CN101361423A - Self-cleaning sowing device and real-time monitoring method thereof - Google Patents
Self-cleaning sowing device and real-time monitoring method thereof Download PDFInfo
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- CN101361423A CN101361423A CNA2008101194831A CN200810119483A CN101361423A CN 101361423 A CN101361423 A CN 101361423A CN A2008101194831 A CNA2008101194831 A CN A2008101194831A CN 200810119483 A CN200810119483 A CN 200810119483A CN 101361423 A CN101361423 A CN 101361423A
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Abstract
The invention relates to a sowing machine, in particular to a sowing machine with the function of monitoring in real time; the sowing machine comprises a frame, a seed box, a seeding mechanism, a grain conductor and a monitoring device which is arranged on the grain conductor; a sensor unit in the monitoring device uses a photoelectric sensing mode of a grid grating to cover the whole section of the grain conductor and carry out independent monitoring to each grid, thus better realizing the monitoring to resowing. A monitoring method provided by the invention is simple and effective, has high accuracy and function of self-cleaning and improves the stability of monitoring; as the cost is low, the sowing machine with the function of monitoring in real time related to the invention has popularization.
Description
Technical field
The present invention relates to the agricultural equipment technical field, be specifically related to a kind of equipment and the technology that can monitor in real time the planting with sowing machine state.
Background technology
Along with the development of precision agriculture, more and more higher to the requirement of seeding quality.Particularly to intertillage crop such as corns, high-quality precise sowing not only can be saved seed and thinning work, and helps the seedling growth, improves output.Therefore the performance to novel precise (simple grain) sower proposes higher requirement, and its context of detection not only requires and can scarce kind and the clogging to routine detect in the sowing process, and requirement can be monitored broadcast leakage and replay in real time.
Have in a large number to planting with sowing machine amount Study of Monitoring at present, but mainly be to concentrate on the research that solves scarce kind of sower, stops up and sow grain counting number aspect.Though the monitoring to broadcast leakage has also obtained certain achievement, but still there is more problem aspect accuracy, reliability and the generalization.And a difficult point that is still domestic and international research is at present monitored in the replay of Precision Seeding machine.
In addition, in the sowing process, sensing device is enclosed in a humidity usually and is full of in the adverse circumstances of dust, mud, afterbirth, stalk, sticks to that monitoring element is luminous, the dust on the sensitive surface makes monitoring element contaminated and lost efficacy easily.The residing abominable working environment of sower has a strong impact on monitoring accuracy, has also influenced the popularization of planting with sowing machine amount monitoring technology.
At present, mainly being the mode of utilizing artificial unloading, cleaning, installation cleans the monitoring device of sower, and it is extremely inconvenient to waste time and energy, and is necessary to provide a kind of cleaning apparatus for self of monitoring device, improve the monitoring device monitoring accuracy, guarantee the automaticity and the degree of reliability of sower operation.
Summary of the invention
(1) technical problem that will solve
At problems such as the broadcast leakage that exists in the prior art, the monitoring difficulty of replaying and monitoring accuracy are low, the purpose of this invention is to provide a kind ofly in the seeding operation process, improper sowing situations such as broadcast leakage, replay are carried out device for monitoring and method.
At the existing in prior technology problem of artificial cleaning monitoring device, another object of the present invention provides a kind of cleaning apparatus for self of seeding monitoring device, and the luminous and light receiving surface of sensor is cleaned and protects, and guarantees the precision of monitoring device.
(2) technical scheme
In order to reach the foregoing invention purpose, the invention provides a kind of sower, comprise frame, plant case, seeding unit and grain conductor, also comprise the monitoring device that is positioned on the described grain conductor, described monitoring device comprises:
Sensor unit is placed in the described grain conductor outside, comprises some transmitting terminals and some receiving terminals, and described transmitting terminal produces perpendicular to described grain conductor axis and covers the collimated light beam of whole grain conductor cross section, and described receiving terminal receives described collimated light beam;
Signal processing unit links to each other with described sensor unit by interface circuit, when the interface circuit output is that high level then has seeds fall in the grain conductor;
When time interval that adjacent two high level occur, adjacent high level occurs during with normal sowing time interval was inconsistent, alert notice operating personnel then.
