CN114128446A - Seeding state obtaining method and device, storage medium and seeding equipment - Google Patents
Seeding state obtaining method and device, storage medium and seeding equipment Download PDFInfo
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- CN114128446A CN114128446A CN202111445259.3A CN202111445259A CN114128446A CN 114128446 A CN114128446 A CN 114128446A CN 202111445259 A CN202111445259 A CN 202111445259A CN 114128446 A CN114128446 A CN 114128446A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
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- H—ELECTRICITY
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract
The application provides a seeding state acquisition method, a seeding state acquisition device, a storage medium and seeding equipment, wherein the initial time of a seed discharging signal and the end time of the seed discharging signal of a seed are acquired; the seed metering signal initial time is the initial time when the seeds enter the seed metering monitoring area, and the seed metering signal end time is the end time when the seeds leave the seed metering monitoring area; and acquiring the current sowing state according to the initial time of the sowing signal and the end time of the sowing signal. Under the condition of knowing the initial time of the seed discharge signal and the end time of the seed discharge signal, the current sowing state is accurately acquired, the precision sowing is favorably realized, the sowing efficiency is improved, the sowing uniformity is guaranteed, and the intelligent control and adjustment are carried out on the sowing.
Description
Technical Field
The application relates to the field of agricultural machinery, in particular to a seeding state obtaining method and device, a storage medium and seeding equipment.
Background
Along with the improvement of the living standard of people, the living consumption of people is also obviously improved. In order to meet the increasing consumption of life, the development of precision agriculture is imperative. Precision agriculture is an effective way for realizing high-quality, high-yield, low-consumption and environment-friendly sustainable development of agriculture. Sowing is often performed in precision agriculture by using a sowing machine. Precision seeding is an important part of precision agriculture and plays an important role in the yield and quality of crops.
How to accurately and efficiently detect information such as the falling state and position of seeds on the seeder is the premise of realizing precision seeding.
Disclosure of Invention
An object of the present application is to provide a seeding state acquisition method, apparatus, storage medium, and seeding device to partially improve the above-described problems.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a seeding state obtaining method, which is applied to a seeding device, and the method includes:
acquiring the initial time of a seed sowing signal and the end time of the seed sowing signal of a seed;
the seed metering signal initial time is the initial time when the seeds enter a seed metering monitoring area, and the seed metering signal end time is the end time when the seeds leave the seed metering monitoring area;
and acquiring the current sowing state according to the initial sowing signal time and the ending sowing signal time.
Compared with the prior art, the seeding state obtaining method, the seeding state obtaining device, the storage medium and the seeding equipment provided by the embodiment of the application obtain the initial time of the seed discharging signal and the ending time of the seed discharging signal of the seed; the seed metering signal initial time is the initial time when the seeds enter the seed metering monitoring area, and the seed metering signal end time is the end time when the seeds leave the seed metering monitoring area; and acquiring the current sowing state according to the initial time of the sowing signal and the end time of the sowing signal. Under the condition of knowing the initial time of the seed discharge signal and the end time of the seed discharge signal, the current sowing state is accurately acquired, the precision sowing is favorably realized, the sowing efficiency is improved, the sowing uniformity is guaranteed, and the intelligent control and adjustment are carried out on the sowing.
Optionally, the current seeding state comprises a seed discharge state; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps: determining the falling time of the seeds according to the seeding signal initial time and the seeding signal end time; when the falling time is longer than a first preset time, the seed discharge state is determined to be a multi-seed superposition state; and when the falling time is less than a second preset time, determining that the seed discharge state is a seed broken state or an impurity state, wherein the second preset time is less than or equal to the first preset time. Can accurately acquire single seed discharge state when falling through long, the user of being convenient for knows the seeding result, is of value to realize accurate seeding.
Optionally, the current seeding status comprises a pipeline status; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps: and determining the state of the pipeline as a blocked state under the condition that the seeding signal ending time is empty and the interval between the seeding signal initial time and the current time is greater than a third preset time. Thereby prompting the staff to process the pipeline and solving the blockage problem. Further, when the pipeline state is the blocking state, the blocked pipeline cannot be effectively seeded, and the miss-seeding area of the seeds can be determined by combining the row path information of the seeding equipment, so that the subsequent reseeding is facilitated.
Optionally, the current seeding status comprises a seeding number; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps: and acquiring the seeding quantity according to the seeding signal initial time and the seeding signal end time in the preset statistical time period, so that a user can know the seeding condition conveniently.
Optionally, the current seeding status comprises a seed position status; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps: acquiring the falling speed of the seeds according to the seeding signal initial time, the seeding signal end time and the seeding monitoring area; and determining the position state of the seeds according to the falling speed, the falling time of the seeds and the current position information of the sowing equipment, wherein the falling time is the initial time of the seed discharging signal or the end time of the seed discharging signal. It is convenient for the user to know the location of each seed. The current position information is the position information of the sowing equipment at the finishing time of the sowing signal or the initial time of the sowing signal.
