Seedling tray discharging equipment control method and system for rice cultivation

Abstract

The invention discloses a control method and system of seedling tray discharging equipment for rice cultivation, and relates to the technical field of intelligent control. The method comprises the following steps: acquiring a multi-stage material conveying channel of seedling tray tray emptying equipment; a discharging sensor integrated device is arranged, discharging monitoring is conducted on the multiple stages of material conveying channels, and a plurality of discharging capacity indexes are obtained; carrying out discharging capacity matching analysis on the adjacent material conveying channels to obtain a discharging capacity matching degree; and if the discharging capacity matching degree does not meet a preset matching degree threshold value, a to-be-adjusted material conveying channel is determined, coordinated discharging control is conducted on the to-be-adjusted material conveying channel through the closed-loop coordinated control mathematical model, a discharging adjusting coefficient is output, and a discharging control piece corresponding to the to-be-adjusted material conveying channel is controlled. The technical problems that in the prior art, seedling tray discharging equipment is unbalanced in discharging capacity and low in conveying efficiency in the multi-stage material conveying process are solved, and the technical effect of improving the discharging efficiency and the equipment stability is achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a control method and system for a rice seedling tray feeding device used in rice cultivation. Background Technology

[0002] Currently, most seedling tray feeding equipment uses multi-stage material conveying channels to achieve automatic material feeding. However, due to differences in the working status and feeding capacity of different material conveying channels, uneven material conveying occurs in some channels, resulting in uneven distribution of feeding capacity, and even overfeeding or underfeeding. At the same time, the equipment's monitoring and adjustment of feeding capacity during material conveying is not precise enough, failing to achieve adaptive adjustment and optimization. Therefore, how to achieve a balanced distribution of feeding capacity in multi-stage material conveying channels, optimize feeding control strategies, and improve material conveying efficiency and equipment stability has become an urgent technical problem to be solved. Summary of the Invention

[0003] This application provides a control method and system for a rice seedling tray feeding device, which solves the technical problems of uneven feeding capacity and low transmission efficiency in the multi-stage material transmission process of the existing rice seedling tray feeding device.

[0004] The first aspect of this application provides a method for controlling a rice seedling tray feeding device, the method comprising: A multi-level material transport channel for the seedling tray feeding device is obtained; a feeding sensor integrated device is set up to monitor the feeding of the multi-level material transport channel and obtain multiple feeding capacity indicators; according to the ordered transport relationship of the multi-level material transport channel, the feeding capacity matching analysis of adjacent material transport channels is performed according to the multiple feeding capacity indicators to obtain the feeding capacity matching degree; if the feeding capacity matching degree does not meet the preset matching degree threshold, the material transport channel to be adjusted is determined, and the feeding control of the material transport channel to be adjusted is performed using a closed-loop coordinated control mathematical model to output the feeding adjustment coefficient, and the feeding control component corresponding to the material transport channel to be adjusted is controlled according to the feeding adjustment coefficient.

[0005] A second aspect of this application provides a control system for a rice seedling tray feeding device, the system comprising: The system includes a transmission channel acquisition module for acquiring the multi-level material transmission channels of the seedling tray feeding device; a monitoring module for setting up a feeding sensor integration device to monitor the feeding of the multi-level material transmission channels and acquire multiple feeding capacity indicators; a matching analysis module for performing feeding capacity matching analysis on adjacent material transmission channels according to the ordered transmission relationship of the multi-level material transmission channels and the multiple feeding capacity indicators to acquire the feeding capacity matching degree; and a control module for determining the material transmission channel to be adjusted when the feeding capacity matching degree does not meet a preset matching degree threshold, using a closed-loop coordinated control mathematical model to coordinate the feeding control of the material transmission channel to be adjusted, outputting a feeding adjustment coefficient, and controlling the feeding control component corresponding to the material transmission channel to be adjusted according to the feeding adjustment coefficient.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages: First, the multi-stage material transmission channels of the seedling tray feeding device are identified. Next, a feeding sensor integration device is installed to monitor the feeding of each of the multi-stage material transmission channels, acquiring multiple feeding capacity indicators. Then, according to the ordered transmission relationship of the multi-stage material transmission channels, feeding capacity matching analysis is performed on adjacent material transmission channels based on the multiple feeding capacity indicators to obtain the feeding capacity matching degree. Finally, if the feeding capacity matching degree does not meet the preset matching degree threshold, the material transmission channel to be adjusted is determined. A closed-loop coordinated control mathematical model is used to coordinate the feeding control of the channel to be adjusted, outputting a feeding adjustment coefficient. The feeding control component corresponding to the channel to be adjusted is then controlled according to the feeding adjustment coefficient. This solves the technical problems of uneven feeding capacity and low transmission efficiency in the multi-stage material transmission process of existing seedling tray feeding devices. It achieves the technical effect of optimizing the feeding control of the material transmission channels through feeding capacity matching and closed-loop coordinated control, thereby improving feeding efficiency and equipment stability. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the control method for a rice seedling tray feeding device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the control system for a rice seedling tray feeding device provided in an embodiment of this application.

