CN101361423B - Self-cleaning sowing device and real-time monitoring method thereof - Google Patents

Abstract

The invention relates to a seeder, in particular to a seeder with real-time monitoring function. The planter includes a frame, a seed box, a seed meter, a seed guide tube, and a monitoring device positioned on the seed guide tube. The sensor unit in the monitor device uses the photoelectric sensing method of the grid grating to cover the entire guide tube. Seed pipe section, and monitor each grid independently, better realize the monitoring of replay. The monitoring method provided by the invention is simple and effective, has high monitoring accuracy, and has a self-cleaning function, thereby improving monitoring stability. Due to low cost, the seeder with real-time monitoring function involved in the present invention has generalizability.

Description

A self-cleaning seeder and its real-time monitoring method

technical field

The invention relates to the technical field of agricultural equipment, in particular to a device and technology capable of real-time monitoring of the sowing state of a seeder.

Background technique

With the development of precision agriculture, the requirements for sowing quality are getting higher and higher. Especially for row crops such as corn, high-quality precision seeding can not only save the work of seeds and seedlings, but also help the growth of seedlings and increase production. Therefore, higher requirements are put forward for the performance of the new precision (single-grain) seeder. In terms of detection, it is not only required to be able to detect the conventional lack of seeds and blockages during the sowing process, but also to be able to monitor missed sowing and reseeding in real time.

At present, there have been a lot of researches on the monitoring of the seeding rate of the seeder, but the researches mainly focus on solving the problem of lack of seed, blockage and counting of the seeding number of the seeder. Although some results have been achieved in the monitoring of missed seeding, there are still many problems in terms of accuracy, reliability and scalability. However, the rebroadcast monitoring of precision broadcasting machines is still a difficult point in research at home and abroad.

In addition, during the sowing process, the sensing device is usually surrounded by a harsh environment full of dust, mud, afterbirth, and straw, and the dust adhering to the light-emitting and light-receiving surfaces of the monitoring element is likely to pollute the monitoring element and cause it to fail. The harsh working environment of the seeder seriously affects the accuracy of monitoring, and also affects the promotion of the seeding rate monitoring technology of the seeder.

At present, the monitoring device of the seeder is mainly cleaned by manual disassembly, cleaning, and installation, which is time-consuming and laborious and extremely inconvenient. It is necessary to provide a self-cleaning device for the monitoring device to improve the monitoring accuracy of the monitoring device and ensure the operation of the seeder. degree of automation and reliability.

Contents of the invention

(1) Technical problems to be solved

Aiming at the problems existing in the prior art such as missed sowing, difficult monitoring of rebroadcasting and low monitoring accuracy, the object of the present invention is to provide a device and device for monitoring abnormal sowing conditions such as missed sowing and rebroadcasting during the sowing operation process. method.

In view of the problems existing in the prior art of manually cleaning the monitoring device, another object of the present invention is to provide a self-cleaning device for the sowing monitoring device, which can clean and protect the light-emitting and light-receiving surfaces of the sensor and ensure the accuracy of the monitoring device.

(2) Technical solution

In order to achieve the above-mentioned purpose of the invention, the present invention provides a seeder, including a frame, a seed box, a seed meter and a seed guide tube, and also includes a monitoring device positioned on the seed guide tube, and the monitoring device includes:

The sensor unit is set on the outside of the seed tube and includes a number of transmitting ends and a number of receiving ends. The transmitting end generates a parallel light beam perpendicular to the axis of the seed tube and covers the entire cross section of the seed tube. The receiving end The end receives the parallel light beam;

The signal processing unit is connected to the sensor unit through an interface circuit, and when the output end of the interface circuit is at a high level, there are seeds falling in the seed guide tube;

When the time interval between the occurrence of two adjacent high levels is inconsistent with the time interval between the occurrence of adjacent high levels during normal sowing, the alarm will notify the operator.

The present invention also provides a planter, including a frame, a seed box, a seed meter, and a seed guide tube, and also includes a monitoring device positioned on the seed guide tube, and the monitoring device includes:

The square ring sensor unit group composed of two groups of sensor units A and B vertically arranged is set on the outside of the seed introduction tube, and the two parallel light beams emitted by the two groups of sensor units A and B form two parallel gratings Located in the same plane and perpendicular to each other to form a grid grating, the plane where the grid grating is located is perpendicular to the axis of the seed introducing tube and covers the entire cross section of the seed introducing tube;

The two signal processing units are respectively connected to the sensor units A and B through different interface circuits. When the output end of any interface circuit is at a high level, there are seeds falling in the seed guide tube. When the output ends of the interface circuit are both low level, there is no seed drop in the seed tube;

When the time interval between the occurrence of two adjacent high levels is inconsistent with the time interval between the occurrence of adjacent high levels during normal sowing, the alarm will notify the operator.