The present invention also provides a kind of sower, comprises frame, plants case, seeding unit and grain conductor, also comprises the monitoring device that is positioned on the described grain conductor, and described monitoring device comprises:
The square ring-type sensor unit group that vertically arranged two sensors unit A and B form, be placed in the outside of described grain conductor, described two sensors unit A is positioned at same plane and vertical mutually with two parallel gratings that two collimated light beams that B sends form, form a raster grating, the plane at described raster grating place is perpendicular to the grain conductor axis and cover the entire cross section of described grain conductor;
Two signal processing units, link to each other with B with described sensor unit A by different interface circuits respectively, when arbitrary interface circuit output is that high level then has seeds fall in the grain conductor,, the interface circuit output then do not have seeds fall in the grain conductor when being low level;
When time interval that adjacent two high level occur, adjacent high level occurs during with normal sowing time interval was inconsistent, alert notice operating personnel then.
Wherein, when the interface circuit that links to each other with sensor unit A or two non-conterminous high level of the interface circuit that links to each other with sensor unit B output, then fall two kinds in the grain conductor simultaneously, promptly occur replaying.
Wherein, described transmitting terminal is a generating laser, and described receiving terminal is a photodiode.
Wherein, the quantity of transmitting terminal in the described arbitrary group of sensor unit and receiving terminal is 7.
The present invention also provides a kind of method that the sowing situation is monitored in real time, and the method comprising the steps of:
S1: the time interval T that adjacent high level occurs during according to sower gait of march and the normal sowing of spacing in the rows setting;
S2: the time interval t that adjacent two high level occur in the monitoring sowing process;
S3: if t=T then is normal sowing; If t〉T, broadcast leakage then appears; If replaying then appears in t＜T; If t=0 promptly continues high level output, then grain conductor stops up below the monitored area.
S4: when normally sowing, show the sowing situation by display unit; During the improper sowing situation that broadcast leakage, replay occur, lacks kind, stop up, by alarm unit alert notice operating personnel.
The present invention also provides a kind of sower that possesses self-cleaning function, and described sower also comprises cleaning apparatus for self, and described cleaning apparatus for self comprises:
Travel(l)ing rest, square tabular, the centre has and the suitable circular hole of described grain conductor external diameter;
Eccentric wheel is installed in described travel(l)ing rest top, and its outer rim promotes described travel(l)ing rest and pumps during rotation;
Back-moving spring, between travel(l)ing rest lower surface and described sensor unit group upper surface, under described back-moving spring and described eccentric acting in conjunction, travel(l)ing rest pumps along lead;
Some felts, vertical fixing is in described travel(l)ing rest lower surface, surround with described square ring-type sensor unit group in ring suitable square, relative with four medial surfaces of described square ring-type sensor unit group and be in contact with it, wipe dirt on the sensor medial surface by the relative motion of felt and described medial surface;
Some leads are positioned at described back-moving spring, and four jiaos of an end and described travel(l)ing rest are connected, and the other end lays respectively in four jiaos of set holes of described square ring-type sensor unit group.
Wherein, described eccentric wheel and described travel(l)ing rest are configured to: eccentric wheel rotates a circle, and travel(l)ing rest up and down once.
Wherein, when described sensor unit group was in running order, eccentric wheel was in top dead center position, apart from nearest a bit the contacting with described travel(l)ing rest in axle center, made felt not block grating on the eccentric wheel outer rim.
Wherein, when described sensor unit group was in stopped status, eccentric wheel was in bottom dead center position, contacted with described travel(l)ing rest apart from farthest any of axle center on the eccentric wheel outer rim, made travel(l)ing rest be in the state of being depressed, the whole medial surface of felt covering sensor.
(3) beneficial effect
Seeding monitoring device provided by the invention by utilizing the photoelectric sensing mode of grid type grating, covers whole grain conductor cross section, and each grid is carried out independent monitoring, has realized lacking kind, obstruction, broadcast leakage, the especially monitoring to replaying.Monitoring method is simply effective, monitoring accuracy height; Have self-cleaning function, can keep stable monitoring performance in the seeding operation process for a long time; Cost is low, but has generalization.
Description of drawings
Fig. 1 is the structural representation of sower of the present invention;
Fig. 2 is the structural representation of the sensor unit in the sower of the present invention;
Fig. 3 is the structural representation of vertically arranged sensor unit group in the sower of the present invention;
Fig. 4 is the structural representation of the cleaning apparatus for self of sower of the present invention;
Fig. 5 is the eccentric wheel and the travel(l)ing rest fit structure schematic diagram of the cleaning apparatus for self of sower of the present invention.