[0009] Explanation of reference numerals in the attached diagram: Transmission channel acquisition module 11, monitoring module 12, matching analysis module 13, control module 14. Detailed Implementation

[0010] This application provides a control method and system for a rice seedling tray feeding device, which solves the technical problems of uneven feeding capacity and low transmission efficiency in the multi-stage material transmission process of existing rice seedling tray feeding devices.

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0012] It should be noted that the terms "comprising" and "having" are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to these processes, methods, products, or devices.

[0013] Example 1, as Figure 1 As shown, this application provides a control method for a rice seedling tray feeding device, wherein the method includes: Obtain the multi-stage material transfer channel of the seedling tray feeding equipment.

[0014] In this embodiment, the seedling tray feeding device includes multi-level material conveying channels. Each level of the multi-level material conveying channels is responsible for material conveying at different stages. The conveying characteristics (such as inclination and roller speed) of each level of the material conveying channel are different and interconnected. For example, the first-level conveying channel is responsible for receiving materials and conveying them to the second-level conveying channel, which in turn is responsible for conveying the materials to the next processing area or to the final feeding position.

[0015] An integrated feeding sensor device is set up to monitor the feeding of the multi-level material transmission channels and obtain multiple feeding capacity indicators.

[0016] In this embodiment, a feeding sensor integrated device is set up to monitor the multi-level material transmission channels in the seedling tray feeding equipment in real time. The feeding sensor integrated device includes multiple types of sensors, such as weight sensors, infrared sensors, speed sensors, and stacking height monitoring sensors. These sensors work together to monitor the flow state, conveying rate, and stacking status of materials in each transmission channel in real time, thereby obtaining multiple feeding capacity indicators, including material passage time, number of trays per unit time, tray stacking status, and tray slip vector. These indicators can comprehensively reflect the actual feeding capacity of each material transmission channel.

[0017] Furthermore, the material discharge sensing integrated device is respectively disposed at each level of the multi-level material conveying channel; wherein, the material discharge sensing integrated device includes at least a weight sensor, an infrared sensor, a speed sensor and a stacking height monitoring sensor.

[0018] Sensor integration devices are installed on material transport channels at different levels to ensure full monitoring of the entire material transport process and real-time feedback on the material discharge status.

[0019] Weight sensors are installed at both the receiving and output ends of each material conveying channel. The weight sensor at the receiving end monitors the weight of material entering the channel in real time, while the weight sensor at the output end measures the weight of material leaving the channel. By comparing the weight data from these two locations, the material discharge rate of the channel per unit time can be accurately obtained, providing crucial data support for subsequent discharge capacity assessment.

[0020] Infrared sensors are installed at appropriate locations on both sides or above each level of material conveying channel, primarily to monitor the passage of pallets within the channel. Infrared sensors can accurately sense the position and movement of pallets. By recording the time interval between pallet passages, the number of pallets passing through that level of channel per unit time can be calculated, thus reflecting the material discharging efficiency of that level of channel. Furthermore, infrared sensors can also help determine whether pallets are abnormally stuck or piling up.

[0021] Speed ​​sensors are installed near the drive units (such as motors, conveyor belt rollers, etc.) in the material conveying channel to measure the material conveying speed in real time. Conveying speed is one of the important factors affecting the material discharge capacity. By accurately measuring this parameter, combined with data from other sensors, the discharge capacity of each level of the channel can be more comprehensively evaluated, providing a basis for subsequent speed adjustment and control.

[0022] Stacking height monitoring sensors, such as laser rangefinders or ultrasonic sensors, are installed in the material stacking areas of each level of material conveying channel. These sensors can monitor the stacking height of materials in the channel in real time. When the stacking height exceeds a preset threshold, an alarm signal can be issued in a timely manner to prevent material overflow or blockage of the channel. They can also serve as an important reference indicator for evaluating whether the channel's material discharge capacity is balanced.

[0023] Furthermore, the feeding sensor integrated device monitors the feeding of the multi-stage material conveying channels to obtain multiple feeding capacity indicators. The method includes: The material feeding sensor integrated device monitors the feeding of the multi-level material conveying channels, acquiring channel passage time, number of pallets per unit time, pallet stacking status, and pallet slip vector, and outputs a set of monitoring indicators. It establishes correlation coefficients between each monitoring indicator and the material feeding capacity. Based on the correlation coefficients, it calculates the channel passage time, number of pallets per unit time, pallet stacking status, and pallet slip vector to obtain multiple material feeding capacity indicators corresponding to the multi-level material conveying channels.

[0024] A feeding sensor integrated device was used to monitor the feeding of materials in multi-level material conveying channels, obtaining multiple monitoring data, including channel passage time, number of pallets per unit time, pallet stacking status, and pallet slip vector. These monitoring data together constitute a set of monitoring indicators. Among them, channel passage time refers to the time required for material to pass through the conveying channel from entering it; number of pallets per unit time indicates the number of pallets passing through the material conveying channel per unit time; pallet stacking status indicates whether excessive material accumulation occurs during the conveying process, affecting material flowability; and pallet slip vector refers to the relative slip trajectory of the pallet during the material conveying process, reflecting whether the pallet moves smoothly and avoiding jamming.

