Seeding monitoring apparatus and seeding monitoring method

Abstract

A seeding monitoring apparatus and a seeding monitoring method. The seeding monitoring apparatus comprises: a monitoring sensor (6) and an algorithm control module (300), wherein the monitoring sensor (6) comprises a first sensor channel transmitting end (3), a first sensor channel receiving end (11), a second sensor channel transmitting end (4) and a second sensor channel receiving end (10) and is mounted on two sides of a seed guiding belt (12) by means of double-channel through-beam photoelectric sensing, the first sensor channel transmitting end (3) and the first sensor channel receiving end (11) form a first sensor channel, and the second sensor channel transmitting end (4) and the second sensor channel receiving end (10) form a second sensor channel; and the algorithm control module (300) is configured to perform seeding, re-seeding and miss-seeding counting, seed-miss monitoring and seed-blocking monitoring on the basis of first low-level durations and an interval time between two adjacent falling edges of signals of the two sensor channels, and monitors the rotational speed of an electric motor on the basis of the interval time between two adjacent falling edges of the signals of the second sensor channel.

Description

A sowing monitoring device and a monitoring method Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a sowing monitoring device and a monitoring method. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] The sowing process is an important link in the crop production process. The quality of sowing directly affects the emergence rate and yield of crops. Precision sowing refers to the process of using sowing machinery to accurately sow seeds into the soil according to a certain plant spacing and maintain uniform row spacing to ensure that the number of seeds in each hole is equal.

[0004] Traditional seeders primarily operate via a ground wheel-driven, finger-type seed metering mechanism, with a maximum speed of 8 km / h. To achieve precision seeding, monitoring sensors are installed on the outside of the seed guide tube to enable seed counting. However, as the seeder speed increases, the ground wheel tends to slip, seriously affecting seeding quality. Replacing the ground wheel with a motor-driven seed metering mechanism allows precision seeding at speeds of 12 km / h and above. Currently, seeder speeds have reached 16 km / h. However, the high-speed seeding method of dropping seeds through the seed guide tube can cause seeds to bounce as they fall and land, affecting seed placement and compromising seed spacing and consistency. Therefore, a seed dropping mechanism replaces the traditional seed guide tube to ensure a stable seed drop. However, existing seed monitoring sensors for the seed guide tube are no longer suitable. Furthermore, the addition of a seed dropping mechanism requires the identification of seed blockages and seed shortages in addition to seed counting monitoring.

[0005] Since the seeding device requires a motor to drive, the motor speed must be measured and the actual motor speed must be fed back in real time. The motor needs to be equipped with a speed feedback device, which makes the motor structure design complicated, the installation cumbersome, and increases the design cost.

[0006] Summary of the Invention

[0007] In order to solve the shortcomings of the existing technology, the present invention provides a sowing monitoring device and a monitoring method. When a sowing device is added, normal seed, missed seed, and reseeding counting, seed blockage and seed shortage identification, and motor speed monitoring can be realized during high-speed sowing.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A first aspect of the present invention provides a sowing monitoring device.

[0010] A sowing monitoring device includes a monitoring sensor and an algorithm control module connected to each other;

[0011] The monitoring sensor includes a first sensor channel transmitter, a first sensor channel receiver, a second sensor channel transmitter, and a second sensor channel receiver, and adopts a dual-channel opposing photoelectric sensing method and is installed on both sides of the seed guide belt; the first sensor channel transmitter and the first sensor channel receiver constitute a first sensor channel, and the second sensor channel transmitter and the second sensor channel receiver constitute a second sensor channel;

[0012] The algorithm control module is used to perform sowing, reseeding and missed sowing counting, seed shortage monitoring and seed blockage monitoring based on the first low-level duration and the interval between two adjacent falling edges of the signals of the two sensor channels; at the same time, it monitors the motor speed based on the interval between two adjacent falling edges of the signal of the second sensor channel.

[0013] Furthermore, an upper pulley and a lower pulley are respectively provided at both ends of the seed guide belt;

[0014] The first sensor channel transmitting end and the second sensor channel transmitting end are symmetrical about a line connecting the center point of the upper pulley and the center point of the lower pulley.

[0015] Furthermore, the first sensor channel transmitting end and the first sensor channel receiving end are symmetrical about the plane where the seed guide tape is located, and the second sensor channel transmitting end and the second sensor channel receiving end are symmetrical about the plane where the seed guide tape is located.

[0016] Furthermore, infrared emitting tubes are installed inside the first sensor channel transmitting end and the second sensor channel transmitting end, and multiple photosensors are installed inside the first sensor channel receiving end and the second sensor channel receiving end.

[0017] Furthermore, by adjusting the emission angle of the infrared emitting tube, the distance between the first sensor channel emitting end and the first sensor channel receiving end, and the distance between the second sensor channel emitting end and the second sensor channel receiving end, all photosensitive elements can cover the illumination range of the light beam emitted by the infrared emitting tube.