Optionally, the sowing apparatus comprises a first processor, a second processor and at least one set of seed metering monitoring sensors, the seed metering monitoring sensors are all connected with the first processor, and the first processor is also connected with the second processor; before the acquiring a seed metering signal initial time and a seed metering signal end time of the seed, the method further comprises: the seed metering monitoring sensor acquires seed metering signal initial time and seed metering signal end time of seeds, and transmits the seed metering signal initial time and the seed metering signal end time to the first processor; the first processor edits the seed metering signal initial time and the seed metering signal end time into a message frame according to a preset period, and transmits the message frame to the second processor, wherein the message frame also carries an identifier of a corresponding seed metering monitoring sensor; the step of obtaining the seed metering signal initial time and the seed metering signal end time of the seeds comprises the following steps: the second processor analyzes the message frame to acquire monitoring information of the seeding monitoring sensor in the preset period, wherein the monitoring information comprises seeding signal initial time and seeding signal end time. Therefore, the second processor can quickly and accurately acquire the seeding signal initial time and the seeding signal end time.
Optionally, the current sowing state includes a sowing amount in a preset statistical time period, the preset statistical time period includes at least one preset period, the monitoring information further includes a signal continuous identifier, a seed metering counting identifier and a period counting identifier, the signal continuous identifier indicates whether a seed metering signal exists at the end of the preset period, the seed metering counting identifier indicates the number of seed metering times in the preset period, and the period counting identifier indicates the sequence number of the preset period in the preset statistical time period; after the second processor parses the message frame, the method further comprises: the second processor determines the previous message frame according to the cycle counting identification in the current message frame; under the condition that the signal continuous identifier in the last message frame indicates that no seeding signal exists at the end of the last preset period, the second processor determines the numerical value corresponding to the seeding counting identifier in the current message frame as the seeding number of the seeding monitoring sensor in the corresponding preset period; under the condition that the signal continuous identifier in the last message frame represents that a seed metering signal exists at the end of the last preset period, the second processor subtracts 1 from the numerical value corresponding to the seed metering counting identifier in the current message frame, and then the numerical value is determined as the seeding quantity of the seed metering monitoring sensor in the corresponding preset period; and the second processor determines the sum of the seeding numbers in all preset periods as the seeding number in the preset statistical time period. By the method, the seeding quantity can be quickly and accurately acquired, and the reference of a user is facilitated.
Optionally, the current sowing state includes a falling time of the seed, the monitoring information includes a falling time identifier and a period counting identifier, the falling time identifier represents an interval between the falling time of the seed and a starting time of the preset period, and the period counting identifier represents a sequence number of the preset period within the preset statistical time period; after the second processor parses the message frame, the method further comprises: the second processor multiplies the numerical value in the period counting identifier by a preset period length to determine the starting time of the preset period; and the second processor adds the starting time of the preset period and the falling time identifier to determine the falling time. The state monitoring can be further conveniently carried out by utilizing the falling time subsequently.
Optionally, the packet frame carries a corresponding sequence number, and the method further includes: and the second processor determines that the message is lost when the serial numbers of the continuously received message frames are discontinuous. Therefore, the comprehensiveness and the accuracy of the monitoring data are guaranteed.
In a second aspect, an embodiment of the present application provides a seeding state obtaining device, which is applied to a seeding apparatus, the device includes:
the information acquisition unit is used for acquiring the initial time of a seed sowing signal and the end time of the seed sowing signal of the seeds;
the seed metering signal initial time is the initial time when the seeds enter a seed metering monitoring area, and the seed metering signal end time is the end time when the seeds leave the seed metering monitoring area;
and the processing unit acquires the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time.
In a third aspect, the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described above.
In a fourth aspect, embodiments of the present application provide a sowing apparatus, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the methods described above.
Drawings
FIG. 1 is a schematic structural diagram of a sowing apparatus provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a seeding state obtaining method according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a sowing apparatus provided in an embodiment of the present application;
FIG. 4 is one of the schematic diagrams of substep S302 of FIG. 2;
FIG. 5 is one of the schematic diagrams of substep S302 of FIG. 2;
FIG. 6 is one of the schematic diagrams of substep S302 of FIG. 2;
FIG. 7 is one of the schematic diagrams of substep S302 of FIG. 2;
fig. 8 is a schematic flow chart of a seeding state obtaining method according to another embodiment of the present application;
FIG. 9 is a schematic diagram of a seeding signal processing process provided in the embodiment of the present application;
FIG. 10 is a schematic view of a seeding signal processing process according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a message frame according to an embodiment of the present application;
fig. 12 is a schematic flowchart of a seeding state obtaining method according to another embodiment of the present application;
fig. 13 is a schematic unit diagram of a sowing state acquiring device 50 provided in an embodiment of the present application.
