monitored by the laser rangefinder, the ECU monitoring unit senses the changes in terrain undulation and trench depth. If the trench depth is detected to be inconsistent with the preset value, the ECU monitoring unit automatically adjusts the soil penetration depth of the trencher to ensure the consistency of transplant depth. At the same time, the calculated transplant qualification rate and missed transplant rate data are fed back to the system for the operator's reference. If the transplant qualification rate is lower than the preset standard or the missed transplant rate is too high, an alarm is issued to remind the operator to take appropriate measures.

[0037] A further improvement to the technical solution of the present invention is that the remote monitoring and analysis unit specifically includes:

[0038] Using the GPS positioning module on the transplanter, the location information of the transplanter can be obtained in real time. As the transplanter moves, the GPS continuously records its driving trajectory, accurately locates the transplanting operation area, and at the same time, the built-in timer records the start and end time of the operation and calculates the total operation time.

[0039] Based on the acquired location and operation time data, the remote monitoring and analysis unit automatically calculates the actual transplanting area according to the driving trajectory and operation time recorded by the GPS positioning module and the preset operation width parameters. At the same time, based on the operation time and the actual transplanting area, it calculates the operation efficiency and evaluates the operation results of the transplanter per unit time.

[0040] After completing the area calculation and quality efficiency analysis, all relevant data and analysis results are integrated to generate a detailed work log. The work log includes the actual transplanted area, work quality indicators, work efficiency data, and records of any abnormal situations during the work process.

[0041] Secondly, a control method for a rhizome-type medicinal herb emergence-covering and transplanting machine, based on the aforementioned monitoring system for rhizome-type medicinal herb emergence-covering and transplanting machines, includes the following steps:

[0042] The transplanter's location information is obtained, its travel trajectory and operation time are recorded, and the transplant quantity detection unit monitors the number and quality of seedlings on the conveyor belt in real time through a binocular camera A. The unit captures images and performs grayscale conversion, filtering and noise reduction preprocessing to ensure image quality.

[0043] Based on the pre-processed image data, combined with the conveyor belt speed and image acquisition time interval, the transplanting amount per unit time is dynamically calculated. 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.

[0044] The blockage detection unit monitors the trajectory and number of seedlings falling through the binocular camera B, compares the data with the transplant 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 the relevant operation, reminding the operator to clear the blockage or repair the faulty component.

[0045] The transplanting posture monitoring unit uses a binocular camera C and a laser rangefinder to monitor the posture of the seedlings in the planting trench and the height of the whole machine and the bottom of the trench in real time. It calculates the transplanting qualification rate, the missed planting rate and the replanting rate. Based on the data from the laser rangefinder, the ECU monitoring unit automatically adjusts the soil penetration depth of the trencher to ensure the consistency of the transplanting depth.

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

[0047] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows:

[0048] 1. This invention provides a monitoring system and control method for a rhizome-type medicinal herb transplanting machine with exposed seedlings and mulch. Through the coordinated work of a transplanting quantity detection unit, a blockage detection unit, and a transplanting posture monitoring unit, the system can monitor and adjust the transplanting quantity, seedling posture, and transplanting depth in real time. The transplanting quantity detection unit ensures that the transplanting density meets the preset value, the blockage detection unit avoids uneven crop growth caused by missing seedlings, and the transplanting posture monitoring unit ensures the consistency of seedling posture and transplanting depth in the planting trench. This significantly improves transplanting accuracy, reduces missed planting and replanting, and thus improves the growth quality and yield of medicinal herbs.