[0025] Based on historical data and experience, statistical methods (such as correlation analysis and regression analysis) are used to determine the correlation between various monitoring indicators (e.g., aisle throughput time, number of pallets, stacking status, and slip vector) and material discharging capacity. Correlation coefficients between each monitoring indicator and discharging capacity are obtained to quantify the specific impact of each indicator on discharging capacity. For example, aisle throughput time is inversely proportional to discharging rate, the number of pallets per unit time is directly proportional to discharging capacity, excessively high pallet stacking reduces discharging efficiency, and excessively large pallet slip vectors may affect discharging accuracy.

[0026] Using multiple monitoring data points acquired from the material feeding sensor integration device (such as channel passage time, number of pallets per unit time, pallet stacking status, and pallet slip vector), each monitoring indicator is weighted according to previously established correlation coefficients. The correlation coefficients, derived through statistical analysis, represent the strength of the relationship between different monitoring indicators and material feeding capacity. The introduction of correlation coefficients ensures that the influence of each monitoring indicator is weighted according to its actual effect on feeding capacity. Based on the correlation coefficients, each monitoring data point is weighted to obtain multiple feeding capacity indicators corresponding to the multi-level material conveying channel.

[0027] Based on the ordered transmission relationship of the multi-level material transmission channels, the material discharge capacity matching analysis of adjacent material transmission channels is performed according to the multiple material discharge capacity indicators to obtain the material discharge capacity matching degree.

[0028] Based on the ordered transmission relationship of the material transfer channels, the relative position and sequence of each material transfer channel are determined, that is, the position of each channel in the overall transmission path and its connection relationship with the channels above and below it are determined. For example, the first-level material transfer channel is responsible for transporting materials to the second-level transfer channel, and the second-level transfer channel continues to transport materials to subsequent levels.

[0029] For each pair of adjacent material conveying channels, their corresponding feeding capacity indicators are extracted, and feeding capacity matching analysis is performed. Specifically, the ratio between the actual feeding rate of the upper channel and the maximum receiving rate of the lower channel is calculated to preliminarily assess the degree of capacity matching between the two and obtain the feeding capacity matching degree.

[0030] Furthermore, the method for performing a feeding capacity matching analysis on adjacent material conveying channels according to the aforementioned multiple feeding capacity indicators to obtain the feeding capacity matching degree includes: Extract the material discharge capacity index set for each pair of adjacent material conveying channels; based on the material discharge capacity index set, obtain the unit pallet processing capacity of the upper-level material conveying channel and the unit pallet receiving capacity of the lower-level material conveying channel; calculate the ratio of the unit pallet processing capacity to the unit pallet receiving capacity to obtain the material discharge capacity matching degree.

[0031] From the acquired data on the material handling capacity of each level of material conveying channels, a set of material handling capacity indicators is extracted for each pair of adjacent material conveying channels. Based on the extracted sets of material handling capacity indicators, the unit pallet processing capacity of the upper-level material conveying channel and the unit pallet receiving capacity of the lower-level material conveying channel are analyzed and obtained. The unit pallet processing capacity reflects the number of pallets that the upper-level channel can successfully process per unit time, while the unit pallet receiving capacity represents the number of pallets that the lower-level channel can accept at the same time. By calculating the ratio of the unit pallet processing capacity of the upper-level material conveying channel to the unit pallet receiving capacity of the lower-level material conveying channel, the material handling capacity matching degree is obtained. The material handling capacity matching degree reflects the matching of material handling capacity between the preceding and following material conveying channels. Specifically, if the unit pallet processing capacity is greater than the unit pallet receiving capacity, it indicates that the load of material flow exceeds the processing capacity of the receiving channel, which may lead to blockage or material accumulation in the lower-level conveying channel; conversely, if the unit pallet processing capacity is less than the unit pallet receiving capacity, it may lead to poor material flow in the upper-level conveying channel, resulting in unnecessary waiting or delays.

[0032] Furthermore, methods for obtaining the matching degree of material feeding capacity also include: Based on the material handling capacity index group, calculate the blockage factor and pallet load ratio of the next-level material transfer channel, wherein the blockage factor is between [0, 1], and the pallet load ratio is the ratio of the current number of pallets to the maximum capacity of the next-level material transfer channel; define the blockage factor weight coefficient and the load factor weight coefficient based on the blockage factor weight coefficient, the load factor weight coefficient, and the ratio of the unit pallet processing volume to the unit pallet receiving volume, and recalculate the material handling capacity matching degree.

