CN117389181A - Intelligent monitoring method and intelligent monitoring system for drill - Google Patents
Intelligent monitoring method and intelligent monitoring system for drill Download PDFInfo
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- CN117389181A CN117389181A CN202311364848.8A CN202311364848A CN117389181A CN 117389181 A CN117389181 A CN 117389181A CN 202311364848 A CN202311364848 A CN 202311364848A CN 117389181 A CN117389181 A CN 117389181A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012544 monitoring process Methods 0.000 title claims abstract description 34
- 239000003337 fertilizer Substances 0.000 claims abstract description 107
- 238000007599 discharging Methods 0.000 claims abstract description 53
- 239000000178 monomer Substances 0.000 claims abstract description 10
- 238000009331 sowing Methods 0.000 claims description 40
- 230000004044 response Effects 0.000 claims description 26
- 238000010899 nucleation Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000004720 fertilization Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- LIWAQLJGPBVORC-UHFFFAOYSA-N ethylmethylamine Chemical compound CCNC LIWAQLJGPBVORC-UHFFFAOYSA-N 0.000 claims description 3
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- 238000013461 design Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
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- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The invention discloses an intelligent monitoring method and an intelligent monitoring system of a drill, wherein the system comprises a main controller, a speed measuring sensor, a travel switch, a CAN bus, a user terminal, and a plurality of single controllers, wherein the speed measuring sensor is connected with the main controller; all the monomer controllers are connected with the CAN bus; each single controller is connected with a plurality of seed sensors and a plurality of fertilizer sensors; wherein the first single controller is simultaneously connected with the seed discharging motor and the fertilizer discharging motor. The method based on the system is reasonable in workflow setting, and through interaction of the user terminal, the main controller and the single controller, not only can seed and fertilizer be discharged according to the running speed, but also can perform seed and fertilizer discharge amount calibration, work for setting working parameters and obtaining the working parameters, the convenience of use can be effectively improved, and the data processing pressure of the main controller is relieved.
Description
Technical Field
The invention relates to the technical field of agricultural machinery control, in particular to an intelligent monitoring method and an intelligent monitoring system of a drill seeder.
Background
In agricultural seeding operations, seeding and fertilizing operations by agricultural machinery are required, and in order to improve the operation efficiency, it is generally necessary to provide a plurality of seed metering devices in parallel with a fertilizer device for simultaneous operation, and simultaneous operation can be performed within a large width. In order to monitor each seed metering device and each fertilizer feeding device, a seed metering sensor and a fertilizer feeding sensor are required to monitor the working states of each seed metering device and each fertilizer feeding device, so that a main controller is required to be provided with more ports and connected with each sensor, and the main controller also completes operation speed collection, operation speed control of the seed metering device and the fertilizer feeding device and the like, and data processing pressure is higher, so that a chip is required to have enough ports and enough calculation force to meet the monitoring and calculating requirements. In the prior art, patent CN112740877a discloses a method for relieving information processing pressure of a main controller through a single controller, in the patent, a seeding quality detection algorithm of shading time of the single controller and seeds is utilized to realize seed metering quantity monitoring of each seed metering device, but the function of the seed metering device is single, and various requirements of actual use cannot be met.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides the intelligent monitoring method and the intelligent monitoring system of the drill which can relieve the data processing pressure, can meet various requirements in actual use and are reasonable in flow design.
The technical scheme is as follows: in order to achieve the above object, the intelligent monitoring method of the drill of the present invention includes a main control part implemented by a main controller and a single part implemented by a single controller; the main control part includes:
receiving setting parameters and instructions of a user terminal;
analyzing the message of the instruction, judging whether the instruction is in a calibration mode, if so, sending a calibration instruction to the single controller, otherwise, continuing to execute the following steps;
obtaining advancing speed information of the machine tool according to the data of the speed measuring sensor;
sending setting parameters and advancing speed information to a single controller, and sending an instruction for reading working parameters to the single controller;
receiving and analyzing the working parameter message of the single controller;
sending working parameters to the user terminal;
the monomer portion includes:
receiving an instruction of the main controller and analyzing to obtain instruction content;
sequentially judging whether the instruction content is a calibration instruction, setting a working parameter instruction and reading the working parameter instruction, and executing a subsequent flow corresponding to the instruction when any judgment result is yes; and when all the judging results are negative, executing the following steps:
calculating respective target rotating speeds of the seed and fertilizer discharging motors according to the advancing speed information;
the seed and fertilizer discharging motor is regulated according to the target rotating speed;
signals of the seed sensor and the fertilizer sensor are obtained, and the sowing amount and the fertilizing amount are calculated according to the corresponding model.