[0049] 2. This invention provides a monitoring system and control method for a transplanting machine for rhizomes and rootstock medicinal herbs with exposed tops and mulch. The system uses an ECU monitoring unit as its core, integrating sensor technology and automated control technology to achieve intelligent control of the transplanting process. The ECU monitoring unit receives data from each monitoring unit, processes and analyzes it, and issues control commands to the transplanter. Through centralized control and data processing, it ensures that each unit works collaboratively, achieving precise monitoring and adjustment of the transplanting process, and improving work efficiency and resource utilization efficiency. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0051] Figure 1 This is a schematic diagram of the workflow of the present invention;

[0052] Figure 2 This is a schematic diagram of the installation of each module of the monitoring system of the present invention;

[0053] Figure 3 This is a schematic diagram of the seedling transplanting posture according to the present invention;

[0054] Figure 4 This is the monitoring interface of the intelligent interconnected management platform of the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are 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 transplanting rhizomes and other medicinal herbs with exposed seed heads and mulch, including an intelligent interconnected management platform. The intelligent interconnected management platform is communicatively connected to an ECU monitoring unit, a transplanting volume detection unit, a blockage detection unit, a transplanting posture monitoring unit, and a remote monitoring and analysis unit.

[0057] Among them, the intelligent interconnected management platform supports remote viewing of transplanting data via mobile terminals or cloud platforms, online adjustment of operating parameters to adapt to the needs of different plots, and recording of historical operating data of each transplanter (such as transplanting volume, fault type, and maintenance records) to provide data support for agricultural production decisions.

[0058] The ECU monitoring unit, as the core of the entire monitoring system, connects and coordinates the work of the transplanting quantity detection unit, the blockage detection unit, and the transplanting posture monitoring unit. It receives data from each unit, processes and analyzes it, and issues control commands to the transplanter. Through centralized control and data processing, it ensures the collaborative work of each unit, achieving precise monitoring and adjustment of the transplanting process. The ECU monitoring unit receives data from these units. Specifically, the transplanting quantity detection unit provides information on seedling quantity and quality, the blockage detection unit reports the seedling descent status, and the transplanting posture monitoring unit provides feedback on the seedling posture data within the planting trench. It preprocesses the received data to remove noise and outliers, and performs preliminary verification and validation to check the data's integrity and consistency, ensuring it is within reasonable limits. Then, it initially integrates the received data to form a global view of the transplanting process. The preprocessed data is integrated into the centralized data pool of the ECU monitoring unit, and data fusion technology is used to merge data from different units, constructing a complete scenario of the transplanting process. The system analyzes various data, compares preset values ​​with actual monitoring data, and evaluates whether transplanting density, blockage, and seedling posture meet the requirements. Based on the analysis results, it formulates corresponding control strategies. The ECU monitoring unit converts the formulated control strategies into specific control commands and sends them to the actuators of the transplanter, including adjusting the speed of the drum motor and pausing operations to handle blockages. Based on the transplanting control algorithm of Model Predictive Control (MPC), parameters such as agricultural machinery speed and drum motor speed are included in the optimization objective function. Through the rolling optimization mechanism, the optimal transplanting amount is calculated every 50ms. Then, combined with the PID controller, the drum motor speed is dynamically adjusted to achieve millisecond-level response of transplanting amount to speed fluctuations. The system continuously monitors the execution effect of commands and judges whether the transplanting process is improving in the expected direction by comparing the changes in data before and after control. If the control effect is found to be unsatisfactory or new deviations occur, the ECU monitoring unit adjusts the control strategy, regenerates control commands, and performs feedback adjustment until the parameters of the transplanting process reach the preset target, thereby achieving precise monitoring and adjustment of the transplanting process and ensuring the quality and efficiency of Chinese medicinal herb transplanting.

[0059] Furthermore, the process of dynamically adjusting the drum motor speed using a PID controller is as follows:

[0060] Real-time data on agricultural machinery speed and drum motor rotation speed are collected by sensors and used as the basic input for a model predictive control (MPC) algorithm. Simultaneously, a mathematical model incorporating agricultural machinery dynamics and the transplanting process is constructed to describe the relationship between agricultural machinery speed, drum motor rotation speed, and transplanting volume, thereby predicting the trend of transplanting volume changes under different input parameters. Based on the constructed mathematical model, the MPC algorithm employs a rolling optimization mechanism, performing optimization calculations on parameters such as agricultural machinery speed and drum motor rotation speed every 50ms. These parameters are incorporated into the optimization objective function, and the algorithm solves this optimization problem. The objective function is transformed to obtain a set of parameter values ​​that enable the transplanting amount to reach the optimal level under the current agricultural machinery conditions. After obtaining the optimal transplanting amount, it is compared with the actual transplanting amount to calculate the deviation value. Then, the PID controller is used to dynamically adjust the speed of the drum motor 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 to ensure precise control of the transplanting amount. Specifically, if the actual transplanting amount is lower than the target value, the PID controller will increase the speed of the drum motor, and vice versa, thereby achieving precise control of the transplanting amount.