[0033] The blockage factor represents the degree of blockage in the next-level material transport channel, with a value between [0, 1], where 0 represents no blockage and 1 represents complete blockage. By real-time monitoring of material flow, combined with the channel's queue length and processing capacity, the degree of material accumulation in the channel is determined, thus calculating the blockage factor. Optionally, a stacking height monitoring sensor (such as a laser rangefinder or ultrasonic sensor) can be used to monitor the stacking height of materials in the channel in real time, while simultaneously using weight sensor data to obtain the current weight of materials in the channel. Based on equipment design parameters and actual operating experience, blockage judgment criteria are set for different stacking heights and weights. For example, when the stacking height exceeds 80% of the channel's design height or the material weight exceeds 90% of the channel's maximum load capacity, a blockage risk is identified. The actual monitored stacking height and weight data are compared with the set blockage judgment criteria. Linear interpolation or other suitable mathematical models can be used to map the actual data to the [0, 1] interval to obtain the blockage factor. For example, if the stacking height is between 60% and 80% of the design height, the blockage factor can be calculated as a value between 0.3 and 0.6 based on a linear relationship.

[0034] Pallet load percentage represents the ratio between the current number of pallets in the next-level material transfer channel and the maximum number of pallets that the channel can hold, reflecting the channel's load status. Specifically, the load percentage value is obtained by comparing the current number of pallets in the transfer channel with the channel's maximum capacity.

[0035] Based on the blocking factor and the pallet load ratio, the blocking factor weight coefficient and the load factor weight coefficient are defined. The blocking factor weight coefficient and the load factor weight coefficient represent the importance of these two factors in the calculation of the material feeding capacity matching degree.

[0036] By combining the congestion factor weighting coefficient, the load factor weighting coefficient, and the previously calculated ratio of unit pallet processing capacity to unit pallet receiving capacity, the material feeding capacity matching degree is recalculated. Specifically, based on the original ratio, the matching degree can be dynamically adjusted through weighted averaging according to the actual situation of the congestion factor and pallet load ratio. The recalculated matching degree can more accurately reflect the degree of coordination between adjacent material transfer channels, ensuring the balance and smoothness of material flow, and providing a more precise control basis for subsequent material feeding adjustments.

[0037] Furthermore, the expression for recalculating the matching degree of the material feeding capacity is as follows: ;in, For the first Level material transfer channel to the first The matching degree of material discharge capacity of the material transfer channel. For the first The actual material discharge rate of the primary material conveying channel. For the first The maximum receiving rate of the primary material transfer channel. For the first Blocking factor of material transfer channels at different levels. For the first Pallet load percentage of the material transfer channel. For the blocking factor weighting coefficient, This represents the weighting coefficient of the load factor.

[0038] Indicates from the first Level material transfer channel to the first The matching degree of the material discharge capacity of the primary material conveying channels is used to evaluate whether the discharge capacity of adjacent conveying channels is balanced. The higher the matching degree, the more coordinated the discharge capacity of adjacent material conveying channels is, and the smoother the material flow is. For the first The actual discharge rate of the material conveying channel is the amount of material discharged per unit time. For the first The maximum receiving rate of a material transfer channel is the maximum amount of material that the channel can receive per unit time. For the first The blockage factor of the material transfer channel quantifies the degree of blockage in the channel. The higher the blockage factor, the more severe the blockage in material transfer and the less smooth the material flow. For the first The pallet load percentage of a material transfer channel indicates the ratio between the current number of pallets in the channel and the maximum number of pallets it can hold. The higher the load percentage, the greater the load on the channel, which may affect the smooth flow of materials. For the blocking factor weighting coefficient, This is the load factor weighting coefficient, used to adjust the influence of the blocking factor and pallet load ratio on the calculation of material feeding capacity matching degree.

[0039] The expression for recalculating the material discharge capacity matching degree is obtained by comprehensively considering the actual material flow rate, receiving rate, the degree of blockage in the transmission channel, and the load condition, thus calculating the material discharge capacity matching degree between adjacent material transmission channels. When the matching degree is low, it indicates that there is a gap in the material discharge capacity between adjacent material transmission channels, which may lead to material accumulation or low transmission efficiency; when the matching degree is high, it indicates that adjacent material transmission channels can coordinate and cooperate, the material flow is smooth, and the overall efficiency of the system is high.

[0040] If the material feeding capacity matching degree does not meet the preset matching degree threshold, the material transmission channel to be adjusted is determined, and the material feeding control of the material transmission channel to be adjusted is coordinated using a closed-loop coordinated control mathematical model. The material feeding adjustment coefficient is output, and the material feeding control component corresponding to the material transmission channel to be adjusted is controlled according to the material feeding adjustment coefficient.

[0041] When the material feeding capacity matching degree does not reach the preset threshold, the system evaluates the feeding capacity of each material conveying channel, identifies the material conveying channel with uneven feeding, and marks this channel as the material conveying channel to be adjusted. At this time, the system enters the adjustment phase, applying a closed-loop coordinated control mathematical model. This model considers the operating status and adjustment needs of each material conveying channel and optimizes through a real-time feedback mechanism. The model's input variables include the actual feeding capacity of the current material conveying channel, the processing capacity of adjacent channels, and the current material flow state. The closed-loop coordinated control mathematical model calculates the feeding adjustment coefficient based on the input operating data. This coefficient reflects the magnitude and direction of the material conveying channel adjustment. The feeding adjustment coefficient, as an output signal, is used to control the feeding control component corresponding to the material conveying channel to be adjusted. By adjusting the operating parameters of the feeding control component (such as feeding speed, angle, time, etc.), the feeding amount of material is adjusted in real time to ensure the balance of material flow and the stable operation of the system.

