CN-121058415-B - Real-time seed cutting type cassava sowing monitoring and positioning marking system and method

CN121058415BCN 121058415 BCN121058415 BCN 121058415BCN-121058415-B

Abstract

The invention discloses a real-time seed cutting type cassava sowing monitoring and positioning marking system and a real-time seed cutting type cassava sowing monitoring and positioning marking method, wherein the system comprises a cassava seed falling detection unit and a positioning marking unit; the cassava seed falling detection unit comprises an opposite-type matrix optical fiber sensor, a rotary encoder and a controller, wherein the opposite-type matrix optical fiber sensor is arranged on the side face of a cassava seed falling channel below a seed cutting mechanism of the planter, the rotary encoder is arranged on a land wheel rotating shaft arranged on the planter, the positioning marking unit comprises a marker material box, a spiral conveying and discharging mechanism and a material guiding pipe, a marker is arranged in the marker material box, and an inlet of the spiral conveying and discharging mechanism is communicated with an outlet of the marker material box. The system and the method can monitor the seed dropping condition in the seed guide pipe in real time, and calculate the planting fault position in real time when the seed missing and the seed cutting adhesion occur, thereby ensuring the operation quality of the real-time seed cutting type cassava planter and simultaneously facilitating the subsequent rapid seed supplementing and thinning.

Inventors

LI LING
WANG XILIN
DAI YE
Chen Pinlan
LIU ZEHUA
DENG GANRAN
YAN BIN
LI GUOJIE
ZHENG SHUANG
CUI ZHENDE
QIN SHUANGMEI
HE FENGGUANG
ZHOU SILI

Assignees

中国热带农业科学院农业机械研究所

Dates

Publication Date: 20260508
Application Date: 20251030

Claims (5)

1. The real-time seed cutting type cassava sowing monitoring and positioning marking method is characterized by being applied to a cassava sowing monitoring and positioning marking system, wherein the cassava sowing monitoring and positioning marking system is arranged on a planter and comprises a cassava seed falling detection unit and a positioning marking unit; The cassava seed falling detection unit comprises an opposite-type matrix optical fiber sensor, a rotary encoder and a controller, wherein the opposite-type matrix optical fiber sensor comprises an optical fiber transmitting end and an optical fiber receiving end, and the optical fiber transmitting end and the optical fiber receiving end are respectively arranged at two sides of a cassava seed falling channel below a seed cutting mechanism of the planter; The positioning marking unit comprises a marking material box, a spiral conveying and discharging mechanism and a material guide pipe, wherein the marking material box is arranged at the rear of a soil covering mechanism of the planter, and a marking material is arranged in the marking material box; the real-time seed cutting type cassava sowing monitoring and positioning marking method comprises the following steps: When the planter performs sowing operation, the rotary encoder is used for acquiring the rotation angle information of a land wheel rotating shaft of the planter and transmitting the rotation angle information to the controller, and the land wheel rotating shaft and a seed cutting knife of the seed cutting mechanism synchronously rotate; When the rotation angle of a seed cutting knife of the seed cutting mechanism is equal to the angle corresponding to the rotary seeding monitoring window, acquiring falling information of the cassava seeds in a cassava seed falling channel through an opposite-type matrix optical fiber sensor, transmitting the falling information to a controller, calculating real-time seed falling time of the cassava seeds in the seeding monitoring window through the controller, and judging whether a planting fault occurs to the planter or not based on the relative time interval, wherein the planting fault comprises missing seeding and seed cutting adhesion; if the planting faults occur, the controller controls the spiral conveying and blanking mechanism to carry out conveying operation, quantitatively pushes the markers in the marker material box into the material guide pipe, and then the material guide pipe lowers the markers to the planting positions corresponding to the planting faults; In the seed cutting and falling process of the cassava seeds, the seed cutting point is taken as an initial position, free falling motion is started, and the calculation formula of the time for the head and tail of the cassava seeds to reach the correlation matrix optical fiber sensor is as follows: ; ; Wherein h is the height from the head end of the cassava seeds to the correlation matrix optical fiber sensor when the cassava seeds leave the seed cutter, the unit m is l is the cutting length of the cassava seeds, g is the gravity acceleration, the unit m/s 2 ;t 1 is the time for the head end of the cassava seeds to reach the correlation matrix optical fiber sensor, and t 2 is the time for the tail end of the cassava seeds to reach the correlation matrix optical fiber sensor, and the unit s; The time t s of blocking the light beam at the opposite-type matrix optical fiber sensor by the cassava seed is as follows: ; In the rotary seeding monitoring window of two adjacent sets of seed cutters, taking 0.5 time of a time interval t s as a set value of a missing seeding timer and 1.5 time of a time interval t s as a set value of a cut segment adhesion timer, judging that a planter is missing seeding if t is less than or equal to 0.5t s , judging that the planter is cutting Duan Nianlian if t is more than 1.5t s , and judging that the planter is qualified if t is more than 0.5t s ＜t≤1.5t s ; When the cassava seeds pass, the matrix fiber sensor group triggers the interrupt output of the high level, and when the cassava seeds pass, the interrupt output of the low level is triggered, and the singlechip controller acquires pulse width through a timer, so as to calculate the time of the cassava seeds flowing through.
2. The method for monitoring, positioning and marking real-time seed cutting type cassava seeds according to claim 1, wherein the cassava seed falling detection unit further comprises an optical fiber amplifier, and the optical fiber amplifier is respectively and electrically connected with the opposite-type matrix optical fiber sensor and the controller; The cassava seed falling detection unit further comprises an audible and visual alarm which is arranged on one side, close to an operator, of the fertilizer mechanism of the planter, and is electrically connected with the controller and used for sending out corresponding warning sounds according to fault conditions in real time; The cassava seed falling detection unit further comprises a key and a digital display module, wherein the key and the digital display module are electrically connected with the controller and are arranged in a cab of the tractor and used for displaying the total number of cassava seed planting segments, the number of qualified planting, the number of missed seeding and the number of seed cutting adhesion.
3. The method for monitoring, positioning and marking real-time seed cutting type cassava sowing according to claim 1, wherein the spiral conveying and blanking mechanism comprises a spiral driving motor, a spiral conveying rod and an electromagnetic relay, the spiral driving motor is electrically connected with the electromagnetic relay, and the electromagnetic relay is electrically connected with the controller.
4. The method for monitoring, positioning and marking real-time seed cutting type cassava sowing according to claim 1, wherein the method for calculating the rotation angle of the seed cutting knife is as follows: ; Wherein, the The rotation angle of the rotating shaft of the planter cutter is M, the pulse number of the encoder is M, and R is the resolution of the encoder.
5. The method for monitoring and positioning and marking real-time seed cutting type cassava seeds according to claim 1, wherein the angle of the rotary seeding monitoring window is equal to 360 degrees/logarithm of seed cutting knife.