[0061] The transplanting quantity detection unit is used to monitor the number and quality of seedlings on the transplanter's conveyor belt in real time, dynamically calculate the transplanting quantity per unit time, ensure that the transplanting density meets the preset value, improve the accuracy of transplanting quantity, and reduce missed planting and double planting. The transplanting quantity detection unit includes a cover, lights, a binocular camera A, and a wiring harness. The binocular camera A monitors the seedlings on the transplanter's conveyor belt in real time, captures images of the seedlings, and identifies the number and quality of seedlings through image processing technology. The seedling quality is determined by comparing manually set seedling length thresholds A and B (A>B) to determine the seedling quality as Level 1 (seedling length ≥ A), Level 2 (A>seedling length>B), and Level 3 (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 of the transplanter, and the lights provide a stable light source to ensure image clarity and reduce image quality problems caused by insufficient or uneven lighting. Furthermore, the acquired images undergo preprocessing operations including grayscale conversion and denoising. Grayscale conversion converts color images to grayscale, reducing data volume while preserving key image features. Denoising removal eliminates noise interference, improving image quality and usability. Based on the identified seedling quantity and quality, and considering the marked seedling quantity, conveyor belt speed, and image acquisition time interval, the transplanting volume per unit time is dynamically calculated. The actual transplanting volume is compared with the preset transplanting volume to determine if it meets requirements. Seedling quality is categorized as Grade 1, Grade 2, and Grade 3. If the transplanting volume is too low or too high... If the actual transplanting volume is too high, an alarm will be issued to alert the operator that there is a missed or repeated transplanting. The speed of the roller motor will be automatically adjusted to change the speed of the conveyor belt, thereby achieving precise control of the transplanting volume, effectively improving the accuracy of the transplanting volume, and reducing the occurrence of missed and repeated transplanting. 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 roller motor based on the overall machine forward speed and crop type parameters. If the actual transplanting volume is lower than the preset transplanting volume, the ECU monitoring unit will issue a command to increase the speed of the roller motor to increase the seedling conveying speed, thereby increasing the transplanting volume. Conversely, if the actual transplanting volume is higher than the preset transplanting volume, the ECU monitoring unit will slow down the speed of the roller motor to reduce the transplanting volume, ensuring that the transplanting volume always meets the preset value and improving the accuracy of the transplanting volume.

[0063] The formula for calculating the transplanting volume per unit time is:

[0064]

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

[0066] The blockage detection unit monitors the trajectory and quantity of seedlings as they fall, comparing the data with that of the transplanting quantity detection unit to determine if there is any blockage or malfunction. It monitors the seedling transport status on the conveyor belt in real time; if a blockage or flow interruption is detected, an alarm is immediately triggered and related operations are suspended to prevent uneven crop growth due to missing seedlings. The blockage detection unit includes a binocular camera B and a wiring harness, installed below the front of the transplanter, directly facing the seedling drop channel. The binocular camera B continuously acquires image data of the seedling drop process at high frequency, capturing the process of seedlings falling from the end of the conveyor belt into the planting furrow. The wiring harness transmits the acquired image data to the ECU monitoring unit in real time. Simultaneously, a timer is started to record the timestamp of image acquisition. During this stage, the binocular camera B's field of view is ensured to cover the entire seedling drop area, avoiding blind spots. After receiving the image data from the blockage detection unit, the ECU monitoring unit compares it with the transplanting quantity data... The ECU monitoring unit compares the seedling quantity and time data transmitted by the quantity detection unit. By analyzing the frequency of seedling appearance in the image of the blockage detection unit and the change in the number of seedlings on the conveyor belt recorded by the transplant quantity detection unit, it calculates the deviation between the actual number of seedlings falling per unit time and the number of seedlings that should fall. Based on the preset blockage judgment threshold, it determines that a blockage or flow interruption fault has occurred. Once a blockage or flow interruption fault is determined, the ECU monitoring unit immediately triggers the alarm system, issues an audible and visual alarm signal to remind the operator. At the same time, it sends a command to the control system of the transplanter to suspend the transplanting work in the relevant row to avoid uneven crop growth due to missing seedlings. The operator can clear the blockage or repair the faulty parts according to the alarm prompts. After the fault is cleared, the operator issues a reset command through the control interface. The ECU monitoring unit reinitializes the data of the blockage detection unit and the transplant quantity detection unit, resumes the transplanting operation, and ensures the continuity and stability of the transplanting process.