[0042] Furthermore, methods for determining the material transport channel to be adjusted include: If the unit pallet processing capacity of the upper-level material conveying channel is greater than the unit pallet receiving capacity of the lower-level material conveying channel, the lower-level material conveying channel will be marked as a material conveying channel to be adjusted; if the unit pallet processing capacity of the upper-level material conveying channel is less than the unit pallet receiving capacity of the lower-level material conveying channel, the upper-level material conveying channel will be marked as a material conveying channel to be adjusted.

[0043] When materials flow between different conveyor channels, if the unit pallet processing capacity of the upper-level material conveyor channel is greater than the unit pallet receiving capacity of the lower-level material conveyor channel, it indicates that the receiving capacity of the lower-level material conveyor channel is insufficient, which may lead to material accumulation or piling up. In this case, the system will mark the lower-level material conveyor channel as a material conveyor channel to be adjusted, so as to ensure that the materials can flow smoothly and avoid conveyor bottlenecks caused by insufficient receiving capacity.

[0044] Conversely, if the unit pallet processing capacity of the upper-level material conveying channel is less than the unit pallet receiving capacity of the lower-level material conveying channel, it indicates that the processing capacity of the upper-level material conveying channel is insufficient, which may lead to slow or delayed material conveying. In this case, the system will mark the upper-level material conveying channel as a material conveying channel to be adjusted and make adjustments to ensure that materials can flow into the lower-level channel on time, and that inefficiency or uneven material feeding will not occur due to insufficient processing capacity.

[0045] Furthermore, a closed-loop coordinated control mathematical model is used to coordinate the material feeding control of the material conveying channel to be adjusted, and a feeding adjustment coefficient is output. The method includes: A closed-loop coordinated control mathematical model is constructed, including multiple material feeding capacity indicators. Adjustment parameters for each material feeding channel in the multi-level material feeding channel are defined, including speed adjustment, angle adjustment coefficients, and waiting time. The closed-loop coordinated control mathematical model uses the preset matching degree threshold as the coordinated control objective and the current adjustment parameters of the material feeding channel to be adjusted as input variables to solve for the coordinated control objective, outputting multiple control gain coefficients. These multiple control gain coefficients are then transmitted as material feeding adjustment coefficients to the execution component corresponding to the material feeding channel to be adjusted for material feeding parameter adjustment.

[0046] If the material feeding capacity matching degree is detected to be inconsistent with the preset threshold, the material conveying channel to be adjusted must be precisely controlled immediately using a closed-loop coordinated control mathematical model. Specifically, firstly, a closed-loop coordinated control mathematical model containing multiple material feeding capacity indicators is constructed to comprehensively and dynamically reflect the actual operating status of the material conveying channel. Then, in the multi-level material conveying channel architecture, adjustment parameters are defined for each material conveying channel. These parameters include key factors such as speed adjustment (e.g., controlling the pallet conveying speed by adjusting the motor speed), angle adjustment coefficient (e.g., adjusting the conveyor belt tilt angle to change the pallet's movement trajectory), and waiting time (e.g., controlling the dwell time of the pallet in a specific area to avoid accumulation). These directly affect the efficiency of the material feeding process. The system then considers coordination; subsequently, a preset matching degree threshold is used as the coordination control objective of the closed-loop coordination control mathematical model. The closed-loop coordination control mathematical model takes the current adjustment parameters of the material conveying channel to be adjusted as input variables and solves for multiple control gain coefficients that make the matching degree approach the preset threshold. These control gain coefficients represent the adjustment amplitude and direction required for different adjustment parameter items. Finally, the solved multiple control gain coefficients are used as feeding adjustment coefficients and transmitted to the corresponding execution components (such as motor controllers, angle adjustment mechanisms, etc.) of the material conveying channel to be adjusted. The execution components dynamically adjust the feeding parameters in real time according to the received adjustment coefficients, thereby improving the feeding capacity matching degree and ensuring the efficient, stable, and coordinated operation of the multi-level material conveying channels.

[0047] In constructing a closed-loop coordinated control mathematical model encompassing multiple material feeding capacity indicators, historical operating data was first systematically collected and preprocessed. This data covered key indicators such as actual material feeding rate, congestion factor fluctuations, pallet load ratio changes, motor speed records, conveyor belt angle settings, and channel waiting time, ensuring data completeness and the absence of missing outliers. Subsequently, a neural network model was built based on a deep learning framework. The preprocessed multidimensional historical data was used as the input feature matrix, and the activation values ​​of the hidden and output layers were calculated layer by layer using a forward propagation algorithm. The output layer was designed as a multidimensional vector to match the prediction requirements of various adjustment parameters (such as speed adjustment, angle correction coefficient, and waiting time increment). During model training, mean squared error (MSE) was used as the loss function to quantify the deviation between the predicted adjustment parameters and the actual optimal control values. The gradient of the loss function with respect to each network weight was calculated using a backpropagation algorithm, and the learning rate and momentum parameters were dynamically adjusted using the Adam optimizer to achieve iterative optimization of the weight parameters. After multiple rounds of data training and parameter tuning, the model gradually converges to a stable state, and finally a closed-loop coordinated control mathematical model is constructed that can dynamically output optimized adjustment coefficients based on real-time material feeding capacity indicators. This model can effectively cope with complex working condition changes in the material transmission process by continuously learning the nonlinear mapping relationship in historical data.