[0018] Furthermore, when the belt teeth on the seed guide belt pass through the monitoring sensor, the light beams of the first sensor channel and the second sensor channel are blocked at the same time.

[0019] A second aspect of the present invention provides a sowing monitoring method, comprising the following steps:

[0020] Acquire the first low-level duration and the interval between two adjacent falling edges of the signal of the first sensor channel, and the first low-level duration and the interval between two adjacent falling edges of the signal of the second sensor channel;

[0021] According to the first low-level duration of the signals of the two sensor channels and the interval between two adjacent falling edges, the sowing, re-seeding and missed sowing counting, seed shortage monitoring and seed blockage monitoring are carried out;

[0022] The motor speed is monitored according to the interval between two adjacent falling edges of the signal of the second sensor channel;

[0023] Among them, the first sensor channel is composed of a first sensor channel transmitting end and a first sensor channel receiving end, and the second sensor channel is composed of a second sensor channel transmitting end and a second sensor channel receiving end; the first sensor channel transmitting end, the first sensor channel receiving end, the second sensor channel transmitting end and the second sensor channel receiving end adopt a dual-channel opposing photoelectric sensing method and are installed on both sides of the seed guide belt.

[0024] Furthermore, if the first low-level duration of the signal of the first sensor channel is equal to the first low-level duration of the signal of the second sensor channel, and the interval between two adjacent falling edges of the signal of the first sensor channel is less than the interval between two adjacent falling edges of the signal of the second sensor channel, or the first low-level duration of the signal of the first sensor channel is greater than the first low-level duration of the signal of the second sensor channel, it means that a seed has passed, and the number of cycles when the seed passes and the number of falling edges of the signal of the first sensor channel within the interval between two adjacent falling edges of the signal of the second sensor channel are recorded; if the number of falling edges is within the set number, a sowing count is performed; if the number of falling edges exceeds the set number, a reseeding count is performed; if the number of cycles when a seed passes is not a theoretical value, a missed sowing count is performed; if the continuous missed sowing count exceeds the threshold, a seed shortage occurs.

[0025] Furthermore, if the first low-level duration of the signal of the first sensor channel is greater than the interval between two adjacent falling edges of the signal of the second sensor channel, a blocking occurs.

[0026] Furthermore, the motor speed is:

[0027] Among them, r is the pulley radius, H is the distance between two adjacent belt teeth, m is the reduction ratio, △t 2i is the interval between two adjacent falling edges of the signal of the i-th second sensor channel.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention provides a sowing monitoring device that can realize the counting of normal seeds, missed seeds, and reseeding during high-speed sowing, the identification of seed blockage and seed shortage situations, and the monitoring of motor speed. At the same time, it improves the monitoring accuracy, eliminates the motor speed feedback device, simplifies the motor design structure, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0031] FIG1 is a top view of a monitoring sensor according to embodiment 1 of the present invention;

[0032] FIG2 is a side view of a monitoring sensor transmitting module according to Example 1 of the present invention;

[0033] FIG3 is a side view of a monitoring sensor receiving module according to Example 1 of the present invention;

[0034] FIG4 is a diagram showing the internal layout of the monitoring sensor according to Example 1 of the present invention;

[0035] FIG5 is a structural diagram of a monitoring sensor and a seeding device according to Example 1 of the present invention;

[0036] FIG6 is a single-channel internal circuit diagram of a monitoring sensor according to Example 1 of the present invention;

[0037] FIG7 is a system structure diagram of a sowing monitoring device according to Example 1 of the present invention;

[0038] FIG8 is a waveform diagram of Example 1 of the present invention;

[0039] 9 is a flow chart of the sowing, reseeding and missed sowing counting, and seed shortage and blockage monitoring algorithm according to Example 2 of the present invention;

[0040] FIG10 is a flow chart of a speed measurement algorithm according to Embodiment 2 of the present invention.

[0041] Among them: 1. Sensor transmitting module housing; 2. Infrared transmitting tube; 3. First sensor channel transmitting end; 4. Second sensor channel transmitting end; 5. Screw fixing hole; 6. Monitoring sensor; 7. Sensor signal acquisition unit; 8. Sensor receiving module housing; 9. SMD photosensitive element; 10. Second sensor channel receiving end; 11. First sensor channel receiving end; 12. Seed guide belt; 13. Belt teeth; 14. First sensor channel mounting slot; 15. Second sensor channel mounting slot; 16. Seed disc; 17. Seed disc opening; 18. Upper pulley; 19. Lower pulley; 100. Power module; 200. Data storage unit; 300. Algorithm control module; 400. CAN communication module. DETAILED DESCRIPTION

[0042] Below, with reference to the accompanying drawings, through the description of the embodiments, the specific implementation methods of the present invention, such as the shape, structure, relative positions and connection relationships between the various components involved, the functions and working principles of the various parts, monitoring methods, etc., are further explained in detail to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0043] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0046] Example 1

[0047] Embodiment 1 of the present invention provides a sowing monitoring device.