Further, calculating the respective target rotational speeds of the seed-metering motor and the fertilizer-metering motor according to the forward speed information includes:
the rotation speeds of the seed discharging motor and the fertilizer discharging motor are calculated according to the following formula:
wherein:
n_current: the rotation speed of the seed discharging motor or the fertilizer discharging motor;
i, the transmission ratio of a speed reducer corresponding to the seed-metering motor or the fertilizer-metering motor;
q_ aim, target sowing quantity or target fertilizing quantity;
radio_speed: the operation speed;
b: the operation breadth is calculated according to the sowing row spacing and the row number set in the manager interface, and B=row spacing×row number;
q_calibt: single-turn displacement;
n_calibt: the user inputs the calibration turns through the user terminal;
m_calibt: after calibration, the seeding amount or fertilizing amount is input by the user through the user terminal.
Further, the speed measuring sensor is an encoder, a GPS module or a radar module; the step of obtaining the advancing speed information of the machine tool according to the data of the speed measuring sensor comprises the following steps:
the calculation modes of the advancing speed v of the computer according to the output signals of the encoder, the GPS module and the radar module are respectively as follows:
the calculation formula based on the encoder is as follows:
n is the encoder pulse difference value of one detection period;
d: the diameter of the land wheel;
m: encoder resolution;
t: detecting a period;
based on the GPS module, directly outputting the operation speed according to an NMEA protocol;
the calculation formula based on the radar module is as follows: v=18.95 x, where x is the radar output signal frequency, directly output by the radar.
Further, the seed sensor and the fertilizer sensor are both detection devices based on piezoelectric effect; the obtaining signals of the seed sensor and the fertilizer sensor, and calculating the sowing quantity and the fertilizing quantity according to the corresponding models comprises the following steps:
calculating the sowing quantity and the fertilizing quantity based on the following formula: y=kx+b, where k is a calibration value, and k=0.85 corresponding to the sowing amount; k=0.56 corresponding to the fertilizing amount; x is the response voltage value of the seed sensor or the fertilizer sensor; b is the response value of the seed sensor or the fertilizer sensor corresponding to the fertilization amount and the sowing amount of 0.
Further, the steps of sequentially judging whether the instruction content is a calibration instruction, setting a working parameter instruction and reading the working parameter instruction are performed, and executing a calibration flow when judging that the instruction content is the calibration instruction in a subsequent flow corresponding to the instruction if any one of the judgment results are yes, wherein the calibration flow comprises:
driving the seed and fertilizer discharging motor to rotate for a preset time according to a preset speed, and stopping;
performing software filtering on the response values of the seed sensor and the fertilizer sensor by using an interpolation algorithm to obtain accurate response values of the sensors;
and establishing a seed and fertilizer sensor response model according to the response values of the sensors.
Further, whether the instruction content is a calibration instruction, a working parameter setting instruction and a working parameter reading instruction are sequentially judged, when any one of the instruction content is a calibration instruction, a working parameter setting instruction and a working parameter reading instruction is judged, and in the subsequent flow corresponding to the instruction, when the instruction content is judged to be the working parameter setting instruction, the basic working parameter is extracted from the received working parameter and written into a register, and the working speed of the machine tool is extracted.
Further, whether the instruction content is a calibration instruction, a working parameter setting instruction and a working parameter reading instruction are sequentially judged, when any one of the instruction content is judged to be yes, a subsequent flow corresponding to the instruction is executed, and when the instruction content is judged to be the working parameter reading instruction, real-time seeding quantity, fertilizing quantity and rotating speed data of the seed and fertilizer discharging motors are sent to the main controller.