Among the figure: 1, plant case; 2, seeding unit; 3, grain conductor; 4, monitoring device; 5, frame; 6, generating laser; 7, transparent protection plate; 8, grating; 9, shadow shield; 10, photodiode; 11, travel(l)ing rest; 12, lead; 13, back-moving spring; 14, sensor; 15, felt; 16, eccentric wheel.
Embodiment
Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
The invention provides a kind of sower, as shown in Figure 1, described sower comprises kind of case 1, seeding unit 2, grain conductor 3, monitoring device 4 and frame 5, and described monitoring device 4 is installed on the described grain conductor 3, and its critical piece is a sensor unit.As shown in Figure 2, described sensor unit comprises some transmitting terminals 6 and quantity is identical and some receiving terminals 10 of relative arrangement, the collimated light beam that described some transmitting terminals 6 produce is formed grating 8, described grating planar is perpendicular to the axis of described grain conductor 3 and cover the cross section of whole grain conductor 3, described receiving terminal 10 receives described collimated light beam, transmitting terminal 6 in the present embodiment adopts generating laser, and receiving terminal 10 adopts photodiode; Described monitoring device 4 also comprises signal processing unit, links to each other with described sensor unit by interface circuit, just judges sowing state in the grain conductor 3 by the level of interface circuit, and the signal processing unit in the present embodiment adopts the AT89C51 single-chip microcomputer.When light beam was not blocked by seed, promptly during light beam direct irradiation photodiode, the output of this photodiode correspondence was low level (0V) in the interface circuit; When light beam was blocked by seed, the output of the photodiode correspondence that is blocked in the interface circuit was high level (5V).So, when all receiving terminals 10 all receive light that transmitting terminal 6 emission comes, are that the output of interface circuit shows that all low level the time, can be judged as in the grain conductor 3 does not have seeds fall.When the output circuit of certain receiving terminal 10 correspondence was exported high level, then the corresponding light beam of expression was blocked, and in the grain conductor 3 seeds fall is arranged.
The diameter of grain conductor 3 is usually between 30～40mm, and seed sizes is less relatively, and when the seed in kind of the case 1 was discharged through grain conductors 3 by seeding unit 2, the position of seed in the cross section of grain conductor 3 was at random.Therefore, the situation of surveying sowing of accurately reflecting must be monitored the whole cross section of grain conductor 3.For covering the cross section of whole grain conductor 3, the present invention adopts the detecting unit of seven send-receives, and during working sensor, transmitting terminal 6 produces the grating of being made up of seven bundle directional lights 8, and plane, grating 8 place is perpendicular to the axial direction of grain conductor 3.Grain conductor 3 disconnects 3mm on grating 8 positions, so that light beam sees through, the position of two sections grain conductor 3 is kept by frame 5.
In order to guarantee that seed can block Ray Of Light at least and form detection signal when passing through grating 8 places, the spacing of light beam must be enough little.Minimum range between the adjacent two-beam is mainly determined by the size of sensor emission end emitting components.Adopting diameter among the present invention is that 6.5mm, wavelength are the small semiconductor generating laser of 635nm, and adjacent beams optical axis spacing minimum is 6.5mm, can satisfy the detection of seeds such as corn, soybean.
Any one output level saltus step from low to high in seven outputs of interface circuit all represents to have seed through surveyed area.Simultaneously, according to the optical axis spacing of grating 8 and the size of seed, think and can not block three or more light beams in any seeds fall process to have only a seed process when two adjacent beams are blocked simultaneously, can be regarded as a high level.By judging the situation of the time interval judgement sowing that two upward adjacent high level of output time occur.The time interval T that adjacent high level occurs during according to sower gait of march and the normal sowing of spacing in the rows setting.Detect the time interval t that adjacent two high level occur in the sowing process, following several situations are discussed respectively: (1) is if t=T is judged as normal sowing; (2) if t〉T, be judged as and broadcast leakage occurs; (3) if t＜T is judged as appearance and replays; (4) if t〉〉 T (desirable t〉5T), promptly be continuously low level output, be judged as grain conductor 3 and more than surveyed area, stop up or plant scarce kind of case; (5) if t=0 promptly continues to have high level output, be judged as grain conductor 3 and below surveyed area, stop up.By the situation that high level occurs, record is normal, the number seeds of broadcast leakage and replay, can calculate the leakage sowing rate and the replay rate of sowing process.T in the real work is an interval, as T=[0.1, and 0.2], as long as t within this interval range, all belongs to normal sowing; Otherwise be undesired sowing.