[0048] In order to solve the problem of insufficient adaptability of existing sowing monitoring sensors during high-speed sowing and low recognition of seed blockage and seed shortage, and to realize the measurement of the rotation speed of the sowing motor and simplify the motor design structure, a sowing monitoring device provided in this embodiment adopts a dual-channel photoelectric sensing method and is installed on both sides of the seed guide tube. One channel is responsible for collecting the time when the seeds block the light source and counting the number of seeds sown. At the same time, according to the length of the blocking time, the blockage and seed shortage situations can be identified; the other channel is responsible for collecting the time when the seed guide belt blocks the light source and calculates the running speed of the seed guide belt, thereby monitoring the motor speed.

[0049] A sowing monitoring device provided in this embodiment, as shown in Figures 1, 2, 3, 4, and 5, includes a monitoring sensor 6. The monitoring sensor 6 comprises a sensor transmitting module housing 1, an infrared transmitting tube 2, a first sensor channel transmitting end 3, a second sensor channel transmitting end 4, a screw fixing hole 5, a sensor receiving module housing 8, a patch-type photosensor 9, a second sensor channel receiving end 10, and a first sensor channel receiving end 11. The first sensor channel transmitting end 3 and the first sensor channel receiving end 11 constitute a first sensor channel, while the second sensor channel transmitting end 4 and the second sensor channel receiving end 10 constitute a second sensor channel.

[0050] As shown in Figure 5, the seeding device includes: a seed guide belt 12, belt teeth 13, a seed disc 16, a seed disc opening 17, an upper pulley 18, and a lower pulley 19. The seeds are carried by air suction to the seed disc opening 17 on the seed disc 16. When they reach the top of the seed guide belt 12, the air suction pressure is cut off, and the seeds fall from the seed disc opening 17 to the seed guide belt 12. The seed guide belt 12 is driven by the upper pulley 18. The rotation of the upper pulley 18 drives the seed guide belt 12, which in turn drives the lower pulley 19 to rotate.

[0051] As shown in Figure 1, the first sensor channel transmitting end 3 and the second sensor channel transmitting end 4 are both internally installed with infrared emitting tubes 2. The first sensor channel receiving end 11 and the second sensor channel receiving end 10 are both internally installed with patch type photosensitive elements 9.

[0052] The monitoring sensor 6 provided in this embodiment is installed on both sides of the seed guide belt 12 of the seeding device. Specifically, a sensor transmitter module housing 1 is provided on one side of the seed guide belt 12 and is screwed to the seeding device via screw fixing holes 5. The seeding device is provided with a first sensor channel mounting slot 14 and a second sensor channel mounting slot 15. The first and second sensor channel mounting slots 14, 15 are symmetrical about a line connecting the center points of the upper pulley 18 and the lower pulley 19. The first sensor channel transmitter 3 is installed in the first sensor channel mounting slot 14, and the second sensor channel transmitter 4 is installed in the second sensor channel mounting slot 15. A sensor receiving module housing 8 is provided on the other side of the seed guide belt 12. The sensor receiving module housing 8 is fixed to the seed dropping device with screws through the screw fixing holes 5. The seed dropping device is provided with a first sensor receiving end mounting slot and a second sensor receiving end mounting slot (not shown in the figure), and the first sensor channel mounting slot 14 and the first sensor receiving end mounting slot are symmetrical about the plane where the seed guide belt 12 is located, and the second sensor channel mounting slot 15 and the second sensor receiving end mounting slot are symmetrical about the plane where the seed guide belt 12 is located; the first sensor channel receiving end 11 is installed at the first sensor receiving end mounting slot, and the second sensor channel receiving end 10 is installed at the second sensor receiving end mounting slot.

[0053] As shown in FIG1 , when the sowing monitoring device provided by this embodiment is in a normal installation position, the first sensor channel transmitting end 3 faces the first sensor channel receiving end 11 , and the second sensor channel transmitting end 4 faces the second sensor channel receiving end 10 .

[0054] As shown in Figure 4, infrared emitting tube 2 (infrared emitting tube D9) is installed inside the transmitting end 3 of the first sensor channel, and patch-type photosensitive element 9 is installed inside the receiving end 11 of the first sensor channel. By adjusting the emission angle of infrared emitting tube 2 and the distance between the transmitting and receiving ends, the three patch-type photosensitive elements 9 (photosensitive element T1, photosensitive element T2, and photosensitive element T3) can completely cover the light source illumination range, ensuring that there are no monitoring blind spots. The internal layout of the second sensor channel is consistent with that of the first sensor channel.