Further, before the advancing speed information of the machine tool is obtained according to the data of the speed measuring sensor, the method further comprises the following steps: and judging whether the travel switch is closed, if so, continuing to execute the subsequent steps, and if not, directly ending.
The intelligent monitoring system of the drill seeder is used for implementing the intelligent monitoring method and comprises a main controller, a speed measuring sensor, a travel switch, a CAN bus, a user terminal, a plurality of single controllers, wherein the speed measuring sensor is connected with the main controller; all the monomer controllers are connected with the CAN bus; each single controller is connected with a plurality of seed sensors and a plurality of fertilizer sensors; wherein the first single controller is simultaneously connected with the seed discharging motor and the fertilizer discharging motor.
The beneficial effects are that: according to the intelligent monitoring method and the intelligent monitoring system of the drill seeder, each single controller is responsible for data acquisition work of a plurality of seed metering devices and fertilizer metering devices, and the first single controller is simultaneously responsible for speed regulation work of a seed metering motor and a fertilizer metering motor.
Drawings
FIG. 1 is a schematic diagram of the intelligent monitoring system of the drill;
FIG. 2 is a schematic flow chart of a master control part;
FIG. 3 is a schematic flow diagram of a split section;
fig. 4 is a schematic diagram of an operation interface of the calibration procedure.
In the figure: 1-a main controller; 2-a speed sensor; 3-travel switch; a 4-CAN bus; 5-monomer controller; 51-a first monomer controller; 52-a second monomer controller; 6-a user terminal; 7-seed sensor; 8-a fertilizer sensor; 9-a seed metering motor; 10-a fertilizer discharging motor.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The intelligent monitoring method of the drill is implemented by an intelligent monitoring system of the drill, the drill is provided with a plurality of seed metering devices and fertilizer discharging devices which are arranged in a linear array, each operation row is provided with one seed metering device and one fertilizer discharging device, each seed metering device is provided with a seed sensor 7, and each fertilizer discharging device is provided with a fertilizer sensor 8; the intelligent monitoring system comprises a main controller 1, a speed measuring sensor 2, a travel switch 3, a CAN bus 4 and a user terminal 6 which are connected with the main controller 1, and also comprises a plurality of single controllers 5, namely a first single controller 51 and a second single controller 52 and … …, wherein all the single controllers 5 are connected with the CAN bus 3; each single controller 5 is connected with a plurality of seed sensors 7 and a plurality of fertilizer sensors 8; the first single controller 51 is connected with the seed sowing motor 9 and the fertilizer sowing motor 10 at the same time, the seed sowing motor 9 can drive all seed sowing devices to operate, and the fertilizer sowing motor 10 can drive all fertilizer sowing devices to operate at the same time.
In this embodiment, as shown in fig. 1, the intelligent monitoring system includes 1 main controller, 4 single controllers, 1 display terminal, 1 speed sensor, 12 seed sensors, 12 fertilizer sensors, 1 fertilizer discharging motor, 1 seed discharging motor, and 1 travel switch.
The seed metering device and the fertilizer metering device are both arranged on the auxiliary frame, the auxiliary frame is arranged on the rear side of the main frame, the auxiliary frame can be lifted up and lowered down in a rotating way relative to the main frame, and the travel switch 3 is used for monitoring whether the frame is in a lifting state or a lowering state.
The above-mentioned user terminal 6 establishes connection with the main controller 1 through WIFI, and the user terminal 6 has a display screen, which can provide a user with input instructions and output operation information of the machine, where the operation information includes parameters such as machine operation speed, fertilizing amount, seeding amount, operation area, etc., and also includes whether the seed and fertilizer detection sensor of each operation row is in a normal operation state, and the working state of each seed and fertilizer apparatus (the main controller 1 monitors the discharge amount of each seed and fertilizer apparatus according to each seed sensor 12 and each fertilizer sensor 8), thereby judging whether the seed and fertilizer apparatus is blocked, and timely displaying the working states of the seed and fertilizer apparatus in the user terminal 6).
