A real-time cutting type cassava seeding monitoring and positioning marking system and method

Abstract

The application discloses a real-time cutting type cassava seeding monitoring and positioning marking system and method, and relates to the field of cassava planting. The system comprises a cassava seed drop detection unit and a positioning marking unit. The cassava seed drop detection unit comprises a pair of matrix optical fiber sensors, a rotary encoder and a controller, the pair of matrix optical fiber sensors are arranged on the side of a cassava seed drop channel below a cutting mechanism of a planter. The rotary encoder is arranged on a ground wheel rotating shaft installed on the planter. The positioning marking unit comprises a marking material box, a spiral conveying and discharging mechanism and a material guide pipe. The marking material box is internally provided with marking materials. The inlet of the spiral conveying and discharging mechanism is communicated with the outlet of the marking material box. The system and method can monitor the seed drop condition in the seed guide pipe in real time. When seed missing and seed cutting adhesion occur, the planting fault position can be calculated in real time, so that the working quality of the real-time cutting type cassava planter is ensured, and subsequent rapid reseeding and spacing are facilitated.

Description

Technical Field

[0001] This invention relates to intelligent agricultural machinery and equipment, specifically to a real-time seed-cutting cassava planting monitoring and positioning marking system and method. Background Technology

[0002] Cassava is one of the world's three major tuber crops and a staple food for nearly one billion people globally. It is also an important industrial raw material crop; its processed products are widely used in food, feed, energy, and other fields. Planting is a crucial step in cassava production. With the development of agricultural mechanization, real-time seed-cutting cassava planters are already in practical application. Domestic and international research institutions and enterprises have developed real-time seed-cutting cassava planters, such as the wide-narrow double-row ridging cassava planter disclosed in patent application CN 109743930 A and the direct-insertion cassava planter disclosed in patent application CN 113170619 A, which greatly improve crop production efficiency.

[0003] In cassava cultivation systems, the performance of planting machinery directly impacts cassava yield and crop health. However, real-time seed-cutting cassava planters operate at high speeds in a fully enclosed environment, and monitoring of planting quality is still largely done manually, resulting in high labor intensity, high labor costs, low efficiency, and significant errors. Currently, planting monitoring technologies mainly include: ① photoelectric detection; ② visual monitoring; ③ capacitance monitoring; and ④ piezoelectric monitoring. Photoelectric monitoring is widely used due to its advantages such as high sensitivity, simple signal processing, and low cost.

[0004] Existing photoelectric monitoring technologies focus on monitoring small-diameter seeds during planting. The monitoring principle primarily estimates seed quantity based on the machine's forward speed, rather than providing a precise value. Furthermore, these systems often only handle a limited range of faults, mostly involving missed planting. However, real-time seed-cutting cassava planters face challenges in field operation. Terrain conditions make precise speed control difficult, and the planter is susceptible to issues such as inconsistent seed quality, operator error, and prolonged cutting time leading to quality degradation, resulting in missed planting and seed sticking. Additionally, after cassava planting, covering with soil is necessary. Once this is complete, any missed planting or seed sticking issues can only be addressed after cassava sprouting through replanting and thinning. This not only increases manual inspection and remedial costs but can also negatively impact yield and quality. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned problems and provide a real-time seed-cutting cassava planting monitoring and positioning marking system and method. This system and method can monitor the seed drop situation in the seed guide tube in real time during the cassava stalk cutting and planting process. When missed planting or seed sticking occurs, the system can calculate the planting fault location in real time and plant different amounts of markers according to different fault types, thereby ensuring the operation quality of the real-time seed-cutting cassava planter and facilitating subsequent rapid replanting and thinning.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A real-time seed-cutting cassava planting monitoring and positioning marking system is installed on a planting machine, including a cassava seed detection unit and a positioning marking unit;

[0008] The cassava seed dropping detection unit includes a through-beam matrix fiber optic sensor, a rotary encoder, and a controller. The through-beam matrix fiber optic sensor includes a fiber optic transmitter and a fiber optic receiver, which are respectively located on both sides of the cassava seed dropping channel below the seed cutting mechanism of the planter. The rotary encoder is mounted on the ground wheel shaft of the planter. The controller is electrically connected to the through-beam matrix fiber optic sensor and the rotary encoder.