In the figure: 10-a first processor; 11-a first memory; 12-a bus; 13-a second processor; 14-a seed metering monitoring sensor; 15-a seed sowing actuating mechanism; 16-a second memory; 17-a communication interface; 50-a seeding state obtaining device; 501-an information acquisition unit; 502-a processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
In order to realize the accurate monitoring of seeding state, this application embodiment provides a seeding equipment, can be seeding car or seeder. Referring to fig. 1, a structure of a sowing apparatus is schematically illustrated. The sowing apparatus comprises a second processor 13, a second memory 16, a bus 12. A second processor 13, a second memory 16 are connected via the bus 12, the second processor 13 being arranged to execute executable modules, such as computer programs, stored in the second memory 16.
The second processor 13 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the seeding status acquisition method may be performed by integrated logic circuits of hardware or instructions in the form of software in the second processor 13. The second Processor 13 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The second Memory 16 may comprise a high-speed Random Access Memory (RAM) and may also comprise a non-volatile Memory, such as at least one disk Memory.
The bus 12 may be an ISA (Industry Standard architecture) bus, a PCI (peripheral Component interconnect) bus, an EISA (extended Industry Standard architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 1, but this does not indicate only one bus 12 or one type of bus 12.
The second memory 16 is used for storing programs, such as programs corresponding to the sowing state acquiring devices. The seed planting state obtaining means includes at least one software function module that can be stored in the second memory 16 in the form of software or firmware or solidified in an Operating System (OS) of the seed planting device. The second processor 13, upon receiving the execution instruction, executes the program to implement the seeding state acquisition method.
Possibly, the sowing apparatus provided by the embodiment of the present application further includes a communication interface 17. The communication interface 17 is connected to the second processor 13 via a bus. The seed planting device may interact with other terminals through the communication interface 17.
It should be understood that the configuration shown in FIG. 1 is merely a schematic of a portion of a seed planting device, and that a seed planting device may include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The sowing state acquiring method provided by the embodiment of the present application can be applied to, but is not limited to, the sowing device shown in fig. 1, and please refer to fig. 2, specifically, the sowing state acquiring method includes S301 and S302.
S301, acquiring the initial time of a seed sowing signal and the end time of the seed sowing signal of the seeds.
The initial time of the seed metering signal is the initial time when the seeds enter the seed metering monitoring area, and the end time of the seed metering signal is the end time when the seeds leave the seed metering monitoring area.
Optionally, referring to fig. 3, the sowing apparatus further comprises at least one set of seed metering monitoring sensors 14 and seed metering actuators 15. The seed metering monitoring sensor 14 may be a photoelectric sensor or an infrared sensor. A seed discharging monitoring sensor 14 is arranged in a seed discharging monitoring area in a seed discharging pipeline of the seed discharging actuating mechanism 15, when seeds fall, the seeds can shield the seed discharging monitoring sensor 14, and a seed discharging signal can be generated during the shielding period.
And S302, acquiring the current sowing state according to the initial sowing signal time and the ending sowing signal time.
In the embodiment of the application, the sensor is not only used for detecting the falling interval of the seeds or the seeding quantity in a certain time, but also used for calculating the seeding density in a certain distance according to the obtained data. The initial time of the seed discharging signal and the end time of the seed discharging signal of each seed in the seed discharging process are also accurately obtained, and the current seeding state is accurately obtained on the basis of the initial time of the seed discharging signal and the end time of the seed discharging signal of each seed.
Optionally, the current planting situation includes one or more of a seed discharge status, a pipe status of the planting device, a planting quantity, and a seed position status, as will be described in detail later.
In summary, the embodiment of the present application provides a seeding state obtaining method, which obtains an initial seeding signal time and an end seeding signal time of a seed; the seed metering signal initial time is the initial time when the seeds enter the seed metering monitoring area, and the seed metering signal end time is the end time when the seeds leave the seed metering monitoring area; and acquiring the current sowing state according to the initial time of the sowing signal and the end time of the sowing signal. Under the condition of knowing the initial time of the seed discharge signal and the end time of the seed discharge signal, the current sowing state is accurately acquired, the precision sowing is favorably realized, the sowing efficiency is improved, the sowing uniformity is guaranteed, and the intelligent control and adjustment are carried out on the sowing.
On the basis of fig. 2, in the case that the current sowing state includes a seed discharge state, regarding the content in S302, the present application embodiment also provides a possible implementation manner, please refer to fig. 4, where S302 includes S302-1 to S302-3.
S302-1, determining the falling time of the seeds according to the seeding signal initial time and the seeding signal end time.
Optionally, the interval from the seeding signal initial time to the seeding signal end time is determined as the falling time of the seed. The dropping time is the time of the seeds passing through the seeding monitoring area.