Description

Real-time seed cutting type cassava sowing monitoring and positioning marking system and method Technical Field The invention relates to intelligent agricultural machinery equipment, in particular to a real-time seed cutting type cassava sowing monitoring and positioning marking system and method. Background Cassava is a staple food guarantee for three tuber crops in the world and nearly billions of people worldwide, is an important industrial raw material crop, and is widely applied to multiple fields such as food, feed, energy and the like. The planting is a key link of cassava production, and along with the development of agricultural mechanization, a real-time seed cutting type cassava planter is already in a practical application stage. Real-time seed cutting type cassava planter is developed by scientific research institutions and enterprises at home and abroad, such as a wide-narrow double-row ridging type cassava planter disclosed in the invention patent application with the application publication number of CN 109743930A, a direct-insert type cassava planter disclosed in the invention patent application with the application publication number of CN 113170619A and the like, and the crop production efficiency is greatly improved. In a cassava planting system, the operational performance of the planting machinery directly affects the yield of cassava and the health of crops. However, the real-time seed cutting type cassava planter is in a high-speed and totally-closed state during operation, and the monitoring of the planting quality of the real-time seed cutting type cassava planter is also in a manual statistics stage, so that the labor intensity is high, the labor cost is high, the working efficiency is low, and the error is large. At present, the planting monitoring technology mainly comprises ① photoelectric detection, ② visual monitoring, ③ capacitance monitoring and ④ piezoelectric monitoring. Photoelectric monitoring is widely used because of the advantages of high sensitivity, simple and convenient signal processing, low cost and the like. Existing photoelectric monitoring technology focuses on monitoring seeds with small and medium grain sizes in sowing, and the monitoring principle is mainly to estimate the quantity of the seeds based on the advancing speed of an agricultural implement instead of an accurate value. And the monitoring system has single fault type, and most of the monitoring system only has missed broadcasting. However, when the real-time seed cutting type cassava planter works in the field, due to the influence of terrain conditions, the advancing speed is difficult to accurately regulate and control, and the planter is subject to interference such as different quality of seed rods, irregular operation of operators, quality reduction caused by long-time operation of cutters, and the like, and the fault types of miss seeding and seed cutting adhesion are easy to occur. In addition, after the cassava sowing operation is completed, a soil covering operation is required. Once the earthing is finished, planting faults such as miss-seeding or cut-seeding adhesion and the like in the sowing process can only be carried out after the cassava germinates, so that the manual investigation and remedying cost is increased, and adverse effects on the yield and quality can be generated. Disclosure of Invention The invention aims to overcome the problems, and provides a real-time seed cutting type cassava sowing monitoring and positioning marking system and method, which can monitor seed dropping conditions in a seed guide pipe in real time in the seed cutting sowing process of a cassava seed rod, calculate the position of a planting fault in real time when seed missing and seed cutting adhesion occur, and play different quantities of markers according to different fault types, thereby ensuring the operation quality of a real-time seed cutting type cassava planter and simultaneously facilitating subsequent rapid seed supplementing and thinning. The aim of the invention is achieved by the following technical scheme: The real-time seed cutting type cassava sowing monitoring and positioning marking system is arranged on a planter and comprises a cassava seed falling detection unit and a positioning marking unit; The cassava seed falling detection unit comprises an opposite-type matrix optical fiber sensor, a rotary encoder and a controller, wherein the opposite-type matrix optical fiber sensor comprises an optical fiber transmitting end and an optical fiber receiving end, and the optical fiber transmitting end and the optical fiber receiving end are respectively arranged at two sides of a cassava seed falling channel below a seed cutting mechanism of the planter; The positioning marking unit comprises a marking material box, a spiral conveying and discharging mechanism and a material guiding pipe, wherein the marking material box is arranged at the rear of a soil covering mechanism of the plant