An intelligent monitoring method of a drill comprises a main control part implemented by a main controller 1 and a single part implemented by a single controller 5;
as shown in fig. 2, the main control part includes the following steps S101 to S106:
step S101, receiving setting parameters and instructions of the user terminal 6;
in the step, the operation parameters comprise operation speed, fertilization amount, seeding amount, operation area and the like; the instruction is in the form of a calibration instruction and a working instruction.
Step S102, analyzing the message of the instruction, judging whether the instruction is in a calibration mode, if so, sending the calibration instruction to the single controller 5, otherwise, continuing to execute the following steps S103-S107;
step S103, obtaining the advancing speed information of the machine tool according to the data of the speed measuring sensor 2;
step S104, sending setting parameters and advancing speed information to the single controller 5, and sending an instruction for reading working parameters to the single controller 5;
step 105, receiving and analyzing the working parameter message of the single controller 5;
step S106, sending working parameters to the user terminal 6;
as shown in fig. 3, the monomer part includes the following steps S201 to S205:
step S201, receiving an instruction of the main controller 1 and analyzing to obtain instruction content;
step S202, judging whether the instruction content is a calibration instruction, setting a working parameter instruction and reading the working parameter instruction in sequence, and executing a subsequent flow corresponding to the instruction if any judgment result is yes; when all the judgment results are negative, the following steps S203 to S205 are executed:
step S203, calculating the target rotation speeds of the seed discharging motor 9 and the fertilizer discharging motor 10 according to the advancing speed information;
step S204, the seed metering motor 9 and the fertilizer metering motor 10 are regulated according to the target rotating speed;
step S205, acquiring signals of the seed sensor 7 and the fertilizer sensor 8, and calculating a sowing amount and a fertilizing amount according to the corresponding models.
In the method, each single controller 5 is responsible for data acquisition work of a plurality of seed metering devices and fertilizer discharging devices, and the first single controller 51 is simultaneously responsible for speed regulation work of the seed metering motor 9 and the fertilizer discharging motor 10, the work flow setting of the method is reasonable, the interaction of the user terminal 6, the main controller 1 and the single controller 5 can not only perform seed metering and fertilizer discharging according to the running speed, but also perform operations of seed metering and fertilizer discharging amount calibration, working parameter setting and working parameter acquisition, thereby effectively improving the convenience of use and relieving the data processing pressure of the main controller 1. In addition, each single controller 5 can monitor the states of each seed sowing device and fertilizer sowing device through the seed sensor 7 and the fertilizer sensor 8, once the blockage occurs, the main controller 1 can monitor the abnormal seed sowing device and/or fertilizer sowing device through data in time, and display the abnormal seed sowing device and/or fertilizer sowing device on the display screen of the user terminal 6 in time.
Further, the calculating the target rotation speeds of the seed discharging motor 9 and the fertilizer discharging motor 10 according to the forward speed information in the step S203 includes:
the rotation speeds of the seed discharging motor 9 and the fertilizer discharging motor 10 are calculated according to the following formula:
wherein:
n_current: the rotation speed of the seed discharging motor 9 or the fertilizer discharging motor 10;
i, the transmission ratio of a speed reducer corresponding to the seed discharging motor 9 or the fertilizer discharging motor 10;
q_ aim, target sowing quantity or target fertilizing quantity;
radio_speed: the operation speed;
b: the operation breadth is calculated according to the sowing row spacing and the row number set in the manager interface, and B=row spacing×row number;
q_calibt: single-turn displacement;
n_calibt: the user inputs the calibration turns through the user terminal 6;
m_calibt: after the calibration is finished, the seeding amount or the fertilizing amount is input by the user through the user terminal 6.