[0055] As shown in FIG6 , the first sensor channel transmitting end 3 and the first sensor channel receiving end 11 (or the second sensor channel transmitting end 4 and the second sensor channel receiving end 10) include an infrared emitting tube D9, a photosensitive element T1, a photosensitive element T2, a photosensitive element T3, a resistor R1, a resistor R8, a resistor R10, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R15, a capacitor C4, a capacitor C12, a capacitor C13, a capacitor C14, a capacitor C15, a capacitor C16, a capacitor C17, a capacitor C18, an electrolytic capacitor C10, a transistor Q1, a transistor Q2, a transistor Q3, a diode D1, a diode D2, a diode D4, a diode D5 and diode LED1; wherein, the infrared emitting tube D9 is of model GL538, the cathode of the infrared emitting tube D9 is grounded, and the anode is connected to the second end of the resistor R15, the first end of the resistor R15 is connected to the cathode of the diode D2, the first end of the capacitor C17 and the capacitor C18, and the cathode of the diode D1, the anode of the diode D2, the second end of the capacitor C17 and the capacitor C18 are grounded, and the anode of the diode D1 is connected to the voltage source; the photosensitive element T1, the photosensitive element T2, and the photosensitive element T3 are of model PT15-21B / TR8, and are connected in sequence, the transistor Q1, the transistor Q2, and the transistor Q3 are of model MMBT3904, the emitter of the photosensitive element T1 is connected to the first end of the resistor R1, The second end of the resistor R1 is connected to the cathode of the diode D5, the first end of the electrolytic capacitor C10 and the capacitor C15, the second ends of the electrolytic capacitor C10 and the capacitor C15 are grounded, and the anode of the diode D5 is connected to the second end of the resistor R15; the collector of the photosensitive element T1 is connected to the emitter of the photosensitive element T2, the collector of the photosensitive element T2 is connected to the emitter of the photosensitive element T3, the collector of the photosensitive element T3 is connected to the resistor R8, the first end of the capacitor C4 and the base of the transistor Q1, the base of the transistor Q2, the second end of the resistor R8, the capacitor C4 and the emitter of the transistor Q1, the emitter of the transistor Q2 are grounded; the collector of the transistor Q2 is connected to the first end of the resistor R12, and the second end of the resistor R12 is connected to the diode The cathode of LED1 and the anode of diode LED1 are connected to the anode of diode D5, the first terminal of resistor R14, the first terminal of capacitor C16, and the first terminal of resistor R11. The second terminal of capacitor C16 is grounded. The second terminal of resistor R14 is connected to the collector of transistor Q1, the first terminal of capacitor C13, the first terminal of resistor R13, and the base of transistor Q3. The second terminal of resistor R11 is connected to the first terminal of resistor R10, the cathode of diode D4, capacitor C12 and the first terminal of capacitor C14, the collector of transistor Q3, and the second terminal of capacitor C13. The anode of diode D4, the second terminal of capacitor C12 and capacitor C14, the emitter of transistor Q3, and the second terminal of resistor R13 are grounded. The second terminal of resistor R10 serves as the output terminal OUT1. The internal circuitry of the dual-channel monitoring sensor is designed with this structure.

[0056] When the dual-channel light beam of the monitoring sensor 6 is not blocked by the belt teeth of the seed guide belt or the seeds, the photosensitive elements T1, T2 and T3 receive the light beam emitted by the infrared emitting tube D9, and the OUT1 output end outputs a high-level signal; when the dual-channel light beam of the monitoring sensor is blocked by the belt teeth of the seed guide belt or the seeds, the light beam emitted by the infrared emitting tube D9 is blocked, the photosensitive elements T1, T2 and T3 cannot receive the light beam, and the OUT1 output end outputs a low-level signal.

[0057] As shown in Figure 8, (a) is the waveform of the second sensor channel when the monitoring sensor is operating normally. When the light beam is not blocked, the waveform output is high, and when the light beam is blocked, the waveform output is low. The interval between two adjacent falling edges of the waveform in the second sensor channel, i.e., the cycle time, is Δt2. (b), (c), and (d) are waveforms of different situations when a normal seed passes through the first sensor channel when the monitoring sensor is operating normally. (b) is the waveform when the seed passes closely against the lower belt teeth; (c) is the waveform when the seed passes between the two belt teeth; and (d) is the waveform when the seed passes closely against the upper belt teeth. (e) is the waveform of seed blocking in the first sensor channel when the monitoring sensor is operating normally. The waveform remains low for a period exceeding the cycle time Δt2. (f) is the waveform of replay in the first sensor channel when the monitoring sensor is operating normally. Two or more falling edges occur within the cycle time Δt2.