[0009] The positioning marking unit includes a marking material box, a screw conveyor feeding mechanism, and a guide pipe. The marking material box is installed behind the soil covering mechanism of the planting machine, and the marking material box contains marking objects. The inlet of the screw conveyor feeding mechanism is connected to the outlet of the marking material box, and the outlet of the screw conveyor feeding mechanism is connected to the upper inlet of the guide pipe.

[0010] In a preferred embodiment of the present invention, the cassava seed detection unit further includes an optical fiber amplifier, which is electrically connected to the through-beam matrix optical fiber sensor and the controller, respectively.

[0011] In a preferred embodiment of the present invention, the cassava seed drop detection unit further includes an audible and visual alarm, which is installed on the side of the fertilizer discharge mechanism of the planter near the operator. The audible and visual alarm is electrically connected to the controller and is used to issue corresponding warning sounds in real time according to the fault conditions.

[0012] In a preferred embodiment of the present invention, the cassava seed detection unit further includes a button and a digital display module, which is electrically connected to the controller and installed in the cab of the tractor, for displaying the total number of cassava seed segments, the number of qualified seed segments, the number of missed seed segments, and the number of seed segments stuck together.

[0013] In a preferred embodiment of the present invention, the screw conveying feeding mechanism includes a screw drive motor, a screw conveying rod, and an electromagnetic relay. The screw drive motor is electrically connected to the electromagnetic relay, and the electromagnetic relay is electrically connected to a controller. With this structure, if a planting failure occurs, the electromagnetic relay controls the screw drive motor to operate according to the control signal output by the controller, driving the screw conveying rod to convey wood ash forward, thereby performing the spreading of wood ash.

[0014] A real-time seed-cutting cassava planting monitoring and positioning marking system and method, comprising the following steps:

[0015] When the planter performs the sowing operation, the rotation angle information of the planter's ground wheel shaft is obtained through the rotary encoder and transmitted to the controller. The ground wheel shaft rotates synchronously with the seed cutting blade of the seed cutting mechanism.

[0016] When the rotation angle of the seed cutting blade of the seed cutting mechanism is equal to the angle corresponding to the rotating seeding monitoring window, the falling information of the cassava seeds in the cassava seed falling channel is obtained by the through-beam matrix fiber optic sensor and transmitted to the controller. The controller calculates the real-time falling time of the cassava seeds in the seeding monitoring window and then calculates the relative time interval between the real-time falling time of the cassava seeds and the falling time of standard-sized cassava seeds. Based on the relative time interval, it is determined whether the planting machine has a planting fault, which includes missed planting and seed cutting sticking.

[0017] If a planting failure occurs, the controller controls the screw conveyor to perform a conveying operation, quantitatively pushing the marked material from the marked material box into the guide pipe, and then the guide pipe lowers the marked material to the planting position corresponding to the planting failure; this completes the marking operation, so that subsequent replanting can be carried out.

[0018] In a preferred embodiment of the present invention, the method for calculating the rotation angle of the seed cutter is as follows:

[0019] ;

[0020] in, M is the rotation angle of the cutting shaft of the planting machine, R is the number of pulses of the encoder, and R is the resolution of the encoder.

[0021] In a preferred embodiment of the invention, the angle of the rotating seeding monitoring window is equal to 360° / the number of pairs of cutting blades. That is, if the cassava planter has a total of 3 pairs of cutting blades on its cutting shaft, the rotating seeding monitoring window for two adjacent cutting blades is set to 120°.