Wherein, when the interface circuit connected to the sensor unit A or the interface circuit connected to the sensor unit B outputs two non-adjacent high levels, two seeds fall into the seed tube at the same time, that is, a replay occurs.

Wherein, the transmitting end is a laser transmitter, and the receiving end is a photosensitive diode.

Wherein, the number of transmitters and receivers in any group of sensor units is 7.

The present invention also provides a method for real-time monitoring of sowing conditions, the method comprising the steps of:

S1: According to the speed of the seeder and the distance between plants, set the time interval T between the occurrence of adjacent high levels during normal sowing;

S2: monitor the time interval t between two adjacent high levels during the sowing process;

S3: If t=T, it is normal sowing; if t>T, there will be missed sowing; if t<T, there will be replay; if t=0, that is, continuous high-level output, the seed guide tube is in the monitoring area The following is blocked.

S4: During normal sowing, the display unit displays the sowing status; when there are abnormal sowing conditions such as missing sowing, replaying, lack of seeds, and blockage, the alarm unit alarms to notify the operator.

The present invention also provides a seeder with a self-cleaning function, the seeder also includes a self-cleaning device, and the self-cleaning device includes:

The movable bracket is in the shape of a square plate, with a round hole in the middle matching the outer diameter of the seed introduction tube;

The eccentric wheel is installed on the upper part of the movable bracket, and its outer edge pushes the movable bracket to reciprocate up and down when rotating;

The return spring is located between the lower surface of the movable support and the upper surface of the sensor unit group. Under the joint action of the return spring and the eccentric wheel, the movable support reciprocates up and down along the guide column;

A number of felts are vertically fixed on the lower surface of the movable support, forming a square suitable for the inner ring of the square ring sensor unit group, facing and in contact with the four inner sides of the square ring sensor unit group , wiping the dirt on the inner surface of the sensor through the relative movement between the felt and the inner surface;

A plurality of guide columns are located in the return spring, one end is fixedly connected with the four corners of the movable bracket, and the other ends are respectively located in the holes provided at the four corners of the square ring sensor unit group.

Wherein, the configuration of the eccentric wheel and the movable support is as follows: the eccentric wheel rotates once, and the movable support goes up and down once.

Wherein, when the sensor unit group is in the working state, the eccentric wheel is at the top dead center position, and the point on the outer edge of the eccentric wheel closest to the axis is in contact with the movable bracket, so that the felt does not block the grating.

Wherein, when the sensor unit group is in the shutdown state, the eccentric wheel is at the bottom dead center position, and the point on the outer edge of the eccentric wheel farthest from the axis is in contact with the movable support, so that the movable support is in a depressed state and covered with felt. The entire inner side of the sensor.

(3) Beneficial effects

The sowing monitoring device provided by the present invention covers the entire cross-section of the seed guide tube by using the photoelectric sensing method of the grid grating, and independently monitors each grid, so as to realize the detection of seed shortage, blockage, and missed seeding, especially for Replay monitoring. The monitoring method is simple and effective, and the monitoring accuracy is high; it has a self-cleaning function, and can maintain stable monitoring performance during a long-term sowing operation; the cost is low, and it is scalable.

Description of drawings

Fig. 1 is the structural representation of seeder of the present invention;

Fig. 2 is the structural representation of the sensor unit in the planter of the present invention;

Fig. 3 is a schematic structural view of a vertically arranged sensor unit group in a planter of the present invention;

Fig. 4 is the structural representation of the self-cleaning device of seeder of the present invention;

Fig. 5 is a schematic diagram of the cooperative structure of the eccentric wheel and the movable bracket of the self-cleaning device of the seeder of the present invention.

In the figure: 1. Seed box; 2. Seed meter; 3. Seed guide tube; 4. Monitoring device; 5. Rack; 6. Laser transmitter; 7. Transparent protective plate; 8. Grating; 9. Shading plate ; 10, photosensitive diode; 11, movable bracket; 12, guide post; 13, return spring; 14, sensor; 15, felt; 16, eccentric wheel.