[0058] As shown in Figure 7, a sowing monitoring device provided in this embodiment includes: a monitoring sensor 6, a sensor signal acquisition unit 7, a power module 100, a data storage unit 200, an algorithm control module 300, and a CAN communication module 400. The VIN and GND pins of the power module 100 are connected to the positive and negative poles of an external power supply, respectively. The output power pins of the power module 100 include 3.3V, 5V, and 12V. The power chip model for providing 5V and 12V is TPS54560DDA, and the power chip model for providing 3.3V is TLV70233DBVR. The 3.3V pin is connected to the VDD pin of the sensor signal acquisition unit 7, the VDD pin of the data storage unit 200, and the VDD pin of the algorithm control module 300, respectively. The 5V pin is connected to the VDD1 pin of the CAN communication module 400, and the 12V pin is connected to the VS pin of the monitoring sensor 6. The GND pins of each module are connected to the system common GND. The SIO1 and SIO2 pins of the monitoring sensor 6 are connected to the CIO1 and CIO2 pins of the sensor signal acquisition unit 7, respectively, outputting two IO signals: one for seed counting and one for seed guide belt speed measurement. The sensor signal acquisition unit 7 utilizes a first-order low-pass filter circuit, primarily responsible for collecting the two IO signals and transmitting them to the algorithm control module 300. The DIO1 and DIO2 pins of the sensor signal acquisition unit 7 are connected to the IO1 and IO2 pins of the algorithm control module 300, respectively, transmitting the collected IO signals to the algorithm control module 300. The algorithm control module 300 utilizes an STM32F407 chip for data processing and issuing control commands. The algorithm control module 300 implements seed counting and seed guide belt speed monitoring through a monitoring algorithm. It connects to the data storage module via an SPI bus and to the CAN communication module via a CAN bus. Data storage unit 200 is a W25Q128. Its CS, SCK, SO, and SI pins are connected to the CS, SPI_SCK, SPI_MISO, and SPI_MOSI pins of algorithm control module 300, respectively, via four SPI buses. This unit is primarily responsible for storing seed count and speed measurement data, ensuring that data is not lost during power outages. CAN communication module 400 is a TJA1050. Its TXD and RXD pins are connected to the CAN_TX and CAN_RX pins of algorithm control module 300, respectively, via the CAN bus. This unit is primarily responsible for receiving and outputting monitoring data.

[0059] The monitoring sensors of this embodiment are installed on both sides of the seed guide belt, and adopt a dual-channel photoelectric sensing method. Through the infrared emitting tube and photosensitive element at the transmitting end and the receiving end, the time when the light source is blocked is collected. One channel is responsible for collecting the time when the seeds and the seed guide belt block the light source, and the other channel is responsible for collecting the time when the seed guide belt blocks the light source. The two channels of data are collected by the signal acquisition unit and sent to the algorithm control module for sowing, reseeding and missed seeding counting, seed status identification and speed monitoring, so as to realize the counting of normal seeds, missed seeding and reseeding, identification of blocked seeds and missing seeds, and speed monitoring of the seed guide belt. At the same time, the monitoring data is sent to the data storage module for storage through the SPI bus to ensure data security and prevent loss. The seed counting data and speed measurement results obtained by the algorithm control module are sent to the CAN communication module through the CAN bus, and then output by the CAN communication module. The information output by the CAN communication module is divided into sowing data frame, alarm data frame and speed feedback frame. In order to facilitate motor speed control, the speed data frame is sent at high frequency with a sending interval of 5ms. The sowing data frame and alarm data frame are sent in a triggered manner. They are sent when the sowing count changes or the seed shortage or blockage alarm is triggered, thereby realizing the seed counting and speed monitoring process.

[0060] This embodiment provides a sowing monitoring device, in which the monitoring sensor adopts a dual-channel photoelectric sensing method, which realizes the counting of sowing, missed sowing, and re-seeding during the high-speed operation of the seeder, and the monitoring of seed blockage and seed shortage. At the same time, it realizes the monitoring of the running speed of the seed guide belt, and further realizes the real-time monitoring of the sowing motor speed, eliminating the motor speed feedback device and simplifying the motor design structure.

[0061] The sowing monitoring device provided in this embodiment realizes the monitoring of blocked seeds, missing seeds and normal seeds as well as the monitoring of motor speed during high-speed sowing through a high-speed sowing monitoring algorithm, thereby further improving the sowing quality.

[0062] A sowing monitoring device provided in this embodiment involves a high-speed sowing monitoring system that uses a CAN bus to output sowing monitoring information and rotation speed information. It has strong stability and is convenient for expanding the number of rows when the seeder sows multiple rows. While saving hardware costs, it alleviates the information processing pressure of the main controller.

[0063] Example 2

[0064] Embodiment 2 of the present invention provides a sowing monitoring method as in embodiment 1, comprising the following steps:

[0065] Step 1: Level the seed guide belt to ensure that the dual-channel light sources are blocked when the belt teeth on the seed guide belt pass through the sensor.

[0066] When the seed guide passes the monitoring sensor, the dual-channel light source is simultaneously blocked, preventing the receiver from receiving light. This generates a falling edge signal, and the high level transitions to a low level. The timer in the STM32 microcontroller captures the falling edge signal. When the seed guide passes the sensor, the dual-channel receiver continues to receive light, and the falling edge signal transitions to a rising edge signal, and the low level transitions to a high level. The duration of the dual-channel low-level signal is also recorded. Based on the planter's operating speed and the set seeding spacing, the required motor speed can be determined. At this fixed speed, one seed should be planted in the seed guide interval every x cycles.