[0022] In a preferred embodiment of the present invention, during the cassava seed's fall, the seed begins free fall with the cutting point as its initial position. The formula for calculating the time it takes for the first and last ends of the cassava seed to reach the through-beam matrix fiber optic sensor is as follows:

[0023] ;

[0024] ;

[0025] In the formula, h is the height from which the cassava seed begins to fall to the through-beam matrix fiber optic sensor when it leaves the cutting blade, in meters (m); l is the length of the cassava seed cut, in meters (m); and g is the acceleration due to gravity, in meters per second (m / s²). 2 t1 is the time taken for the first end of the cassava seed to reach the through-beam matrix fiber optic sensor, in seconds; t2 is the time taken for the last end of the cassava seed to reach the through-beam matrix fiber optic sensor, in seconds.

[0026] Furthermore, the time t during which the cassava seed blocks the light beam in the through-beam matrix fiber optic sensor... s for:

[0027] .

[0028] Furthermore, within the monitoring window of rotating seed cutting blades between two adjacent sets, the time interval t is taken. s 0.5 times the value is used as the setting value for the missed broadcast timer, with a time interval t. s 1.5 times as the setting value for the segment adhesion timer;

[0029] If t≤0.5t s If t > 1.5t, it is determined that the planting machine missed the seeding; s If so, it is determined that the segments cut by the planting machine are stuck together; if 0.5t s <t≤1.5t s If the result is satisfactory, then the planting machine is deemed to have met the requirements for sowing.

[0030] In a preferred embodiment of the present invention, in the non-obstructed state, the output signal transmitted by the matrix fiber optic sensor to the controller is low-level; when the cassava seed passes through, the matrix fiber optic sensor group triggers an interrupt and outputs a high-level signal; after the cassava seed passes through, it triggers an interrupt and outputs a low-level signal. The microcontroller controller collects the pulse width through a timer and then calculates the time it takes for the cassava seed to flow through. Based on the length of the flow time, the microcontroller controller determines whether there is any missed sowing or segment adhesion, and then controls the alarm unit to implement the corresponding audible and visual response.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] 1. This invention uses non-contact monitoring, which can accurately identify and distinguish three sowing states: qualified sowing, missed sowing, and seed cutting and adhesion, providing a more comprehensive dimension for sowing quality assessment of large-sized, asexually propagated cassava segments.

[0033] 2. This invention uses a rotary encoder to precisely divide the cutting blade rotation cycle to form a monitoring window, ensuring that the monitoring window benchmark for each segment is accurate.

[0034] 3. This invention utilizes a matrix fiber optic sensor to collect pulse width signals when a seed segment passes through, and constructs an algorithm model to correlate pulse time characteristics with seed segment length, thereby improving monitoring accuracy.

[0035] 4. The positioning marking unit of the present invention has a simple structure and is installed at the rear end of the soil covering mechanism. It accurately locates the fault position through a rotary encoder and marks different amounts of wood ash according to different fault types, which facilitates subsequent sowing and remedial work. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of the real-time seed-cutting cassava planting monitoring and positioning marking system of the present invention applied in a planting machine.

[0037] Figure 2 This is a hardware block diagram of the cassava seed detection unit and the positioning marker unit of the present invention.

[0038] Figure 3 This is a cross-sectional view of the planting machine of the present invention.

[0039] Figure 4 This is a three-dimensional structural diagram of the positioning mark unit of the present invention.

[0040] Figure 5 This is a flowchart of the real-time seed-cutting cassava planting monitoring and positioning marking method of the present invention.

[0041] Figure 6 This is a schematic diagram illustrating the time interval analysis of cassava seed segments according to the present invention.

[0042] In the diagram: 1. Frame; 2. Cassava seed detection unit; 21. Microcontroller; 22. Through-beam matrix fiber optic sensor; 23. Fiber optic amplifier; 24. Incremental rotary encoder; 25. Audible and visual alarm; 3. Positioning marking unit; 31. Electromagnetic relay; 33. Screw drive motor; 34. Screw conveyor rod; 35. Marking material box; 36. Guide pipe; 4. Fertilizer discharge mechanism; 5. Ridge protection mechanism; 6. Seed cutting mechanism; 61. Feed funnel; 62. Opposing flexible rubber roller; 63. Seed cutting knife; 64. Guide pipe; 7. Ground wheel drive mechanism; 71. Ground wheel; 72. Ground wheel shaft; 8. Soil covering mechanism. Detailed Implementation