Further, the speed measuring sensor 2 is an encoder, a GPS module or a radar module; the step S103 of obtaining the advancing speed information of the implement according to the data of the speed sensor 2 includes:
the calculation modes of the advancing speed v of the computer according to the output signals of the encoder, the GPS module and the radar module are respectively as follows:
the calculation formula based on the encoder is as follows:
n is the encoder pulse difference value of one detection period;
d: the diameter of the land wheel;
m: encoder resolution;
t: detecting a period;
based on the GPS module, directly outputting the operation speed according to an NMEA protocol;
the calculation formula based on the radar module is as follows: v=18.95 x, where x is the radar output signal frequency, directly output by the radar.
Further, the seed sensor 7 and the fertilizer sensor 8 are detection devices based on piezoelectric effect, and each detection device comprises piezoelectric ceramics, the piezoelectric ceramics is changed when seeds or fertilizer fall on the piezoelectric ceramics, the sowing amount and the fertilizing amount are in a direct proportion relation with the response voltage of the piezoelectric ceramics, and the single controller 5 calculates the sowing amount and the fertilizing amount according to the electric signals generated by the piezoelectric ceramics; the step S205 of obtaining the signals of the seed sensor 7 and the fertilizer sensor 8, and calculating the sowing amount and the fertilizing amount according to the corresponding models includes:
calculating the sowing quantity and the fertilizing quantity based on the following formula: y=kx+b, where k is a calibration value, and k=0.85 corresponding to the sowing amount; k=0.56 corresponding to the fertilizing amount; x is the response voltage value of the seed sensor 7 or the fertilizer sensor 8; b is a response value of the seed sensor 7 or the fertilizer sensor 8 corresponding to the fertilizing amount and the sowing amount of 0, the corresponding value is obtained by setting 0 in a calibration mode, and when the corresponding value is set to 0, the seed sowing device and the fertilizer sowing device do not discharge materials. In order to improve the response precision of the seed sensor 7 and the fertilizer sensor 8, filtering processing is performed on software, a median filtering method is adopted, a single controller continuously collects 10 times of fertilizing amount and seeding amount, 10 times of sampling values are arranged according to the size, and a median value is taken as the current effective value.
Further, in the step S202, whether the instruction content is a calibration instruction, a working parameter setting instruction, and a working parameter reading instruction are sequentially determined, when any one of the instruction content is determined to be yes, a subsequent procedure corresponding to the instruction is executed, and when the instruction content is determined to be the calibration instruction, a calibration procedure is executed, where the calibration procedure includes steps S301 to S303 as follows:
step S301, driving the seed discharging motor 9 and the fertilizer discharging motor 10 to rotate for a preset time according to a preset speed, and stopping;
step S302, performing software filtering on the response values of the seed sensor 7 and the fertilizer sensor 8 by using an interpolation algorithm to obtain accurate response values of the sensors;
step S303, a seed and fertilizer sensor response model, namely a calculation model of detection signals and seed and fertilizer amount is established according to the sensor response values.
The specific operation steps are as follows: the user terminal 6 receives a 0 setting instruction input by a user (namely, the user presses a zero setting button), the main controller 1 obtains response values of the seed sensor 7 and the fertilizer sensor 8 at the moment, and regards the response values of the seed sensor 7 and the fertilizer sensor 8 at the moment as 0 in sowing quantity and fertilizing quantity; the user manually inputs the calibration speed and the calibration turns, clicks a calibration starting button, and the seed discharging motor 9 and the fertilizer discharging motor 10 rotate according to the set calibration speed and automatically stop after the calibration turns are reached; and manually selecting a row, weighing the discharged fertilizer and the weight of the seeds, writing the fertilizer amount and the weight of the seeds into a 'fertilizer amount', 'calibration amount' as an actual fertilizer amount and an actual calibration amount respectively, then clicking a write-in parameter button, and obtaining the fertilizer amount and the sowing amount in the calibration process, namely the single-circle displacement of the seed metering device and the fertilizer discharging device by the controller. The operation interface is shown in fig. 4.