[0067] Furthermore, the formula for calculating the deviation between the actual number of seedlings falling per unit time and the number of seedlings that should have fallen is as follows:

[0068]

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

[0070] The transplanting posture monitoring unit monitors the posture of seedlings within the planting trench. Based on the seedling spacing parameters, it calculates the transplanting qualification rate and the missed transplanting rate. Simultaneously, a laser rangefinder sensor monitors the height of the entire machine above the trench bottom in real time, sensing terrain undulations and trench depth. It automatically adjusts the trencher's insertion depth to ensure consistent transplanting depth and prevent insufficient or excessive burial depth due to terrain changes. The transplanting posture monitoring unit includes a binocular camera C and a laser rangefinder. The binocular camera C is installed below the center of the transplanter, facing the planting trench, to capture real-time images of the seedlings' posture within the trench, recording their placement angle and tilt information. The laser rangefinder simultaneously measures the height of the transplanter above the trench bottom, acquiring terrain undulation and trench depth data, which is transmitted in real-time to the ECU monitoring unit via a wiring harness. During this stage, the binocular camera C and the laser rangefinder work together to ensure comprehensive and accurate collection of seedling posture and terrain data. The ECU monitoring unit receives data from the transplanting posture monitoring unit... After processing the data, based on the seedling transplanting spacing parameters, the system analyzes the seedling posture images transmitted by the binocular camera C, 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 considered qualified; otherwise, it is considered unqualified. At the same time, by analyzing the seedling posture images, the system identifies the location and number of missed transplants, and then calculates the transplanting qualification rate, missed transplant rate, and replanting rate to determine the transplanting status. Based on the real-time height data of the transplanter and the bottom of the trench monitored by the laser rangefinder, the ECU monitoring unit senses the changes in terrain undulation and trench depth. If the trench depth is detected to be inconsistent with the preset value, the ECU monitoring unit automatically adjusts the soil penetration depth of the trencher to ensure the consistency of the transplanting depth. At the same time, the calculated transplanting qualification rate and missed transplant 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 missed transplant rate is too high, an alarm is issued to remind the operator to take appropriate measures.

[0071] The formula for calculating the transplant qualification rate is:

[0072]

[0073] In the formula, H is the transplant qualification rate, G is the number of qualified plants, and Z is the total number of plants;

[0074] The formula for calculating the missed planting rate is:

[0075]

[0076] In the formula, L is the missed planting rate and M is the number of missed plants;

[0077] The formula for calculating the replanting rate is:

[0078]

[0079] Z=G+M+CZ;

[0080] wherein C is the replanting rate, and CZ is the number of replanted plants;

[0081] when the spacing between two adjacent plants is X, and X satisfies 0.5x<X≤1.5x, the plant spacing is determined to be qualified, wherein x is the designed plant spacing;

[0082] when the plant spacing X between two adjacent plants satisfies 1.5x<X≤2.5x, it is determined that 1 plant is missed; when 2.5x<X≤3.5x, it is determined that 2 plants are missed; when 3.5x<X≤4.5x, it is determined that 3 plants are missed, and so on;