During normal the sowing, show the sowing situation by display unit; During the improper sowing situation that broadcast leakage, replay occur, lacks kind, stop up, by alarm unit alert notice operating personnel.
Because the size difference of corn seed etc. self all directions is bigger, and attitude differs in the sowing dropping process, might between the light beam by and can not block light beam, the result is judged by accident is broadcast leakage.Can realize by the beam axis spacing that reduces grating for addressing this problem in theory, but implement relative complex.On the other hand, if two above seeds pass through surveyed area (time difference of promptly passing through surveyed area less than the resolution of sensor time) simultaneously, having seed can be by omission, and promptly such replay can't accurately be detected.For example, as shown in Figure 3, when if two seeds are pressed position shown in the figure simultaneously by surveyed area, this moment is if only use a sensors A, because what two seeds blocked is same light beam, so have only d the output (being designated as Ad) on the sensors A high level to occur, also promptly only detect a seed in left side, and the seed on right side will be by omission.
In order to address the above problem, this embodiment of the present invention provides a kind of sower, described sower comprises kind of case 1, seeding unit 2, grain conductor 3, monitoring device 4 and frame 5, and described monitoring device 4 is installed on the described grain conductor 3, and its critical piece is a sensor unit.Because principle is identical, thus relate to principle part and with embodiment 1 in similarly content will be at this detailed description.How mainly introduce present embodiment below utilizes two sensors that improper sowing states such as replay, broadcast leakage are monitored.
This embodiment utilizes as shown in Figure 3, and sensors A and two vertically arranged modes of sensor of sensor B detect.Two sensors are fixed together, and form the sensor groups of a square ring-type, and the interior ring of described Q-RING is made up of transparent protection plate shown in Figure 27.Two formed two parallel gratings of sensor unit are in same plane, and are and mutually vertical, form a raster grating, and each sizing grid is 6.5mm * 6.5mm.Any a branch of light is blocked by seed and all has been considered to the seed process in the grating grid, like this by can reduce the False Rate of broadcast leakage to a great extent to the monitoring of each grid.And, though two seed only produces an Ad in sensors A high level outputs among Fig. 3 produce two non-conterminous high level outputs of Bb and Bf in sensor B.As basis for estimation, be judged as two seed processes by sensor B with a high level number sensor how here this moment, resowing phenomenon promptly occurs.
The seeding monitoring device that present embodiment provides by utilizing the photoelectric sensing mode of grid type grating, covers the cross section of whole grain conductor 3, and each grid is carried out independent monitoring, has realized lacking kind, obstruction, broadcast leakage, the especially monitoring to replaying.Monitoring method is simply effective, monitoring accuracy height.
Present embodiment provides a kind of sower that possesses self-cleaning function, described sower is except comprising all related among the embodiment 2 parts, also comprise cleaning apparatus for self as shown in Figure 4 and Figure 5, described cleaning apparatus for self comprises: travel(l)ing rest 11, it is tabular to be square, and the centre has and the suitable circular hole of described grain conductor external diameter; Eccentric wheel 16, be installed in the top of described travel(l)ing rest 11, its outer rim promoted described travel(l)ing rest 11 and pumps when described eccentric wheel 16 rotated, and described eccentric wheel 16 and described travel(l)ing rest 11 are configured to: eccentric wheel 16 rotates a circle, and travel(l)ing rest 11 up and down once; Back-moving spring 13, between travel(l)ing rest 11 lower surfaces and described sensor unit group 14 upper surfaces, under the acting in conjunction of described back-moving spring 13 and described eccentric wheel 16, travel(l)ing rest 11 pumps along lead 12; Some felts 15, vertical fixing is in described travel(l)ing rest 11 lower surfaces, surround with described square ring-type sensor unit group 14 in suitable square of ring, relative with four medial surfaces (being the transparent protection plate 7 among Fig. 2) of described square ring-type sensor unit group 14 and be in contact with it, wipe dirt on the sensor medial surface by the felt 15 and the relative motion of described medial surface; Some leads 13, four jiaos that are positioned at described back-moving spring 12, one ends and described travel(l)ing rest 11 are connected, and the other end lays respectively in 14 4 jiaos of set holes of described square ring-type sensor unit group.When described sensor unit group 14 was in running order, eccentric wheel 16 was in top dead center position, apart from nearest a bit the contacting with described travel(l)ing rest 11 in axle center, makes felt 15 not block the sensor grating on eccentric wheel 16 outer rims.When described sensor unit group 14 is in stopped status; eccentric wheel 16 is in bottom dead center position; contact with described travel(l)ing rest 11 apart from farthest any of axle center on eccentric wheel 16 outer rims, make travel(l)ing rest 11 be in the state of being depressed, the whole medial surface of felt 15 covering sensors.By the cleaning apparatus for self of said structure is installed, realize the self-cleaning function of sower monitoring device.