[0043] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0044] Example 1

[0045] Combination Figures 1-3 This embodiment discloses a real-time seed-cutting cassava planting monitoring and positioning marking system, installed on a planting machine, including a cassava seed drop detection unit 2 and a positioning marking unit 3. The cassava seed drop detection unit 2 includes a through-beam matrix fiber optic sensor 22, a rotary encoder 24, and a controller 21 (microcontroller). The through-beam matrix fiber optic sensor 22 includes a fiber optic transmitter and a fiber optic receiver, which are respectively located on both sides of the cassava seed drop channel below the seed-cutting mechanism 6 of the planting machine. The rotary encoder 24 is installed on the ground wheel shaft 72 of the planting machine. The controller 21 is electrically connected to the through-beam matrix fiber optic sensor 22 and the rotary encoder 24.

[0046] Combination Figure 4 The positioning marking unit 3 includes a marking material box 35, a screw conveyor feeding mechanism, and a guide pipe 36. The marking material box 35 is installed behind the soil covering mechanism of the planting machine, and the marking material box 35 contains marking objects. The inlet of the screw conveyor feeding mechanism is connected to the outlet of the marking material box 35, and the outlet of the screw conveyor feeding mechanism is connected to the upper inlet of the guide pipe 36.

[0047] Furthermore, the spiral conveying feeding mechanism (the housing is hidden in the figure) includes a spiral drive motor 33, a spiral conveying rod 34, and an electromagnetic relay 31. The spiral drive motor 33 is electrically connected to the electromagnetic relay 31, and the electromagnetic relay 31 is electrically connected to the controller 21. With the above structure, if a planting failure occurs, the electromagnetic relay 31 controls the spiral drive motor 33 to run according to the control signal output by the controller 21, driving the spiral conveying rod 34 to convey wood ash forward, thereby spreading the wood ash.

[0048] Combination Figures 1-3 The cassava seed detection unit 2 further includes an optical fiber amplifier 23, which is electrically connected to the through-beam matrix optical fiber sensor 22 and the controller 21.

[0049] Combination Figures 1-3 The cassava seed detection unit 2 also includes an audible and visual alarm 25, which is installed on the side of the fertilizer discharge mechanism of the planter near the operator. The audible and visual alarm 25 is electrically connected to the controller 21 and is used to issue corresponding warning sounds in real time according to the fault situation.

[0050] Combination Figures 1-3The cassava seed detection unit 2 also includes a button and digital display module, which is electrically connected to the controller 21 and installed in the cab of the tractor. It is used to display the total number of cassava seed segments, the number of qualified seed segments, the number of missed seed segments, and the number of seed segments stuck together.

[0051] Example 2

[0052] Combination Figures 1-6 The real-time seed-cutting cassava planting monitoring and positioning marking system and method of this embodiment includes the following steps:

[0053] (1) When the planter performs the sowing operation, the rotation angle information of the planter’s ground wheel shaft 72 is obtained by the rotary encoder 24 and transmitted to the controller 21. The ground wheel shaft 72 rotates synchronously with the seed cutting blade of the seed cutting mechanism 6.

[0054] Furthermore, the method for calculating the rotation angle of the seed cutter is as follows:

[0055] ;

[0056] in, M is the rotation angle of the cutting shaft of the planting machine, R is the number of pulses of the encoder, and R is the resolution of the encoder.

[0057] Furthermore, the angle of the rotating seeding monitoring window is equal to 360° / the number of pairs of cutting blades. That is, if the cassava planter has a total of 3 pairs of cutting blades on its cutting shaft, the rotating seeding monitoring window for two adjacent cutting blades is set to 120°.

[0058] (2) When the rotation angle of the cutting blade of the cutting mechanism 6 is equal to the angle corresponding to the rotating sowing monitoring window, the falling information of the cassava seeds in the cassava seed falling channel is obtained by the through-beam matrix fiber optic sensor 22, and the falling information is transmitted to the controller 21. The controller 21 calculates the real-time falling time of the cassava seeds in the sowing monitoring window, and then calculates the relative time interval between the real-time falling time of the cassava seeds and the falling time of the standard-sized cassava seeds. Based on the relative time interval, it is determined whether the planting machine has a planting fault, which includes missed sowing and seed sticking.