[0048] Furthermore, the closed-loop coordinated control mathematical model also includes: When the feeding control component corresponding to the material conveying channel to be adjusted is controlled according to the feeding adjustment coefficient, the feedback signal is recorded; the feeding adjustment coefficient is updated by feeding back the feedback signal through the closed-loop channel of the closed-loop coordinated control mathematical model.

[0049] When the system controls the discharge control component corresponding to the material conveying channel to be adjusted according to the discharge adjustment coefficient, the system records feedback signals in real time. These feedback signals include actual operating status data of the material conveying channel, such as actual discharge rate, material flow state, and accumulation status. After acquiring the feedback signals, feedback is provided through the closed-loop channel of the closed-loop coordinated control mathematical model. Specifically, the system compares the actual feedback data with preset target data to evaluate whether the current discharge capacity and matching degree meet the predetermined standards. If the feedback signal indicates that the discharge capacity of the material conveying channel is not ideal (e.g., severe material accumulation or insufficient conveying speed), the control strategy needs to be adjusted to rebalance the discharge capacity. Based on the analysis results of the feedback signals, the closed-loop coordinated control model dynamically updates the discharge adjustment coefficient, that is, adjusts the previously calculated control gain coefficient according to the actual operation results, optimizes the adjustment strategy, and thus improves the stability and efficiency of material flow. The updated discharge adjustment coefficient will be used again to adjust the corresponding discharge control component to ensure that the material conveying channel reaches the optimal operating state.

[0050] In summary, the embodiments of this application have at least the following technical effects: First, the multi-stage material transmission channels of the seedling tray feeding device are identified. Next, a feeding sensor integration device is installed to monitor the feeding of each of the multi-stage material transmission channels, acquiring multiple feeding capacity indicators. Then, according to the ordered transmission relationship of the multi-stage material transmission channels, feeding capacity matching analysis is performed on adjacent material transmission channels based on the multiple feeding capacity indicators to obtain the feeding capacity matching degree. Finally, if the feeding capacity matching degree does not meet the preset matching degree threshold, the material transmission channel to be adjusted is determined. A closed-loop coordinated control mathematical model is used to coordinate the feeding control of the channel to be adjusted, outputting a feeding adjustment coefficient. The feeding control component corresponding to the channel to be adjusted is then controlled according to the feeding adjustment coefficient. This solves the technical problems of uneven feeding capacity and low transmission efficiency in the multi-stage material transmission process of existing seedling tray feeding devices. It achieves the technical effect of optimizing the feeding control of the material transmission channels through feeding capacity matching and closed-loop coordinated control, thereby improving feeding efficiency and equipment stability.

[0051] Example 2, based on the same inventive concept as the control method for the rice seedling tray feeding device used in the foregoing examples, such as... Figure 2 As shown, this application provides a control system for a rice seedling tray feeding device, wherein the system includes: The transmission channel acquisition module 11 is used to acquire the multi-level material transmission channels of the seedling tray feeding device; the monitoring module 12 is used to set up a feeding sensor integrated device, and monitor the feeding of the multi-level material transmission channels according to the feeding sensor integrated device to acquire multiple feeding capacity indicators; the matching analysis module 13 is used to perform feeding capacity matching analysis on adjacent material transmission channels according to the ordered transmission relationship of the multi-level material transmission channels and according to the multiple feeding capacity indicators to acquire the feeding capacity matching degree; the control module 14 is used to determine the material transmission channel to be adjusted when the feeding capacity matching degree does not meet the preset matching degree threshold, use a closed-loop coordinated control mathematical model to coordinate the feeding control of the material transmission channel to be adjusted, output the feeding adjustment coefficient, and control the feeding control component corresponding to the material transmission channel to be adjusted according to the feeding adjustment coefficient.

[0052] Furthermore, the monitoring module 12 is used to perform the following methods: The material feeding sensor integrated device is respectively installed at each level of the multi-level material conveying channel; wherein, the material feeding sensor integrated device includes at least a weight sensor, an infrared sensor, a speed sensor and a stacking height monitoring sensor.

[0053] Furthermore, the monitoring module 12 is used to perform the following methods: The material feeding sensor integrated device monitors the feeding of the multi-level material conveying channels, acquiring channel passage time, number of pallets per unit time, pallet stacking status, and pallet slip vector, and outputs a set of monitoring indicators. It establishes correlation coefficients between each monitoring indicator and the material feeding capacity. Based on the correlation coefficients, it calculates the channel passage time, number of pallets per unit time, pallet stacking status, and pallet slip vector to obtain multiple material feeding capacity indicators corresponding to the multi-level material conveying channels.