The sowing course of work that possesses the sower of self-cleaning function among the present invention mainly has three kinds of states: stopped status; Seeding detection state and automatically cleaning treatment state.In a seeding operation process, comprise following process substantially: system's startup-automatically cleaning processing-beginning seeding detection-stop seeding detection-automatically cleaning processing-system-down.
As shown in Figure 5, under stopped status, eccentric wheel is in bottom dead center position A, and the felt face of cleaning apparatus for self covers on the inner surface of sensor, plays the effect of protection sensor.
72074 after system starts, and begins before the sowing, and control system is sent instruction and automatically performed the automatically cleaning action.Rotation by eccentric wheel 16 forces automatically cleaning travel(l)ing rest 11 drive felts 15 to move up and down the inner surface of wiping sensor.Eccentric wheel 16 whenever rotates a circle, and wiping is once about in the of 15 for felt.The number of times of wiping is set by system as required, gets final product for general 10～15 times.Eccentric wheel 16 rested on the position of top dead centre B after automatically cleaning finished, and felt does not block the light beam of sensor.System switches to the seeding detection state, and sensor is started working, and seeding unit can carry out seeding.AT89C51 single-chip microcomputer processing unit is judged the current seeding state of seeding unit according to the signal output situation of sensor interface circuitry, and results such as seeding quantity, broadcast leakage amount, replay amount broadcast leakage index, replay index are presented on the display unit, as then notify the operating personnel to check when the broadcast leakage of plant, stopping up, exceed allowed band and replay occurring lacking by warning device.
After sowing was finished, control system was carried out the automatically cleaning operation once more.After automatically cleaning was finished, eccentric wheel stopped at the position of lower dead center A, and felt covers, protection sensor medial surface.
In addition, can increase the automatically cleaning processing of manual control according to the actual job needs.In automatically cleaning processing engineering, need guarantee that sensor is not under monitoring state.
According to cleaning apparatus for self provided by the present invention and method, by to adding the automated cleaning operation before and after the each sowing, the luminous and light receiving surface of sensor is cleaned and protects, the monitoring accuracy of assurance system.
Above embodiment only is used to illustrate the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; under the situation that does not break away from the spirit and scope of the present invention; can also make various variations; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (7)
1, a kind of sower comprises frame, plants case, seeding unit and grain conductor, it is characterized in that described sower also comprises the monitoring device that is positioned on the described grain conductor, and described monitoring device comprises:
One group or two sensors unit, be placed in the described grain conductor outside, comprise some transmitting terminals and some receiving terminals, described transmitting terminal produces perpendicular to described grain conductor axis and covers the collimated light beam of whole grain conductor cross section, and described receiving terminal receives described collimated light beam;
Signal processing unit, link to each other with described sensor unit by interface circuit, just judge the seeds fall situation and write down each high level according to interface circuit output level to go out now, in the grain conductor seeds fall is arranged when the interface circuit output has high level to export then;
Alarm unit when time interval that adjacent two high level occur, adjacent high level occurs during with normal sowing time interval was inconsistent, is then reported to the police.
2, sower as claimed in claim 1, it is characterized in that, when sensor unit is two groups, two sensors unit A and B are arranged vertically and form square ring-type sensor unit group, described two sensors unit A is positioned at same plane and vertical mutually with two parallel gratings that two collimated light beams that B sends form, form a raster grating, described raster grating is perpendicular to described grain conductor axis and cover the grain conductor entire cross section.
3, sower as claimed in claim 2, it is characterized in that, when the interface circuit that links to each other with sensor unit A or two non-conterminous high level of the interface circuit that links to each other with sensor unit B output, then fall two kinds in the grain conductor simultaneously, promptly monitor out replay.
4, sower as claimed in claim 3 is characterized in that, described transmitting terminal is a generating laser, and described receiving terminal is a photodiode.