S302-2, when the falling time length is longer than a first preset time length, the seed discharge state is determined to be a multi-seed coincidence state.
Optionally, the first preset time period is a preset signal duration time set in advance, that is, a preset duration time period of the seed metering signal, and the time period may be set according to the size of the seed, the falling speed, and the model of the sensor.
The falling time is longer than the first preset time, which indicates that the falling time of the seeds is too long, and a plurality of seeds may be overlapped together and fall, namely, the superposition exists. At this time, the seed discharge state can be recognized as a multiple seed coincidence state.
S302-3, when the falling time is less than a second preset time, the seed discharge state is determined to be a seed broken state or an impurity state.
Optionally, the second preset time period is also preset, and the second preset time period is less than or equal to the first preset time period.
And the falling time is less than a second preset time, which indicates that the falling time of the seeds is too short, the seeds or the impurities possibly broken at this time are monitored, and the seed discharge state is determined to be the seed broken state or the impurity state.
Can accurately acquire single seed discharge state when falling through long, the user of being convenient for knows the seeding result, is of value to realize accurate seeding.
On the basis of fig. 2, in the case that the current seeding state includes a pipe state, the embodiment of the present application further provides a possible implementation manner for the content in S302, please refer to fig. 5, where S302 includes S302-4.
S302-4, determining the state of the pipeline as a blocked state under the condition that the finishing time of the seeding signal is empty and the interval between the initial time of the seeding signal and the current time is more than a third preset time.
Optionally, the ending time of the seed metering signal is null, which indicates that the ending time of the seed metering signal valid for the current seed has not been received after the initial time of the seed metering signal for the current seed is received, that is, the seed does not leave the seed metering monitoring area after entering the seed metering monitoring area. And determining the state of the pipeline as a blocked state under the condition that the interval between the initial time of the seeding signal and the current time is greater than a third preset time. Thereby prompting the staff to process the pipeline and solving the blockage problem. Further, when the pipeline state is the blocking state, the blocked pipeline cannot be effectively seeded, and the miss-seeding area of the seeds can be determined by combining the row path information of the seeding equipment, so that the subsequent reseeding is facilitated.
It should be noted that the third preset time period is longer than the first preset time period.
On the basis of fig. 2, in the case that the current seeding state includes the seeding number, the embodiment of the present application also provides a possible implementation manner for the content in S302, please refer to fig. 6, where S302 includes S302-5.
And S302-5, acquiring the seeding quantity according to the seeding signal initial time and the seeding signal end time in the statistical time period.
Alternatively, the initial time of the seed discharge signal and the end of the seed discharge signal obtained by each seed discharge monitoring sensor 14 may be respectively counted, and the number of seeds corresponding to each seed discharge channel in the counted time period may be obtained, so as to obtain the total number of seeds.
On the basis of fig. 2, in the case that the current seeding state includes a seed position state, the embodiment of the present application also provides a possible implementation manner for the content in S302, please refer to fig. 7, where S302 includes S302-6 and S302-7.
And S302-6, acquiring the falling speed of the seeds according to the seeding signal initial time, the seeding signal end time and the seeding monitoring area.
Alternatively, the drop velocity can be the average velocity of the seeds through the metering monitoring area.
S302-7, determining the position state of the seeds according to the falling speed, the falling time of the seeds and the current position information of the sowing equipment. Wherein, the falling time is the initial time of the seeding signal or the end time of the seeding signal.
Optionally, the seed discharge signal end time is determined as the falling time, and the position state of the seeds can be accurately determined by combining the height of the seed discharge monitoring area from the ground, the falling speed and the current position information of the sowing device, so that a user can know the position of each seed conveniently. The current position information is the position information of the sowing equipment at the finishing time of the sowing signal or the initial time of the sowing signal.
It should be noted that the substeps of S302 in fig. 4 to 7 may be executed simultaneously, or only a part of them may be executed, or they may be executed in parallel, or they may be executed in a certain order, which is not limited herein.
With reference to fig. 3, the seeding apparatus further includes at least one set of seed metering monitoring sensors 14, a seed metering actuator 15, a first processor 10, and a first memory 11, wherein the at least one set of seed metering monitoring sensors 14, the seed metering actuator 15, and the first memory 11 are all connected to the first processor 10, and the first processor 10 is connected to the second processor through a bus 12. In the case that the second processor 13 executes the steps shown in fig. 2 to 7, regarding how to acquire the seeding signal initial time and the seeding signal end time of the seed, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 8, the seeding status acquiring method further includes: s101 and S201, S301 includes S301-1.
S101, the seed metering monitoring sensor acquires seed metering signal initial time and seed metering signal end time of seeds, and transmits the seed metering signal initial time and the seed metering signal end time to the first processor.