[0083] when the plant spacing X between two adjacent plants satisfies X≤0.5x, it is determined as replanting;

[0084] a remote monitoring and analysis unit, configured to automatically calculate the actual transplanting area through GPS positioning and operation duration recording, analyze operation quality and efficiency, and generate an operation log for user analysis. By using a GPS positioning module carried on the transplanter, the position information of the transplanter is acquired in real time; as the transplanter moves, the GPS continuously records its driving track and accurately positions the transplanting operation area. Meanwhile, the start time and end time of the operation are recorded by a built-in timer, and the total operation duration is calculated. Based on the acquired position and operation duration data, the remote monitoring analysis unit automatically calculates the actual transplanting area according to the driving track recorded by the GPS positioning module and the operation duration, in combination with preset operation width parameters. Meanwhile, the operation efficiency is calculated according to the operation duration and the actual transplanting area, and the operation achievement of the transplanter per unit time is evaluated. After the area calculation and quality and efficiency analysis are completed, all relevant data and analysis results are integrated to generate a detailed operation log, wherein the operation log includes the actual transplanting area, operation quality indexes, operation efficiency data and abnormal condition records during the operation;

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

[0086] A=J×W;

[0087] wherein A is the actual transplanting area, J is the length of the driving track, and W is the operation width;

[0088] the calculation expression of operation efficiency is:

[0089]

[0090] wherein E is the operation efficiency and Y is the operation duration.

[0091] Embodiment 2, as Figure 1As shown, based on Example 1, the present invention also provides a control method for a rhizome-type medicinal herb emergence-covering and transplanting machine, which is implemented based on the above-mentioned monitoring system for rhizome-type medicinal herb emergence-covering and transplanting machines, and includes the following steps:

[0092] The transplanter's location information is obtained, its travel trajectory and operation time are recorded, and the transplant quantity detection unit monitors the number and quality of seedlings on the conveyor belt in real time through a binocular camera A. The unit captures images and performs grayscale conversion, filtering and noise reduction preprocessing to ensure image quality.

[0093] Based on the pre-processed image data, combined with the conveyor belt speed and image acquisition time interval, the transplanting amount per unit time is dynamically calculated. 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 monitors the trajectory and number of seedlings falling through the binocular camera B, compares the data with the transplant 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 the relevant operation, 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 rangefinder to monitor the posture of the seedlings in the planting trench and the height of the whole machine and the bottom of the trench in real time. It calculates the transplanting qualification rate, the missed planting rate and the replanting rate. Based on the data from the laser rangefinder, the ECU monitoring unit automatically adjusts the soil penetration depth of the trencher to ensure the consistency of the transplanting depth.

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

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

Claims

1. A monitoring system for transplanting rhizomes and other root-type medicinal herbs with exposed tops and mulch, comprising an intelligent interconnected management platform, characterized in that: The intelligent interconnected management platform is communicatively connected to an ECU monitoring unit, a transplanting volume 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 various units, process and analyze it, and issue control commands to the transplanter, specifically including: The ECU monitoring unit receives data from the transplanting amount detection unit, the blockage detection unit, and the transplanting posture monitoring unit, and preprocesses the received data. At the same time, it performs preliminary verification and validation of the data, checks the integrity and consistency of the data, and then performs preliminary integration of the received data to form a global view of the transplanting process. The preprocessed data is integrated into the centralized data pool of the ECU monitoring unit. Data fusion technology is used to merge data from different units to construct a complete scenario of the transplanting process. Various data are analyzed, and by comparing preset values ​​with actual monitoring data, the transplanting density, blockage, and seedling posture are evaluated to determine whether they meet the requirements. Based on the analysis results, corresponding control strategies are formulated. The ECU monitoring unit translates the established control strategy into specific control commands and sends them to the actuators of the transplanter; The transplanting regulation algorithm based on model predictive control incorporates the agricultural machinery speed and drum motor speed parameters into the optimization objective function, and then combines a PID controller to dynamically adjust the drum motor speed. The ECU continuously monitors the execution effect of the commands and judges whether the transplanting process is improving in the expected direction by comparing the changes in data before and after control. If the control effect is found to be unsatisfactory or new deviations occur, the ECU monitoring unit adjusts the control strategy, regenerates the control commands, and performs feedback adjustment until all parameters of the transplanting process reach the preset target. The transplanting quantity detection unit is used to monitor the number and quality of seedlings on the transplanter conveyor belt in real time and dynamically calculate the transplanting quantity per unit time. The blockage detection unit is used to monitor the trajectory and quantity of seedlings falling, compare it with the data of the transplanting quantity detection unit, determine whether there is a transplanting blockage or malfunction, monitor the seedling transplanting and conveying status of the conveyor belt in real time, and immediately alarm and suspend related operations if there is a blockage or flow interruption. The transplanting posture monitoring unit is used to monitor the posture of the seedlings in the planting trench, calculate the transplanting qualification rate and the missed transplanting rate based on the seedling transplanting spacing parameters, and simultaneously monitor the height of the whole machine and the bottom of the trench in real time through the laser rangefinder, sense the terrain undulation and trenching depth, and automatically adjust the trencher's soil penetration depth. 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 operation logs for user analysis.