Detailed ways

The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

Example 1

The present invention provides a seeder, as shown in Figure 1, the seeder includes a seed box 1, a seed meter 2, a seed pipe 3, a monitoring device 4 and a frame 5, and the monitoring device 4 is installed on the On the above-mentioned seed introduction tube 3, its main component is a sensor unit. As shown in Figure 2, the sensor unit includes a number of emitting ends 6 and a number of receiving ends 10 that are the same in number and arranged oppositely. The parallel light beams generated by the several emitting ends 6 form a grating 8, and the grating plane is perpendicular to the guide. The axis of the seed tube 3 and cover the cross-section of the entire seed tube 3, the receiving end 10 receives the parallel light beam, the transmitting end 6 in the present embodiment adopts a laser transmitter, and the receiving end 10 adopts a photosensitive diode; The monitoring device 4 also includes a signal processing unit, which is connected to the sensor unit through an interface circuit, and judges the sowing state in the seed guide tube 3 through the level of the interface circuit. The signal processing unit in this embodiment adopts an AT89C51 single-chip microcomputer. When the light beam is not blocked by the seeds, that is, when the light beam directly irradiates the photodiode, the corresponding output terminal of the photodiode in the interface circuit is low level (0V); The output terminal is high level (5V). Therefore, when all the receiving ends 10 receive the light emitted by the transmitting end 6, that is, when the output ends of the interface circuit all display a low level, it can be judged that there is no seed falling in the seed introducing tube 3 . When the output circuit corresponding to a receiving end 10 outputs a high level, it means that the corresponding light beam is blocked, and seeds fall in the seed guide tube 3 .

The diameter of the seed guide tube 3 is usually between 30 and 40mm, and the size of the seeds is relatively small. When the seeds in the seed box 1 are discharged from the seed meter 2 through the seed guide tube 3, the seeds are within the cross section of the seed guide tube 3 The position is random. Therefore, the situation of accurately discriminating and measuring sowing must be monitored to the whole cross-section of the seed introduction pipe 3. In order to cover the cross-section of the whole seed introduction tube 3, the present invention adopts seven emission-receiving detection units. When the sensor works, the emission end 6 produces a grating 8 composed of seven beams of parallel light, and the plane where the grating 8 is located is perpendicular to the direction of the seed. The axial direction of the tube 3. Seed guide tube 3 breaks 3mm on the position of grating 8, so that light beam passes through, and the position of upper and lower two section seed guide tubes 3 is kept by frame 5.

In order to ensure that at least one beam of light can be blocked to form a detection signal when the seeds pass through the grating 8, the distance between the beams must be small enough. The minimum distance between two adjacent beams of light is mainly determined by the size of the light-emitting components at the sensor's emitting end. In the present invention, a small semiconductor laser emitter with a diameter of 6.5mm and a wavelength of 635nm is used, and the distance between the optical axes of adjacent beams is at least 6.5mm, which can satisfy the detection of corn, soybean and other seeds.

A transition of the level of any one of the seven output terminals of the interface circuit from low to high indicates that a seed passes through the detection area. At the same time, according to the optical axis spacing of the grating 8 and the size of the seeds, it is considered that any seed will not block three or more light beams during the falling process. When two adjacent light beams are blocked at the same time, only one seed passes through, which is counted as a high-voltage flat. The sowing status is judged by judging the time interval between two high levels adjacent to each other in time. Set the time interval T between adjacent high levels during normal sowing according to the speed of the seeder and the distance between plants. Detect the time interval t between two adjacent high levels in the sowing process, and discuss the following situations respectively: (1) if t=T, it is judged as normal sowing; (2) if t>T, it is judged as missed sowing; (3) If t<T, it is judged that there is a replay; (4) If t>>T (preferably t>5T), that is, the low-level output continues, and it is judged that the seed introduction tube 3 is blocked above the detection area or the seed box Seed shortage; (5) If t=0, that is, there is continuous high-level output, it is judged that the seed introduction tube 3 is blocked below the detection area. By recording the number of normal, missed and rebroadcasted seeds through the occurrence of high level, the missed broadcast rate and rebroadcast rate of the sowing process can be calculated. T in actual work is an interval, such as T=[0.1, 0.2], as long as t is within this interval, it belongs to normal sowing; otherwise, it is abnormal sowing.

During normal sowing, the display unit displays the sowing status; when there are abnormal sowing conditions such as missing sowing, replaying, lack of seeds, and blockage, the alarm unit alarms to notify the operators.