S201, the first processor edits the seeding signal initial time seeding signal ending time into a message frame according to a preset period, and transmits the message frame to the second processor.
Wherein, the message frame also carries the identifier of the corresponding seed metering monitoring sensor.
S301-1, the second processor analyzes the message frame to acquire monitoring information of the seeding monitoring sensor in a preset period.
The monitoring information comprises seeding signal initial time and seeding signal end time.
In one possible implementation, the first processor 10 adjusts the seeding state by controlling the seeding actuator 15; the first processor 10 records seed metering data through the first memory 11; the seed metering data is transmitted to the second processor 13 via the CAN bus 12.
Referring to fig. 9, fig. 9 is a schematic diagram illustrating a process of processing the seeding signal transmitted by one of the seeding monitoring sensors 14 by the first processor 10. The first processor 10 sets tcycle preset cycle time 207 as a detection cycle, and tcycle is set to be 1-2 times of the preset falling cycle of the seed. The preset falling period of the seeds is, for example, an interval from the initial time of the seeding signal of the first seed to the initial time of the seeding signal of the second seed. tsingle preset signal duration 208 is a preset duration of the seed metering signal, i.e., a first preset duration. For the monitoring process, refer to the following:
step 1: upon detecting the start of a cycle, the first processor 10 updates the value of the mcycle cycle count 201, and the mcycle is incremented by 1 each cycle.
Step 2: when the seeding signal 206 is generated, the first processor 10 updates the value of the seeding count 202 for n m periods, where n m is the number of seeding signal generation in the m-th period, and where n m is initially 0 and incremented for each seeding signal generation in the detection period m. At the same time, the first processor 10 records a tstart [ m ] [ n ] seed signal start time stamp 203, which is the time elapsed from the start of the m-th detection cycle to the generation of the n-th seed signal 206 for that cycle. It should be understood that tcycle (mcycle-1) + tstart [ m ] [ n ] represents the initial time of the seed discharge signal of the nth seed in the mth detection cycle, when the time of starting the 1 st detection cycle is set to 0.
And step 3: when the seed signal 206 disappears, it represents that the seed has left the detection zone of the seed monitoring sensor 14. At this point, the first processor 10 records a tend [ m ] [ n ] seeding signal end timestamp 204, which is the elapsed time from the beginning of the m-th detection cycle to the end of the n-th seeding signal 206 of that cycle. Continuing with the above example, tcycle (mcycle-1) + tend [ m ] [ n ] indicates the end time of the nth seed discharge signal in the mth detection cycle.
And 4, step 4: when a plurality of seeding signals 206 are generated in one detection cycle (tcycle), the processes of step 2 and step 3 are repeated.
And 5: when the seeding signal 206 is not generated at the time point when one detection cycle (tcycle) ends, the first processor 10 records the fm continuous flag 205, ends the current detection cycle, and repeats the above steps. fm is a sign of whether the seeding signal 206 crosses the m-th and m + 1-th cycles, when the time point of the end of the tcycle cycle is just in the period of generation of one seeding signal 206, fm is 1, otherwise, fm is 0. In the operation shown in FIG. 9, fm is 0, but this is not limitative.
When the seeding signal 206 spans 2 tcycle cycles, the monitoring process is as shown in fig. 10:
before the end of the first detection cycle tcycle, the first processor 10 performs the above steps 1 to 5;
step 6: when a detection cycle (tcycle) is finished, if the finishing time point of the detection cycle (tcycle) is just in the period of generating a seeding signal 206, the first processor 10 regards the finishing time point as the finishing time of the last seeding signal 206 of the cycle and the starting time of the first seeding signal 206 of the next cycle, and the following operations are performed within the same time:
recording the ending time stamp tend [ m ] [ n ] of the seeding signal 206;
recording a continuous mark fm of the current tcycle period, wherein fm is 1;
thirdly, updating the value of the mcycle and entering the next period;
updating the seeding count value n [ m +1 ];
recording the start time stamp tstart [ m +1] [1] of the seeding signal 206.
And 7: the steps shown in fig. 9 and 10 are cycled.
Based on the data recorded in the above steps, the first processor 10 can calculate the seeding amount in a certain period (e.g. a statistical time period): the seed number in a tcycle period can be obtained through the n [ m ] and the f [ m ], and the total number in a certain time can be calculated by adding the numerical values of a plurality of tcycle periods;
from the data recorded in the above steps, the first processor 10 can calculate the falling time of each seed: for example, if the time from the start of the 1 st detection cycle is set to 0, the falling time of the nth seed in the mth cycle may be tcycle (mcycle-1) + tstart [ m ] [ n ].
Based on the data recorded in the above steps, the first processor 10 can calculate the time for each seed metering signal to be generated: if fm and fm +1 are both 0, the time duration of the signal generated by the 1 st seed in the m +1 th detection period is tend m 1-tstart m 1, if the time duration is greater than tsingle, it is likely that a plurality of seeds are piled up together and fall, and if the time duration is less than tsingle, it is likely that broken seeds or sundries are present.