[0067] Step 2, counting of sowing, reseeding and missed sowing, and monitoring of seed shortage and blockage, as shown in FIG9 , includes:

[0068] S1. At a fixed rotation speed, monitor the first sensor channel transmitting end and the second sensor channel transmitting end emitting a light beam, and the first sensor channel receiving end and the second sensor channel receiving end receiving the light beam, and prepare for monitoring;

[0069] S2. Determine whether the emission light beam of the second sensor channel is blocked: if the light beam is blocked, execute step S3; if the light beam is not blocked, execute step S1;

[0070] S3, record the first low-level duration t2 of the second sensor channel and the interval between two adjacent falling edges, i.e., the cycle time △t2;

[0071] S4. Determine whether the emission light beam of the first sensor channel is blocked: if the light beam is blocked, execute step S5; if the light beam is not blocked, execute step S3;

[0072] S5, record the first low-level duration t1 and the interval △t1 between two adjacent falling edges of the first sensor channel;

[0073] S6. Determine whether t1, t2, Δt1, and Δt2 satisfy the relationship t1=t2 and Δt1=Δt2: If t1=t2 and Δt1=Δt2 are satisfied, it means that no seeds pass through the first sensor channel and both light sources of the two channels are blocked by the seed guide belt, and execute step S5. If t1=t2 and Δt1=Δt2 are not satisfied, execute step S7.

[0074] S7. Determine whether t1, t2, Δt1, and Δt2 satisfy the relationship t1=t2 and Δt1<Δt2 or the relationship t1>t2: If so, it means that a seed has passed through the first sensor channel and the light source of the first sensor channel is blocked by the seed and the seed guide, and execute step S8. If not, continue to execute step S7 for further determination;

[0075] S8, record the number of cycles x when the seed passes and the number of falling edges n (n>0) within the cycle time △t2;

[0076] S9. Determine the size of x and n: When x≠X, execute step S10, where X is the theoretical value of the number of cycles when a seed passes through; when n≤the set number of times 2, it is a normal seed, execute step S13; when n>2, it is a replay, execute step S14;

[0077] S10, missing broadcast count, the number of missed broadcasts increases by 1;

[0078] S11. Determine whether the number of consecutive missed broadcasts is ≥ a threshold of 3: When the number of consecutive missed broadcasts is ≥ 3, execute step S12; when the number of consecutive missed broadcasts is < 3, continue to execute step S11 for determination;

[0079] S12: When a seed shortage occurs, an alarm is issued to remind the user to replenish seeds in time;

[0080] S13, seeding count, normal seed number plus 1;

[0081] S14, replay count, replay number plus 1;

[0082] S15, determine whether t1 and Δt2 satisfy the relationship t1>Δt2: if t1>Δt2 is satisfied, execute step S16; if t1>Δt2 is not satisfied, continue to execute step S15 for determination;

[0083] S16: If a blockage occurs, an alarm is sounded to remind you to shut down the motor and handle the problem in time.

[0084] Step 3, as shown in Figure 10, the speed measurement algorithm process includes:

[0085] S17, the distance between two adjacent belt teeth is measured to be H, and the monitoring sensor transmits a dual-channel light beam;

[0086] S18, determining whether the emission light beam of the second sensor channel is blocked: if the light beam is blocked, executing step S19; if the light beam is not blocked, executing step S17;

[0087] S19, record the interval time △t2 between two adjacent falling edges;

[0088] S20, continuously sampling the interval time △t between two adjacent falling edges of three second sensor channels 2i ;

[0089] S21, calculate the running speed of the seed guide belt

[0090] S22. Measure the pulley radius r and calculate the pulley angular velocity

[0091] S23. Calculate the pulley speed

[0092] S24, the reduction ratio is m, calculate the motor speed

[0093] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A sowing monitoring device, characterized in that: Includes interconnected monitoring sensors and algorithm control modules; The monitoring sensor comprises a first sensor channel transmitting end, a first sensor channel receiving end, a second sensor channel transmitting end and a second sensor channel receiving end, and adopts a dual-channel opposite-beam photoelectric sensing method and is installed on both sides of the seed guide belt; the first sensor channel transmitting end and the first sensor channel receiving end constitute a first sensor channel, and the second sensor channel transmitting end and the second sensor channel receiving end constitute a second sensor channel; The algorithm control module is used to perform sowing, reseeding and missed sowing counting, seed shortage monitoring and seed blockage monitoring according to the first low-level duration and the interval time between two adjacent falling edges of the signals of the two sensor channels; at the same time, the motor speed is monitored according to the interval time between two adjacent falling edges of the signal of the second sensor channel.

2. A sowing monitoring device as claimed in claim 1, characterized in that: An upper pulley and a lower pulley are respectively arranged at both ends of the seed guide belt; The first sensor channel transmitting end and the second sensor channel transmitting end are symmetrical about a line connecting the center point of the upper pulley and the center point of the lower pulley.

3. A sowing monitoring device as claimed in claim 1, characterized in that: The first sensor channel transmitting end and the first sensor channel receiving end are symmetrical about the plane where the seed guide belt is located, and the second sensor channel transmitting end and the second sensor channel receiving end are symmetrical about the plane where the seed guide belt is located.