[0054] Furthermore, the matching analysis module 13 is used to perform the following methods: Extract the material discharge capacity index set for each pair of adjacent material conveying channels; based on the material discharge capacity index set, obtain the unit pallet processing capacity of the upper-level material conveying channel and the unit pallet receiving capacity of the lower-level material conveying channel; calculate the ratio of the unit pallet processing capacity to the unit pallet receiving capacity to obtain the material discharge capacity matching degree.

[0055] Furthermore, the matching analysis module 13 is used to perform the following methods: Based on the material handling capacity index group, calculate the blockage factor and pallet load ratio of the next-level material transfer channel, wherein the blockage factor is between [0, 1], and the pallet load ratio is the ratio of the current number of pallets to the maximum capacity of the next-level material transfer channel; define the blockage factor weight coefficient and the load factor weight coefficient based on the blockage factor weight coefficient, the load factor weight coefficient, and the ratio of the unit pallet processing volume to the unit pallet receiving volume, and recalculate the material handling capacity matching degree.

[0056] Furthermore, the matching analysis module 13 is used to perform the following methods: The expression for recalculating the matching degree of material feeding capacity is as follows: in, For the first Level material transfer channel to the first Matching degree of material discharge capacity of the primary material transfer channel For the first The actual material discharge rate of the primary material conveying channel. For the first The maximum receiving rate of the primary material transfer channel. For the first Blocking factor of material transfer channels at different levels. For the first Pallet load percentage of the material transfer channel. For the blocking factor weighting coefficient, This represents the weighting coefficient of the load factor.

[0057] Furthermore, the control module 14 is used to perform the following methods: If the unit pallet processing capacity of the upper-level material conveying channel is greater than the unit pallet receiving capacity of the lower-level material conveying channel, the lower-level material conveying channel will be marked as a material conveying channel to be adjusted; if the unit pallet processing capacity of the upper-level material conveying channel is less than the unit pallet receiving capacity of the lower-level material conveying channel, the upper-level material conveying channel will be marked as a material conveying channel to be adjusted.

[0058] Furthermore, the control module 14 is used to perform the following methods: A closed-loop coordinated control mathematical model is constructed, including multiple material feeding capacity indicators. Adjustment parameters for each material feeding channel in the multi-level material feeding channel are defined, including speed adjustment, angle adjustment coefficients, and waiting time. The closed-loop coordinated control mathematical model uses the preset matching degree threshold as the coordinated control objective and the current adjustment parameters of the material feeding channel to be adjusted as input variables to solve for the coordinated control objective, outputting multiple control gain coefficients. These multiple control gain coefficients are then transmitted as material feeding adjustment coefficients to the execution component corresponding to the material feeding channel to be adjusted for material feeding parameter adjustment.

[0059] Furthermore, the control module 14 is used to perform the following methods: When the feeding control component corresponding to the material conveying channel to be adjusted is controlled according to the feeding adjustment coefficient, the feedback signal is recorded; the feeding adjustment coefficient is updated by feeding back the feedback signal through the closed-loop channel of the closed-loop coordinated control mathematical model.

[0060] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this specification. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.

[0061] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0062] This specification and accompanying drawings are merely illustrative examples of this application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Therefore, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A control method for a rice seedling tray feeding device, characterized in that the method... include: Acquire multi-stage material transfer channels for seedling tray feeding equipment; A feeding sensor integrated device is set up to monitor the feeding of the multi-level material transmission channel and obtain multiple feeding capacity indicators. Based on the ordered transmission relationship of the multi-level material transmission channels, the material discharge capacity matching analysis of adjacent material transmission channels is performed according to the multiple material discharge capacity indicators to obtain the material discharge capacity matching degree. If the material feeding capacity matching degree does not meet the preset matching degree threshold, the material transmission channel to be adjusted is determined, and the material feeding control of the material transmission channel to be adjusted is coordinated using a closed-loop coordinated control mathematical model. The material feeding adjustment coefficient is output, and the material feeding control component corresponding to the material transmission channel to be adjusted is controlled according to the material feeding adjustment coefficient.

2. The control method for the rice seedling tray feeding device as described in claim 1, characterized in that, The material feeding sensor integrated device is respectively installed at each level of the multi-level material conveying channel; The material feeding sensing integrated device includes at least a weight sensor, an infrared sensor, a speed sensor, and a stacking height monitoring sensor.

3. The control method for the rice seedling tray feeding device as described in claim 1, characterized in that, The feeding sensor integrated device monitors the feeding of the multi-stage material conveying channels to obtain multiple feeding capacity indicators. The method includes: The material feeding sensor integrated device monitors the material feeding of the multi-level material conveying channel, and obtains the channel passage time, the number of pallets per unit time, the pallet stacking status and the pallet slip vector, and outputs a set of monitoring indicators. Establish correlation coefficients between various monitoring indicators and their impact on material discharge capacity; Based on the correlation coefficient, the channel passage time, number of pallets per unit time, pallet stacking status, and pallet sliding vector are calculated to obtain multiple material feeding capacity indicators corresponding to the multi-level material conveying channel.