The first processor 10 may transmit the recorded data to the second processor 13 through the CAN bus. Because the CAN bus has higher reliability and flexibility, the CAN bus is generally applied to agricultural machinery at present. Referring to fig. 11, fig. 11 is a schematic diagram illustrating a structure of a message frame for seeding data transmission based on a CAN bus protocol according to an embodiment of the present disclosure. The CAN bus message is 8 bytes/frame, each frame contains data of 2 adjacent seeding monitoring sensors 14 in 1 tcycle period, and when the data of more than 2 seeding monitoring sensors 14 needs to be sent, multi-frame sending needs to be distinguished. When the first processor 10 and the second processor 13 start to operate, the cycle tcycle and the starting time are agreed, then the cycle tcycle is used as the cycle for detecting and sending, and the time is regularly aligned during the operation. In the message structure shown in the figure: the line number 401 represents the position of the 1 st seed metering monitoring sensor 14 in the message on the seeder, that is, the identifier of the seed metering monitoring sensor 14, and the numerical value is agreed in advance according to the structure and the line number of the seeder. The cntcycle cycle count 402 is the remainder of dividing the detection cycle serial number corresponding to the current message by 16, and ranges from 0 to 15. The Flag continuation Flag403 corresponds to f [ m ] shown in FIG. 9. The cntseed seed count 404 corresponds to n m shown in FIG. 9, ranging from 0 to 7, and when n m is greater than 6, this value is constant at 7, since tcycle is generally set to 1-2 times the preset fall period of the seed, normally, the cntsed value will be between 1-2, and byte1 contains the flags and cntsed of 2 sensors. The length signal duration 405 corresponds to the ratio of the duration of the seed metering signal 206 to tsingle, and the range is 0-3, for example: when (tend-tstart)/tsingle is less than or equal to 0.5, length is 0, when 0.5 < (tend-tstart)/tsingle is less than or equal to 1.5, length is 1, when 1.5 < (tend-tstart)/tsingle is less than or equal to 2.5, length is 2, and when 2.5 < (tend-tstart)/tsingle, length is 3. the time seed metering timestamp 406 corresponds to the ratio of tstart to tcycle, the range is 0-50, which corresponds to 0% -100%, for example: at tstart/tcycle of 0.5 (i.e., 50%), time is 25. The first 3 seed metering signals of each seed metering monitoring sensor 14 in 1 tcycle cycle will be recorded in length and time, and as tcycle is generally set to be 1-2 times of the preset falling period of the seeds, under normal conditions, each sensor only records 1-2 groups of data in each frame of message.
After the second processor 13 receives the message frame transmitted by the first processor 10, the second processor 13 may determine whether the seeding pipeline is blocked: when the messages with flag of 1 and cntsed of 1 are continuously received, the sensor is continuously shielded, and the pipeline is blocked or has faults.
In a possible implementation manner, the current seeding state includes a seeding number in a preset statistical time period, the preset statistical time period includes at least one preset period, the monitoring information further includes a signal continuous identifier, a seeding count identifier and a period count identifier, the signal continuous identifier represents whether a seeding signal exists at the end of the preset period, the seeding count identifier represents seeding times in the preset period, and the period count identifier represents a sequence number of the preset period in the preset statistical time period. With continuing reference to fig. 8, regarding how to obtain the seeding quantity, the embodiment of the present application further provides a possible implementation manner, and the seeding status obtaining method further includes S304 to S309.
S304, the second processor determines the previous message frame according to the period counting mark in the current message frame.
S305, judging whether the signal continuous identification in the previous message frame represents that a seed metering signal exists at the end of the previous preset period. If yes, go to S307; if not, go to S306.
When the signal continuous identifier in the previous message frame indicates that a seed metering signal exists at the end of the previous preset period, it indicates that the first counted seed corresponding to the current message frame is recorded in the previous message frame, and in order to avoid repeated recording, after the value corresponding to the seed metering counting identifier in the current message frame needs to be subtracted by 1, the seed metering number of the seed metering monitoring sensor in the corresponding preset period is determined, that is, S307 is executed; otherwise, the numerical value corresponding to the seeding counting identifier in the current message frame may be directly determined as the seeding number of the seeding monitoring sensor in the corresponding preset period, and S306 is executed.
And S306, the second processor determines the numerical value corresponding to the seeding counting identifier in the current message frame as the seeding number of the seeding monitoring sensor in the corresponding preset period.
And S307, after subtracting 1 from the numerical value corresponding to the seeding counting identifier in the current message frame, the second processor determines the seeding number of the seeding monitoring sensor in the corresponding preset period.