4. A sowing monitoring device according to claim 1, characterized in that: Infrared emitting tubes are installed inside the first sensor channel emitting end and the second sensor channel emitting end, and a plurality of photosensitive elements are installed inside the first sensor channel receiving end and the second sensor channel receiving end.

5. A sowing monitoring device as claimed in claim 4, characterized in that: By adjusting the emission angle of the infrared emitting tube, the distance between the first sensor channel emitting end and the first sensor channel receiving end, and the distance between the second sensor channel emitting end and the second sensor channel receiving end, all photosensitive elements can cover the irradiation range of the light beam emitted by the infrared emitting tube.

6. A sowing monitoring device as claimed in claim 1, characterized in that: When the belt teeth on the seed guide belt pass through the monitoring sensor, the light beams of the first sensor channel and the second sensor channel are blocked at the same time.

7. A sowing monitoring method, characterized in that: The steps include: Acquire the first low level duration and the interval between two adjacent falling edges of the signal of the first sensor channel, and the first low level duration and the interval between two adjacent falling edges of the signal of the second sensor channel; According to the first low-level duration of the signals of the two sensor channels and the interval between two adjacent falling edges, sowing, re-seeding and missed sowing counting, seed shortage monitoring and seed blockage monitoring are carried out; The motor speed is monitored according to the interval time between two adjacent falling edges of the signal of the second sensor channel; Among them, the first sensor channel is composed of a first sensor channel transmitting end and a first sensor channel receiving end, and the second sensor channel is composed of a second sensor channel transmitting end and a second sensor channel receiving end; the first sensor channel transmitting end, the first sensor channel receiving end, the second sensor channel transmitting end and the second sensor channel receiving end adopt a dual-channel opposite-type photoelectric sensing method and are installed on both sides of the seed guide belt.

8. A sowing monitoring method according to claim 7, characterized in that: If the first low-level duration of the signal of the first sensor channel is equal to the first low-level duration of the signal of the second sensor channel, and the interval between two adjacent falling edges of the signal of the first sensor channel is less than the interval between two adjacent falling edges of the signal of the second sensor channel, or the first low-level duration of the signal of the first sensor channel is greater than the first low-level duration of the signal of the second sensor channel, it means that a seed has passed. The number of cycles when the seed passes and the number of falling edges of the signal of the first sensor channel within the interval between two adjacent falling edges of the signal of the second sensor channel are recorded; if the number of falling edges is within the set number, a sowing count is performed; if the number of falling edges exceeds the set number, a reseeding count is performed; if the number of cycles when a seed passes is not a theoretical value, a missed sowing count is performed; if the continuous missed sowing count exceeds the threshold, a seed shortage occurs.

9. A sowing monitoring method according to claim 7, characterized in that: If the first low level duration of the signal of the first sensor channel is greater than the interval between two adjacent falling edges of the signal of the second sensor channel, a blockage occurs.

10. A sowing monitoring method according to claim 7, characterized in that: The motor speed is: Among them, r is the pulley radius, H is the distance between two adjacent belt teeth, m is the reduction ratio, △t 2i is the interval time between two adjacent falling edges of the signal of the i-th second sensor channel.