4. The control method for the rice seedling tray feeding device as described in claim 1, characterized in that, The method involves performing a matching analysis of the feeding capacity of adjacent material conveying channels based on the aforementioned multiple feeding capacity indicators to obtain the feeding capacity matching degree. Extract the material discharge capacity index group for each pair of adjacent material transfer channels; Based on the aforementioned material feeding capacity index group, obtain the unit pallet processing capacity of the upper-level material conveying channel and the unit pallet receiving capacity of the lower-level material conveying channel. Calculate the ratio of the unit pallet processing volume to the unit pallet receiving volume to obtain the material feeding capacity matching degree.

5. The control method for the rice seedling tray feeding device as described in claim 4, characterized in that, Methods for obtaining material feeding capacity matching degree also include: Based on the material discharge capacity index group, calculate the blockage factor and pallet load ratio of the next-level material transmission channel, wherein the blockage factor is between [0, 1], and the pallet load ratio is the ratio of the current number of pallets to the maximum capacity of the next-level material transmission channel; Based on the blocking factor and the tray load percentage, define the blocking factor weight coefficient and the load factor weight coefficient; Based on the blocking factor weight coefficient, the load factor weight coefficient, and the ratio of the unit pallet processing volume to the unit pallet receiving volume, the material feeding capacity matching degree is recalculated and obtained.

6. The control method for the rice seedling tray feeding device as described in claim 5, characterized in that, The expression for recalculating the matching degree of material feeding capacity is as follows: ;in, For the first Level material transfer channel to the first Matching degree of material discharge capacity of the primary material transfer channel For the first The actual material discharge rate of the primary material conveying channel. For the first The maximum receiving rate of the primary material transfer channel. For the first Blocking factor of material transfer channels at different levels. For the first Pallet load percentage of the material transfer channel. For the blocking factor weighting coefficient, This represents the weighting coefficient of the load factor.

7. The control method for the rice seedling tray feeding device as described in claim 4, characterized in that, Methods for determining the material transfer channel to be adjusted include: If the unit pallet processing capacity of the upper-level material transfer channel is greater than the unit pallet receiving capacity of the lower-level material transfer channel, the lower-level material transfer channel will be marked as a material transfer channel to be adjusted. If the unit pallet processing capacity of the upper-level material transfer channel is less than the unit pallet receiving capacity of the lower-level material transfer channel, the upper-level material transfer channel will be marked as a material transfer channel to be adjusted.

8. The control method for the rice seedling tray feeding device as described in claim 1, characterized in that, The material conveying channel to be adjusted is coordinated and controlled using a closed-loop coordinated control mathematical model, and the material discharge adjustment coefficient is output. The method includes: Construct a closed-loop coordinated control mathematical model that includes multiple material feeding capacity indicators; Define adjustment parameters for each material transfer channel in the multi-level material transfer channel, including speed adjustment, angle adjustment coefficient, and waiting time; The closed-loop coordinated control mathematical model takes the preset matching degree threshold as the coordinated control target and the current adjustment parameters of the material transmission channel to be adjusted as the input variables to solve the coordinated control target and outputs multiple control gain coefficients. The multiple control gain coefficients are transmitted as feeding adjustment coefficients to the execution component corresponding to the material conveying channel to be adjusted for feeding parameter adjustment.

9. The control method for the rice seedling tray feeding device as described in claim 8, characterized in that, The closed-loop coordinated control mathematical model also includes: When the material feeding control component corresponding to the material conveying channel to be adjusted is controlled according to the material feeding adjustment coefficient, the feedback signal is recorded. The material feeding adjustment coefficient is updated based on the feedback signal fed back through the closed-loop channel of the closed-loop coordinated control mathematical model.

10. A control system for a rice seedling tray feeding device, characterized in that, A control method for implementing the rice seedling tray feeding device according to any one of claims 1-9, the system comprising: The transmission channel acquisition module is used to acquire the multi-level material transmission channels of the seedling tray feeding device. The monitoring module is used to set up a feeding sensor integrated device, and to monitor the feeding of the multi-level material transmission channel according to the feeding sensor integrated device to obtain multiple feeding capacity indicators. The matching analysis module is used to perform material discharge capacity matching analysis on adjacent material transmission channels according to the ordered transmission relationship of the multi-level material transmission channels and according to the multiple material discharge capacity indicators, and to obtain the material discharge capacity matching degree. The control module is used to determine the material transmission channel to be adjusted when the material feeding capacity matching degree does not meet the preset matching degree threshold, use a closed-loop coordinated control mathematical model to coordinate the material feeding control of the material transmission channel to be adjusted, output the material feeding adjustment coefficient, and control the material feeding control component corresponding to the material transmission channel to be adjusted according to the material feeding adjustment coefficient.

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