[0059] Furthermore, during the cassava seed's descent after being cut, starting from the cutting point, the seed begins free fall. The formula for calculating the time it takes for the first and last ends of the cassava seed to reach the through-beam matrix fiber optic sensor is as follows:

[0060] ;

[0061] ;

[0062] In the formula, h is the height from which the cassava seed begins to fall to the through-beam matrix fiber optic sensor when it leaves the cutting blade, in meters (m); l is the length of the cassava seed cut, in meters (m); and g is the acceleration due to gravity, in meters per second (m / s²). 2 t1 is the time taken for the first end of the cassava seed to reach the through-beam matrix fiber optic sensor, in seconds; t2 is the time taken for the last end of the cassava seed to reach the through-beam matrix fiber optic sensor, in seconds.

[0063] Furthermore, the time t during which the cassava seed blocks the light beam in the through-beam matrix fiber optic sensor... s for:

[0064] .

[0065] Furthermore, within the monitoring window of rotating seed cutting blades between two adjacent sets, the time interval t is taken. s 0.5 times the value is used as the setting value for the missed broadcast timer, with a time interval t. s 1.5 times as the setting value for the segment adhesion timer;

[0066] If t≤0.5t s If t > 1.5t, it is determined that the planting machine missed the seeding; s If so, it is determined that the segments cut by the planting machine are stuck together; if 0.5t s <t≤1.5t s If the result is satisfactory, then the planting machine is deemed to have met the requirements for sowing.

[0067] Furthermore, in the unobstructed state, the output signal from the matrix fiber optic sensor to the controller 21 is low. When the cassava seed passes through, the matrix fiber optic sensor group triggers an interrupt and outputs a high level; after the cassava seed passes through, it triggers an interrupt and outputs a low level. The microcontroller controller 21 collects the pulse width through a timer and then calculates the time it takes for the cassava seed to flow through. Based on the length of the flow time, the microcontroller controller 21 determines whether there is any missed sowing or segment adhesion, and then controls the alarm unit to implement the corresponding audible and visual response.

[0068] (3) If a planting failure occurs, the controller 21 controls the screw conveyor to perform a conveying operation, which pushes the marker in the marker material box 35 quantitatively into the guide pipe 36, and then the guide pipe 36 lowers the marker to the planting position corresponding to the planting failure; thus the marking operation is completed, so that subsequent replanting can be carried out.