2. The monitoring system for the emergence, mulching, and transplanting of rhizomes and medicinal herbs according to claim 1, characterized in that: The process of dynamically adjusting the drum motor speed using a PID controller is as follows: The system collects real-time data on the speed of the agricultural machinery and the rotation speed of the drum motor using sensors. This data serves as the basic input for the model predictive control algorithm. Simultaneously, a mathematical model is constructed that incorporates the dynamic characteristics of the agricultural machinery and the transplanting process. This model describes the relationship between the speed of the agricultural machinery, the rotation 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 adopts a rolling optimization mechanism, performing optimization calculations on the agricultural machinery speed and drum motor speed parameters every 50ms. The agricultural machinery 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 volume under the current agricultural machinery state are obtained. After obtaining the optimal transplanting amount, it is compared with the actual transplanting amount to calculate the deviation value. Then, the PID controller is used to dynamically adjust the speed of the drum motor 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.

3. The monitoring system for the emergence, mulching, and transplanting of rhizomes and medicinal herbs according to claim 1, characterized in that: The transplanting volume detection unit specifically includes: The transplanting quantity detection unit includes a cover, lights, a binocular camera A, and wiring harness. The binocular camera A monitors the seedlings on the transplanter's conveyor belt in real time, capturing images of the seedlings and identifying the quantity and quality of seedlings through image processing technology. Seedling quality is determined by comparing manually set seedling length thresholds A and B, where A > B, to classify the seedlings into three levels: Level 1 (seedling length ≥ A), Level 2 (A > seedling length > B), and Level 3 (B ≥ seedling length). Simultaneously, the total number of seedlings passing through the conveyor belt per unit time is recorded. Based on the identified seedling quantity and quality, and according to the marked seedling quantity, combined with the conveyor belt speed and image acquisition time interval, the transplanting volume per unit time is dynamically calculated. The actual transplanting volume is compared with the preset transplanting volume to determine whether the current transplanting volume meets the requirements. Seedling quality is categorized as Level 1, Level 2, and Level 3. If the transplanting volume is too low or too high, an alarm is issued to alert the operator that there are missed or repeated transplanting instances. The transplanting volume detection unit feeds back the calculated transplanting volume data to the ECU monitoring unit in real time. The ECU monitoring unit dynamically adjusts the speed of the drum motor based on the overall machine forward speed and crop type parameters.

4. The monitoring system for the emergence, mulching, and transplanting of rhizomes and medicinal herbs 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 seedling falling process, capturing the process of the seedling falling from the end of the conveyor belt into the planting ditch. The wiring 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 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 seedling appearance 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 deviation between the actual number of seedlings falling per unit time and the number of seedlings that should fall is calculated. Based on the preset blockage judgment threshold, it is determined that a blockage or flow interruption fault has occurred. Once a blockage or flow interruption is detected, 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 a command to the transplanter's control system to suspend the transplanting work in the relevant row. The operator can then clear the blockage or repair the faulty component based on the alarm prompts.