And S308, the second processor determines the sum of the seeding numbers in all preset periods as the seeding number in the preset statistical time period.
It will be appreciated that the second processor 13 may count the number of seeds: the seed number in one tcycle period can be obtained according to the cntsed and the flag, and the total number in a certain time can be calculated by adding the numerical values of a plurality of tcycle periods.
In a possible implementation manner, the current sowing state further includes a falling time of the seed, the monitoring information further includes a falling time identifier and a period counting identifier, the falling time identifier represents an interval between the falling time of the seed and a starting time of the preset period, and the period counting identifier represents a sequence number of the preset period within a preset statistical time period. Referring to fig. 12, regarding how to obtain the falling time, the embodiment of the present application further provides a possible implementation manner, and the sowing state obtaining method further includes S309 and S310.
S309, the second processor multiplies the value in the period counting identifier by the preset period length, and determines the value as the starting time of the preset period.
And S310, adding the starting time of the preset period and the falling time identifier by the second processor to determine the falling time.
The second processor 13 may calculate the time for each seed to fall: the relative time of the seeds in the current detection period can be calculated according to the time, and the falling time of the seeds can be calculated by combining tcycle and the counted period number.
The second processor 13 may determine the status of the seed drop: whether the signal time length generated by the falling of the seeds is normal or not can be known through length, if the time length is longer than tsingle, a plurality of seeds are likely to fall together, and if the time length is shorter than tsingle, broken seeds or sundries are likely to exist.
In one possible implementation, in fig. 11, line number 401 represents the seed monitoring sensor identification (line401), cntcycle cycle count 402 represents the cycle count identification (cntcycle402), Flag continuation Flag403 represents the signal continuation identification (Flag403), cntsed seed count 404 represents the seed count identification (cntsed 404), length signal duration 405 represents the fall duration identification (length405) for each seed, and time seed timestamp 406 represents the fall time identification (time 406).
As described above, the packet frame carries a corresponding sequence number, and in a possible implementation manner, the method for acquiring a seeding state further includes S303.
S303, the second processor determines that the message is lost when the serial numbers of the continuously received message frames are discontinuous.
Alternatively, the second processor 13 may determine whether data loss occurs: the cntcycle values in the received adjacent messages should be continuous integers, and if discontinuous cntcycle values appear in the periods, data loss occurs.
According to the sowing state obtaining method provided by the embodiment of the application, the falling parameters of the seeds can be monitored and recorded. The falling time of each seed can be calculated according to the recorded data, the falling quantity of the seeds in a certain time is counted, and whether the seeds are blocked or fall repeatedly is judged. The data CAN be transmitted to different processing units in real time by sending message frames and utilizing less CAN bus resources, and the different processing units CAN transmit the received data: judging whether the data is lost or not, calculating the falling time of each seed, counting the falling quantity of the seeds in a certain time, and judging whether the seeds are blocked or fall repeatedly.
It should be noted that, in one possible implementation, the first processor 10 may directly execute the steps shown in fig. 2 to 7.
Referring to fig. 13, fig. 13 is a sowing state acquiring device 50 provided in the embodiment of the present application, and optionally, the sowing state acquiring device 50 is applied to the sowing equipment described above.
The sowing-state obtaining device 50 includes: an information acquisition unit 501 and a processing unit 502.
An information obtaining unit 501, configured to obtain a seed sowing signal initial time and a seed sowing signal end time of a seed;
the seeding signal initial time is the initial time when the seeds enter the seeding monitoring area, and the seeding signal end time is the end time when the seeds leave the seeding monitoring area. Alternatively, the information acquisition unit 501 may execute S301 described above.
The processing unit 502 is configured to obtain a current seeding state according to the seeding signal initial time and the seeding signal end time. Alternatively, the processing unit 502 may perform the above-described S302, and the substeps of S302.
It should be noted that the seeding state obtaining apparatus provided in this embodiment may execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.
The embodiment of the application also provides a storage medium, wherein the storage medium stores computer instructions and programs, and the computer instructions and the programs execute the sowing state obtaining method of the embodiment when being read and run. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.
The following provides a sowing apparatus, which may be a sowing apparatus, as shown in fig. 1, that can implement the sowing state acquiring method described above; specifically, this seeding equipment includes: a second processor 13, a second memory 16, and a bus 12. The second processor 13 may be a CPU. The second memory 16 is used to store one or more programs, which when executed by the second processor 13, perform the sowing state acquiring method of the above-described embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (12)
1. A sowing state acquisition method is applied to a sowing device, and comprises the following steps:
acquiring the initial time of a seed sowing signal and the end time of the seed sowing signal of a seed;
the seed metering signal initial time is the initial time when the seeds enter a seed metering monitoring area, and the seed metering signal end time is the end time when the seeds leave the seed metering monitoring area;
and acquiring the current sowing state according to the initial sowing signal time and the ending sowing signal time.