[0069] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A real-time seed-cutting cassava planting monitoring and positioning marking method, characterized in that, The system is applied to a cassava planting monitoring and positioning marking system, which is installed on a planting machine and includes a cassava seed detection unit and a positioning marking unit. The cassava seed dropping detection unit includes a through-beam matrix fiber optic sensor, a rotary encoder, and a controller. The through-beam matrix fiber optic sensor includes a fiber optic transmitter and a fiber optic receiver, which are respectively located on both sides of the cassava seed dropping channel below the seed cutting mechanism of the planter. The rotary encoder is mounted on the ground wheel shaft of the planter. The controller is electrically connected to the through-beam matrix fiber optic sensor and the rotary encoder. The positioning marking unit includes a marking material box, a screw conveyor feeding mechanism, and a guide pipe. The marking material box is installed behind the soil covering mechanism of the planter, and the marking material box contains marking objects. The inlet of the screw conveyor feeding mechanism is connected to the outlet of the marking material box, and the outlet of the screw conveyor feeding mechanism is connected to the upper inlet of the guide pipe. The real-time seed-cutting cassava planting monitoring and positioning marking method includes the following steps: When the planter performs the sowing operation, the rotation angle information of the planter's ground wheel shaft is obtained through the rotary encoder and transmitted to the controller. The ground wheel shaft rotates synchronously with the seed cutting blade of the seed cutting mechanism. When the rotation angle of the seed cutting blade of the seed cutting mechanism is equal to the angle corresponding to the rotating seeding monitoring window, the falling information of the cassava seeds in the cassava seed falling channel is obtained by the through-beam matrix fiber optic sensor and transmitted to the controller. The controller calculates the real-time falling time of the cassava seeds in the seeding monitoring window and then calculates the relative time interval between the real-time falling time of the cassava seeds and the falling time of standard-sized cassava seeds. Based on the relative time interval, it is determined whether the planting machine has a planting fault, which includes missed planting and seed cutting sticking. If a planting failure occurs, the controller will control the screw conveyor to push the marked material from the marking box into the guide pipe in a quantitative manner. Then, the guide pipe will lower the marked material to the planting position corresponding to the planting failure. This completes the marking operation, so that replanting can be carried out later. During the cassava seed's descent after being cut, it begins free fall from the cutting point. The formula for calculating the time it takes for the first and last ends of the cassava seed to reach the through-beam matrix fiber optic sensor is as follows: ； ； In the formula, h is the height from the tip of the cassava seed to the through-beam matrix fiber optic sensor when it leaves the cutting blade, in meters (m); l is the length of the cassava seed cut, in meters (m); and g is the acceleration due to gravity, in meters per second (m / s²). 2 t1 is the time taken for the first end of the cassava seed to reach the through-beam matrix fiber optic sensor, in seconds; t2 is the time taken for the last end of the cassava seed to reach the through-beam matrix fiber optic sensor, in seconds. The time t during which the cassava seed blocks the light beam in a through-beam matrix fiber optic sensor s for: ； Within the rotational sowing monitoring window of two adjacent sets of seed cutters, the time interval t is taken. s 0.5 times the value is used as the setting value for the missed broadcast timer, with a time interval t. s 1.5 times the value is used as the setting value for the segment adhesion timer; if t≤0.5t s If t > 1.5t, it is determined that the planting machine missed the seeding; s If so, it is determined that the segments cut by the planting machine are stuck together; if 0.5t s <t≤1.5t s If so, the planting machine is deemed to have passed the sowing test. In the unobstructed state, the matrix fiber optic sensor transmits a low-level output signal to the controller; when the cassava seed passes through, the matrix fiber optic sensor group will trigger an interrupt and output a high-level signal, and after the cassava seed passes through, it will trigger an interrupt and output a low-level signal. The microcontroller uses a timer to collect the pulse width and then calculates the time it takes for the cassava seed to flow through.

2. The real-time seed-cutting cassava planting monitoring and positioning marking method according to claim 1, characterized in that, The cassava seed fall detection unit also includes an optical fiber amplifier, which is electrically connected to the through-beam matrix optical fiber sensor and the controller respectively. The cassava seed drop detection unit also includes an audible and visual alarm, which is installed on the side of the fertilizer discharge mechanism of the planter near the operator. The audible and visual alarm is electrically connected to the controller and is used to issue corresponding warning sounds in real time according to the fault situation. The cassava seed detection unit also includes a button and a digital display module, which is electrically connected to the controller and installed in the tractor cab. It is used to display the total number of cassava seed segments, the number of qualified seed segments, the number of missed seed segments, and the number of seed segments stuck together.

3. The real-time seed-cutting cassava planting monitoring and positioning marking method according to claim 1, characterized in that, The screw conveyor feeding mechanism includes a screw drive motor, a screw conveyor rod, and an electromagnetic relay. The screw drive motor is electrically connected to the electromagnetic relay, and the electromagnetic relay is electrically connected to the controller.

4. The real-time seed-cutting cassava planting monitoring and positioning marking method according to claim 1, characterized in that, The method for calculating the rotation angle of the seed cutter is as follows: ； in, M is the rotation angle of the cutting shaft of the planting machine, R is the number of pulses of the encoder, and R is the resolution of the encoder.

5. The real-time seed-cutting cassava planting monitoring and positioning marking method according to claim 1, characterized in that, The angle of the rotating seeding monitoring window is equal to 360° / the logarithm of the seed cutter.

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