11. A sowing monitoring method, characterized in that: Includes interconnected monitoring sensors and algorithm control modules; The monitoring sensor comprises a first sensor channel transmitting end, a first sensor channel receiving end, a second sensor channel transmitting end and a second sensor channel receiving end, and adopts a dual-channel opposite-beam photoelectric sensing method and is installed on both sides of the seed guide belt; the first sensor channel transmitting end and the first sensor channel receiving end constitute a first sensor channel, and the second sensor channel transmitting end and the second sensor channel receiving end constitute a second sensor channel; The first sensor channel transmitting end and the first sensor channel receiving end are symmetrical about the plane where the seed guide belt is located, and the second sensor channel transmitting end and the second sensor channel receiving end are symmetrical about the plane where the seed guide belt is located; The algorithm control module is used to perform sowing, re-seeding and missed sowing counting, seed shortage monitoring and seed blockage monitoring according to the first low-level duration and the interval between two adjacent falling edges of the signals of the two sensor channels; at the same time, the motor speed is monitored according to the interval between two adjacent falling edges of the signal of the second sensor channel; Seeding, reseeding and missed seeding counting, seed shortage and blocking monitoring methods, including: S1. At a fixed speed, monitor the first sensor channel transmitting end and the second sensor channel transmitting end to transmit a light beam, and the first sensor channel receiving end and the second sensor channel receiving end to receive the light beam, and prepare for monitoring; S2, determining whether the emission light beam of the second sensor channel is blocked: when the light beam is blocked, executing step S3, and when the light beam is not blocked, executing step S1; S3, record the first low level duration t2 of the second sensor channel and the interval between two adjacent falling edges, i.e., the cycle time △t2; S4, determining whether the emission light beam of the first sensor channel is blocked: when the light beam is blocked, executing step S5, and when the light beam is not blocked, executing step S3; S5, recording the first low level duration t1 of the first sensor channel and the interval time △t1 between two adjacent falling edges; S6, determine whether t1, t2, △t1, △t2 satisfy the relationship of t1=t2 and △t1=△t2: when t1=t2 and △t1=△t2 are satisfied, it means that no seeds pass through the first sensor channel, and both channel light sources are blocked by the seed guide belt, and step S5 is executed; when t1=t2 and △t1=△t2 are not satisfied, step S7 is executed; S7, determine whether t1, t2, △t1, △t2 satisfy the relationship of t1=t2 and △t1<△t2 or the relationship of t1>t2: if satisfied, it means that seeds pass through the first sensor channel, and the light source of the first sensor channel is blocked by the seeds and the seed guide belt, and step S8 is executed; if not satisfied, continue to execute step S7 for judgment; S8, recording the number of cycles x when the seed passes through and the number of falling edges n (n>0) within the cycle time △t2; S9, determine the size of x and n: when x≠X, execute step S10, where X is the theoretical value of the number of cycles when a seed passes through; when n≤the set number of times 2, it is a normal seed, execute step S13; when n>2, it is a replay, execute step S14; S10, missing broadcast count, the number of missed broadcasts increases by 1; S11, judging whether the number of consecutive missed broadcasts is ≥ threshold 3: when the number of consecutive missed broadcasts is ≥ 3, executing step S12; when the number of consecutive missed broadcasts is < 3, continuing to execute step S11 for judgment; S12, when seed shortage occurs, an alarm is issued to remind timely replenishment of seeds; S13, sowing count, normal seed number plus 1; S14, replay count, the replay number is increased by 1; S15, judging whether t1 and △t2 satisfy the relationship of t1>△t2: when the relationship of t1>△t2 is satisfied, executing step S16; when the relationship of t1>△t2 is not satisfied, continuing to execute step S15 for judgment; S16: Blockage occurs and an alarm is sounded, reminding you to shut down the motor and handle it in time; The speed measurement algorithm process includes: S17, the distance between two adjacent belt teeth is measured to be H, and the monitoring sensor emits a dual-channel light beam; S18, determining whether the emission light beam of the second sensor channel is blocked: when the light beam is blocked, executing step S19, and when the light beam is not blocked, executing step S17; S19, recording the interval time △t2 between two adjacent falling edges; S20, continuously sample the interval time △t between two adjacent falling edges of three second sensor channels 2i ; S21, calculate the running speed of the seed guide belt S22, the pulley radius is measured as r, and the pulley angular velocity is calculated S23, calculate the pulley speed S24, the reduction ratio is m, calculate the motor speed 12. A sowing monitoring method according to claim 11, characterized in that: An upper pulley and a lower pulley are respectively arranged at both ends of the seed guide belt; The first sensor channel transmitting end and the second sensor channel transmitting end are symmetrical about a line connecting the center point of the upper pulley and the center point of the lower pulley.

13. A sowing monitoring method according to claim 11, characterized in that: Infrared emitting tubes are installed inside the first sensor channel emitting end and the second sensor channel emitting end, and a plurality of photosensitive elements are installed inside the first sensor channel receiving end and the second sensor channel receiving end.

14. A sowing monitoring method according to claim 13, characterized in that: By adjusting the emission angle of the infrared emitting tube, the distance between the first sensor channel emitting end and the first sensor channel receiving end, and the distance between the second sensor channel emitting end and the second sensor channel receiving end, all photosensitive elements can cover the irradiation range of the light beam emitted by the infrared emitting tube.

15. A sowing monitoring method according to claim 11, characterized in that: When the belt teeth on the seed guide belt pass through the monitoring sensor, the light beams of the first sensor channel and the second sensor channel are blocked at the same time.

16. A sowing monitoring method according to claim 11, characterized in that: If the first low-level duration of the signal of the first sensor channel is equal to the first low-level duration of the signal of the second sensor channel, and the interval between two adjacent falling edges of the signal of the first sensor channel is less than the interval between two adjacent falling edges of the signal of the second sensor channel, or the first low-level duration of the signal of the first sensor channel is greater than the first low-level duration of the signal of the second sensor channel, it means that a seed has passed. The number of cycles when the seed passes and the number of falling edges of the signal of the first sensor channel within the interval between two adjacent falling edges of the signal of the second sensor channel are recorded; if the number of falling edges is within the set number, a sowing count is performed; if the number of falling edges exceeds the set number, a reseeding count is performed; if the number of cycles when a seed passes is not a theoretical value, a missed sowing count is performed; if the continuous missed sowing count exceeds the threshold, a seed shortage occurs.

17. A sowing monitoring method according to claim 11, characterized in that: If the first low level duration of the signal of the first sensor channel is greater than the interval between two adjacent falling edges of the signal of the second sensor channel, a blockage occurs.

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