2. The sowing-state obtaining method according to claim 1, wherein the current sowing state includes a seed discharge state; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps:
determining the falling time of the seeds according to the seeding signal initial time and the seeding signal end time;
when the falling time is longer than a first preset time, the seed discharge state is determined to be a multi-seed superposition state;
and when the falling time is less than a second preset time, determining that the seed discharge state is a seed broken state or an impurity state, wherein the second preset time is less than or equal to the first preset time.
3. The seeding state obtaining method according to claim 1, wherein the current seeding state includes a pipe state; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps:
and determining the state of the pipeline as a blocked state under the condition that the seeding signal ending time is empty and the interval between the seeding signal initial time and the current time is greater than a third preset time.
4. The sowing-state obtaining method according to claim 1, wherein the current sowing state includes a sowing amount; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps:
and acquiring the seeding quantity according to the seeding signal initial time and the seeding signal end time in a preset statistical time period.
5. The sowing-state obtaining method according to claim 1, wherein the current sowing state includes a seed-position state; the step of obtaining the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time comprises the following steps:
acquiring the falling speed of the seeds according to the seeding signal initial time, the seeding signal end time and the seeding monitoring area;
and determining the position state of the seeds according to the falling speed, the falling time of the seeds and the current position information of the sowing equipment, wherein the falling time is the initial time of the seed discharging signal or the end time of the seed discharging signal.
6. The sowing state acquiring method according to claim 1, wherein the sowing apparatus includes a first processor, a second processor, and at least one set of seed metering monitoring sensors, the seed metering monitoring sensors are all connected with the first processor, and the first processor is also connected with the second processor;
before the acquiring a seed metering signal initial time and a seed metering signal end time of the seed, the method further comprises:
the seed metering monitoring sensor acquires seed metering signal initial time and seed metering signal end time of seeds, and transmits the seed metering signal initial time and the seed metering signal end time to the first processor; the first processor edits the seed metering signal initial time and the seed metering signal end time into a message frame according to a preset period, and transmits the message frame to the second processor, wherein the message frame also carries an identifier of a corresponding seed metering monitoring sensor;
the step of obtaining the seed metering signal initial time and the seed metering signal end time of the seeds comprises the following steps:
the second processor analyzes the message frame to acquire monitoring information of the seeding monitoring sensor in the preset period, wherein the monitoring information comprises seeding signal initial time and seeding signal end time.
7. The seeding state obtaining method according to claim 6, wherein the current seeding state includes a seeding number within a preset statistical time period, the preset statistical time period includes at least one preset period, the monitoring information further includes a signal continuity flag indicating whether a seeding signal is present at the end of the preset period, a seeding count flag indicating a seeding number within the preset period, and a period count flag indicating a sequence number of the preset period within the preset statistical time period;
after the second processor parses the message frame, the method further comprises:
the second processor determines the previous message frame according to the cycle counting identification in the current message frame;
under the condition that the signal continuous identifier in the last message frame indicates that no seeding signal exists at the end of the last preset period, the second processor determines the numerical value corresponding to the seeding counting identifier in the current message frame as the seeding number of the seeding monitoring sensor in the corresponding preset period;
under the condition that the signal continuous identifier in the last message frame represents that a seed metering signal exists at the end of the last preset period, the second processor subtracts 1 from the numerical value corresponding to the seed metering counting identifier in the current message frame, and then the numerical value is determined as the seeding quantity of the seed metering monitoring sensor in the corresponding preset period;
and the second processor determines the sum of the seeding numbers in all preset periods as the seeding number in the preset statistical time period.
8. The sowing-state obtaining method according to claim 6, wherein the current sowing state includes a falling time of the seed, the monitoring information includes a falling time flag representing an interval between the falling time of the seed and a start time of the preset period, and a period count flag representing a sequence number of the preset period within a preset statistical time period;
after the second processor parses the message frame, the method further comprises:
the second processor multiplies the numerical value in the period counting identifier by a preset period length to determine the starting time of the preset period;
and the second processor adds the starting time of the preset period and the falling time identifier to determine the falling time.
9. The method for acquiring seeding status according to claim 6, wherein the packet frame carries a corresponding sequence number, the method further comprising:
and the second processor determines that the message is lost when the serial numbers of the continuously received message frames are discontinuous.
10. A sowing state obtaining device is applied to sowing equipment, and the device comprises:
the information acquisition unit is used for acquiring the initial time of a seed sowing signal and the end time of the seed sowing signal of the seeds;
the seed metering signal initial time is the initial time when the seeds enter a seed metering monitoring area, and the seed metering signal end time is the end time when the seeds leave the seed metering monitoring area;
and the processing unit acquires the current sowing state according to the seed sowing signal initial time and the seed sowing signal end time.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-9.
12. A seed planting apparatus, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-9.
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