Example 2

Since the size of corn seeds in each direction is quite different, and their postures are different during the sowing and falling process, it is possible to pass between the beams without blocking the beams, making the result misjudged as missed sowing. In order to solve this problem, it can be realized theoretically by reducing the beam axis spacing of the grating, but the implementation is relatively complicated. On the other hand, if two or more seeds pass through the detection area at the same time (that is, when the time difference between passing through the detection area is less than the resolution of the sensor), some seeds may be missed, that is, this type of replay cannot be accurately detected. For example, as shown in Figure 3, if two seeds pass through the detection area at the same time as shown in the figure, if only one sensor A is used at this time, since the two seeds block the same light beam, only the first sensor A on sensor A A high level appears at the d output terminals (denoted as Ad), that is, only one seed on the left side is detected, and the seed on the right side will be missed.

In order to solve the above problems, this embodiment of the present invention provides a seeder, which includes a seed box 1, a seed meter 2, a seed pipe 3, a monitoring device 4 and a frame 5, and the monitoring device 4 Installed on the described seed pipe 3, its main component is a sensor unit. Since the principle is the same, the part related to the principle and the content similar to that in Embodiment 1 will not be described in detail here. The following mainly introduces how this embodiment uses two sensors to monitor abnormal sowing states such as replay and missed broadcast.

In this embodiment, two sensors, sensor A and sensor B, are vertically arranged as shown in FIG. 3 for detection. The two sensors are fixed together to form a square ring-shaped sensor group, and the inner ring of the square ring is composed of the transparent protective plate 7 shown in FIG. 2 . The two parallel gratings formed by the two sensor units are in the same plane and perpendicular to each other, forming a grid grating, each grid size is 6.5mm×6.5mm. If any beam of light in the grating grid is blocked by a seed, it is considered that a seed has passed through, so that the misjudgment rate of missed broadcasting can be greatly reduced by monitoring each grid. Moreover, although the two seeds in Figure 3 only produce a high-level output of Ad in sensor A, they produce two non-adjacent high-level outputs of Bb and Bf in sensor B. At this time, a sensor with a large number of high levels is used as the basis for judgment. Here, it is judged by sensor B that two seeds have passed by, that is, a replay phenomenon occurs.

The sowing monitoring device provided in this embodiment covers the cross-section of the entire seed guide tube 3 by using the photoelectric sensing method of the grid grating, and independently monitors each grid, so as to realize the detection of seed shortage, blockage, and missing seeding. , especially the monitoring of replays. The monitoring method is simple and effective, and the monitoring accuracy is high.

Example 3

This embodiment provides a seeder with self-cleaning function, the seeder includes all the parts involved in Embodiment 2, and also includes a self-cleaning device as shown in Figure 4 and Figure 5, the self-cleaning The device includes: a movable bracket 11, in the shape of a square plate, with a round hole in the middle matching the outer diameter of the seed tube; an eccentric wheel 16, installed above the movable bracket 11, and the eccentric wheel 16 rotates When its outer edge pushes the movable support 11 to reciprocate up and down, the eccentric wheel 16 and the movable support 11 are configured as follows: the eccentric wheel 16 rotates once, and the movable support 11 goes back and forth once; the back-moving spring 13 is positioned at the movable support 11 Between the lower surface and the upper surface of the sensor unit group 14, under the joint action of the return spring 13 and the eccentric wheel 16, the movable bracket 11 reciprocates up and down along the guide column 12; several felts 15 are vertically fixed on the The lower surface of the movable support 11 surrounds a square suitable for the inner ring of the square ring sensor unit group 14, and is connected to the four inner sides of the square ring sensor unit group 14 (that is, transparent in Fig. 2 ). Protection plate 7) is opposite and contacts with it, wipes off the dirt on the sensor inner surface by the relative motion of felt 15 and described inner surface; The four corners are fixedly connected, and the other ends are respectively located in the holes provided at the four corners of the square ring sensor unit group 14. When the sensor unit group 14 is in working condition, the eccentric wheel 16 is at the top dead center position, and the point on the outer edge of the eccentric wheel 16 closest to the axis is in contact with the movable bracket 11, so that the felt 15 does not block the sensor grating. When the sensor unit group 14 is in the shutdown state, the eccentric wheel 16 is at the bottom dead center position, and the point on the outer edge of the eccentric wheel 16 farthest from the axis is in contact with the movable bracket 11, so that the movable bracket 11 is in a depressed state , Felt 15 covers the entire inner side of the sensor. By installing the self-cleaning device with the above structure, the self-cleaning function of the seeder monitoring device is realized.

The sowing working process of the seeder with self-cleaning function in the present invention mainly has three states: stop state; sowing monitoring state and self-cleaning processing state. A sowing operation basically includes the following processes: system start-self-cleaning treatment-start sowing monitoring-stop sowing monitoring-self-cleaning treatment-system shutdown.