5. The monitoring system for the emergence, mulching, and transplanting of rhizomes and medicinal herbs according to claim 4, characterized in that: The expression for calculating the deviation between the actual number of seedlings falling per unit time and the number of seedlings that should have fallen is as follows: ； In the formula, This represents the percentage deviation in the number of seedlings. This represents the actual number of seedlings that fell. This refers to the number of seedlings that should have fallen.

6. The monitoring system for the emergence, mulching, and transplanting of rhizomes and medicinal herbs according to claim 1, characterized in that: The transplant posture monitoring unit specifically includes: The transplanting posture monitoring unit includes a binocular camera C and a laser rangefinder. The binocular camera C is used to capture real-time images of the seedlings' posture in the planting trench, capturing the seedlings' placement angle and whether they are tilted. The laser rangefinder simultaneously measures the height of the transplanter above the trench bottom, obtains data on terrain undulation and trench depth, and transmits it to the ECU monitoring unit in real time via a wiring harness. After receiving 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 judged as qualified; otherwise, it is judged as unqualified. At the same time, by analyzing the seedling posture image, the location and number of missed transplants are identified, and then the transplanting qualification rate, missed transplant rate and replanting rate are calculated to determine the transplanting status. Based on the real-time height data of the transplanter and the bottom of the trench monitored by the laser rangefinder, the ECU monitoring unit senses the changes in terrain undulation and trench depth. If the trench depth is detected to be inconsistent with the preset value, the ECU monitoring unit automatically adjusts the soil penetration depth of the trencher. At the same time, it feeds back the calculated transplant qualification rate and missed transplant rate data to the system for the operator's reference. If the transplant qualification rate is lower than the preset standard or the missed transplant rate is too high, an alarm is issued to remind the operator to take appropriate measures.

7. The monitoring system for the emergence, mulching, and transplanting of rhizomes and medicinal herbs 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 start and end times of the operation are recorded by the built-in timer, and the total operation time is calculated. Based on the acquired location and operation time data, the remote monitoring and analysis unit automatically calculates the actual transplanting area according to the driving trajectory and operation time recorded by the GPS positioning module and the preset operation width parameters. At the same time, based on the operation time and the actual transplanting area, it calculates the operation efficiency and evaluates the operation results of the transplanter per unit time. After completing the area calculation and quality efficiency analysis, all relevant data and analysis results are integrated to generate a detailed work log. The work log includes the actual transplanted area, work quality indicators, work efficiency data, and records of any abnormal situations during the work process.

8. A method for controlling a transplanting machine for exposed rhizomes of Chinese medicinal herbs, implemented based on the monitoring system for the transplanting machine for exposed rhizomes of Chinese medicinal herbs as described in any one of claims 1-7, characterized in that, Includes the following steps: The transplanter's location information is obtained, its travel trajectory and operation time are recorded, and the transplant quantity detection unit monitors the number and quality of seedlings on the conveyor belt in real time through a binocular camera A, captures images and performs grayscale conversion, filtering and noise reduction preprocessing operations. Based on the preprocessed image data, combined with the conveyor belt speed and image acquisition time interval, the transplanting volume per unit time is dynamically calculated. The actual transplanting volume 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 monitors the trajectory and number of seedlings falling through the binocular camera B, compares the data with the transplant 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 the relevant operation, 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 rangefinder to monitor the posture of the seedlings in the planting trench and the height of the whole machine and the bottom of the trench in real time, calculates the transplanting qualification rate, the missed planting rate and the replanting rate, and automatically adjusts the trencher's soil penetration depth based on the laser rangefinder data. The remote monitoring and analysis unit automatically calculates the actual transplanting area and work efficiency based on GPS positioning and work duration data, combined with preset work width parameters, integrates all monitoring data and analysis results, and generates a detailed work log.

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