5, sower as claimed in claim 4 is characterized in that, the transmitting terminal in the described arbitrary group of sensor unit and the quantity of receiving terminal are 7.
6, sower as claimed in claim 2 is characterized in that, described sower also comprises cleaning apparatus for self, and described cleaning apparatus for self comprises:
Travel(l)ing rest, square tabular, the centre has and the suitable circular hole of described grain conductor external diameter;
Eccentric wheel is installed in described travel(l)ing rest top, and its outer rim promotes described travel(l)ing rest and pumps during rotation;
Back-moving spring, between travel(l)ing rest lower surface and described sensor unit group upper surface, under described back-moving spring and described eccentric acting in conjunction, travel(l)ing rest pumps along lead;
Some felts, vertical fixing is in described travel(l)ing rest lower surface, surround with described square ring-type sensor unit group in ring suitable square, relative with four medial surfaces of described square ring-type sensor unit group and be in contact with it, wipe dirt on the sensor medial surface by the relative motion of felt and described medial surface;
Some leads are positioned at described back-moving spring, and four jiaos of an end and described travel(l)ing rest are connected, and the other end lays respectively in four jiaos of set holes of described square ring-type sensor unit group.
7, a kind of method of utilizing claim 1 or 2 described sowers to monitor is characterized in that the method comprising the steps of:
S1: the time interval T that adjacent high level occurs during according to sower gait of march and the normal sowing of spacing in the rows setting;
S2: the time interval t that adjacent two high level occur in the monitoring sowing process;
S3: if t=T then is normal sowing; If t〉T, broadcast leakage then appears; If replaying then appears in t＜T; If t=0 promptly continues high level output, then grain conductor stops up below the monitored area.
S4: when normally sowing, show the sowing situation by display unit; During the improper sowing situation that broadcast leakage, replay occur, lacks kind, stop up, by alarm unit alert notice operating personnel.
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| CN2008101194831A CN101361423B (en) | 2008-09-01 | 2008-09-01 | Self-cleaning sowing device and real-time monitoring method thereof |
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| CN2008101194831A CN101361423B (en) | 2008-09-01 | 2008-09-01 | Self-cleaning sowing device and real-time monitoring method thereof |
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| CN101611664B (en) * | 2009-07-22 | 2011-02-02 | 中国农业大学 | Self-cleaning device and planter for monitoring system of precision planter |
| CN102084745A (en) * | 2009-12-03 | 2011-06-08 | 东北农业大学 | Seed and fertilizer monitoring method for seeder |
| CN102172119A (en) * | 2011-03-03 | 2011-09-07 | 广西大学 | Monitoring system for precise seeding machine |
| CN102353553A (en) * | 2011-07-01 | 2012-02-15 | 中国农业大学 | Seed sowing device performance detection apparatus |
| CN102630410A (en) * | 2012-05-11 | 2012-08-15 | 吉林大学 | Missed seeding monitoring and positioning system for seeding machine and missed seeding monitoring and positioning method |
| CN102630407A (en) * | 2012-05-11 | 2012-08-15 | 吉林大学 | System and method for monitoring work state of seeder in real time |
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- 2008-09-01 CN CN2008101194831A patent/CN101361423B/en not_active Expired - Fee Related
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| CN101611664B (en) * | 2009-07-22 | 2011-02-02 | 中国农业大学 | Self-cleaning device and planter for monitoring system of precision planter |
| CN102084745A (en) * | 2009-12-03 | 2011-06-08 | 东北农业大学 | Seed and fertilizer monitoring method for seeder |
| CN102172119A (en) * | 2011-03-03 | 2011-09-07 | 广西大学 | Monitoring system for precise seeding machine |
| CN102353553A (en) * | 2011-07-01 | 2012-02-15 | 中国农业大学 | Seed sowing device performance detection apparatus |
| CN102630410B (en) * | 2012-05-11 | 2014-07-16 | 吉林大学 | Missed seeding monitoring and positioning system for seeding machine and missed seeding monitoring and positioning method |
| CN102630410A (en) * | 2012-05-11 | 2012-08-15 | 吉林大学 | Missed seeding monitoring and positioning system for seeding machine and missed seeding monitoring and positioning method |
| CN102630407A (en) * | 2012-05-11 | 2012-08-15 | 吉林大学 | System and method for monitoring work state of seeder in real time |
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