As shown in Figure 5, in the stop state, the eccentric wheel is at the bottom dead center position A, and the felt surface of the self-cleaning device covers the inner surface of the sensor to protect the sensor.

After the system is started, before starting to sow, the control system issues instructions to automatically perform self-cleaning actions. The rotation of the eccentric wheel 16 forces the self-cleaning movable support 11 to drive the felt 15 to move up and down to wipe the inner surface of the sensor. Whenever the eccentric wheel 16 rotates once, the felt 15 wipes up and down once. According to the needs, the number of wipes can be set by the system, generally 10 to 15 times. After the self-cleaning is completed, the eccentric wheel 16 stays at the position of the top dead center B, and the felt does not block the light beam of the sensor. The system switches to the seeding monitoring state, the sensor starts to work, and the seed metering device can perform seeding. The AT89C51 single-chip processing unit judges the current seeding status of the metering device according to the signal output of the sensor interface circuit, and displays the results of the seeding amount, missed seeding amount, reseeding amount, missed seeding index, and replaying index on the display device. When there is a variety, blockage, missed broadcast and replay beyond the allowable range, the operator will be notified through the alarm device to check.

After sowing, the control system performs self-cleaning operation again. After the self-cleaning is completed, the eccentric wheel stops at the bottom dead center A, and the felt covers and protects the inner surface of the sensor.

In addition, manual control of self-cleaning treatment can be added according to actual operation needs. In the self-cleaning process, it is necessary to ensure that the sensor is not in the monitoring state.

According to the self-cleaning device and method provided by the present invention, by adding an automatic cleaning operation before and after each sowing, the light-emitting and light-receiving surfaces of the sensor are cleaned and protected to ensure the monitoring accuracy of the system.

The above embodiments are only used to illustrate the present invention, but not to limit the present invention. Those of ordinary skill in the relevant technical field can make various changes without departing from the spirit and scope of the present invention. Therefore, all equivalent The technical solution also belongs to the category of the present invention, and the scope of patent protection of the present invention should be defined by the claims.

Claims (5)

1. a planter, comprising a frame, a seed box, a seed meter and a seed guide tube, characterized in that, the planter also includes a monitoring device positioned on the seed guide tube, and the monitoring device comprises: One or two groups of sensor units are set outside the seed tube, including several transmitting ends and several receiving ends. light beams, the receiving end receives the parallel light beams; The signal processing unit is connected with the sensor unit through the interface circuit, judges the whereabouts of the seeds according to the level of the output terminal of the interface circuit and records the occurrence time of each high level. There are seeds falling; Alarm unit, when the time interval between two adjacent high levels is inconsistent with the time interval between adjacent high levels during normal sowing, it will alarm; Wherein, when there are two groups of sensor units, the two groups of sensor units A and B are vertically arranged to form a square ring sensor unit group, and the two parallel gratings formed by the two parallel light beams emitted by the two groups of sensor units A and B are located at the same In the plane and perpendicular to each other, a grid grating is formed, and the grid grating is perpendicular to the axis of the seed introducing tube and covers the entire cross section of the seed introducing tube. 2. The planter according to claim 1, wherein when the interface circuit connected to the sensor unit A or the interface circuit connected to the sensor unit B outputs two non-adjacent high levels, then the When two seeds are dropped at the same time, the replay is monitored. 3. The planter according to claim 2, wherein the transmitting end is a laser transmitter, and the receiving end is a photodiode. 4. The planter according to claim 3, characterized in that, the number of transmitters and receivers in any group of sensor units is seven. 5. The planter according to claim 1, wherein the planter also comprises a self-cleaning device, and the self-cleaning device comprises: The movable bracket is in the shape of a square plate, with a round hole in the middle matching the outer diameter of the seed introduction tube; The eccentric wheel is installed on the upper part of the movable bracket, and its outer edge pushes the movable bracket to reciprocate up and down when rotating; The return spring is located between the lower surface of the movable support and the upper surface of the sensor unit group. Under the joint action of the return spring and the eccentric wheel, the movable support reciprocates up and down along the guide column; A number of felts are vertically fixed on the lower surface of the movable support, forming a square suitable for the inner ring of the square ring sensor unit group, facing and in contact with the four inner sides of the square ring sensor unit group , wiping the dirt on the inner surface of the sensor through the relative movement between the felt and the inner surface; A plurality of guide columns are located in the return spring, one end is fixedly connected with the four corners of the movable bracket, and the other ends are respectively located in the holes provided at the four corners of the square ring sensor unit group.

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