In the process, the single-circle displacement of the seed metering device and the fertilizer metering device is obtained, and the rotation speed of the seed metering motor 9 or the fertilizer metering motor 10 is regulated and controlled later; and acquiring 0 points of fertilization and sowing amounts corresponding to response values of the seed sensor 7 and the fertilizer sensor 8, and performing 0 point calibration on the seed sensor 7 and the fertilizer sensor 8. The seed and fertilizer sensor adopts the piezoelectric effect, the impact force of seed and fertilizer falling causes the signal change of the piezoelectric ceramic plate, and the real-time seeding amount and fertilizing amount can be detected, and the seeding amount and fertilizing amount are in a direct proportion relation with the response voltage of the piezoelectric ceramic, so that the response values of the corresponding material sensor and the seed sensor are required to be known before normal detection when the seeding amount and the seeding amount are 0.
In actual use, the seed sensor 7 and the fertilizer sensor 8 comprise two layers of piezoelectric ceramics which are arranged in an upper-lower parallel mode, the piezoelectric ceramics are obliquely arranged, seeds and fertilizers fall on the upper layers of piezoelectric ceramics corresponding to the respective sensors, and the single controller 5 acquires voltage data of the upper layer of piezoelectric ceramics and the lower layer of piezoelectric ceramics in the respective sensors and obtains the difference value of the voltage data and the voltage data as a response value, so that the influence of shaking of the machine on a measuring result during field operation of the machine can be avoided.
Further, in the step S202, whether the instruction content is a calibration instruction, a set working parameter instruction, and a read working parameter instruction are sequentially determined, when any one of the instruction content is a set working parameter instruction, the basic working parameter is extracted from the received working parameter and written into a register, and the working speed of the machine is extracted.
Further, in the step S202, whether the instruction content is a calibration instruction, a working parameter setting instruction, and a working parameter reading instruction are sequentially determined, and when any one of the instruction content is a working parameter reading instruction, the real-time seeding amount, the fertilizing amount, and the rotational speed data of the seed and fertilizer discharging motor 9 and 10 are sent to the main controller 1.
Further, the step S103 further includes the following steps before obtaining the forward speed information of the implement according to the data of the speed sensor 2: and judging whether the travel switch 3 is closed, if so, continuing to execute the subsequent steps, and if not, directly ending. Therefore, whether the auxiliary frame is lifted or not can be confirmed, and when the auxiliary frame is lifted, seed and fertilizer discharging operation is not performed, so that waste of seeds and fertilizer is avoided.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (9)
1. The intelligent monitoring method of the drill comprises a main control part implemented by a main controller (1) and a monomer part implemented by a monomer controller (5); the method is characterized in that:
the main control part includes:
receiving setting parameters and instructions of a user terminal (6);
the instruction is subjected to message analysis, whether the instruction is in a calibration mode is judged, if yes, a calibration instruction is sent to the single controller (5), and if not, the following steps are continuously executed;
obtaining advancing speed information of the machine tool according to the data of the speed measuring sensor (2);
transmitting setting parameters and advancing speed information to a single controller (5), and transmitting an instruction for reading working parameters to the single controller (5);
receiving and analyzing the working parameter message of the single controller (5);
transmitting an operating parameter to the user terminal (6);
the monomer portion includes:
receiving an instruction of the main controller (1) and analyzing to obtain instruction content;
sequentially judging whether the instruction content is a calibration instruction, setting a working parameter instruction and reading the working parameter instruction, and executing a subsequent flow corresponding to the instruction when any judgment result is yes; and when all the judging results are negative, executing the following steps:
calculating respective target rotating speeds of a seed discharging motor (9) and a fertilizer discharging motor (10) according to the advancing speed information;
according to the target rotating speed, the seed discharging motor (9) and the fertilizer discharging motor (10) are regulated;
signals of the seed sensor (7) and the fertilizer sensor (8) are obtained, and the sowing amount and the fertilizing amount are calculated according to the corresponding model.
2. The intelligent monitoring method of a drill according to claim 1, wherein calculating the respective target rotational speeds of the seed-metering motor (9) and the fertilizer-metering motor (10) based on the forward speed information comprises:
the rotation speeds of the seed discharging motor (9) and the fertilizer discharging motor (10) are calculated according to the following formula:
wherein:
n_current: the rotation speed of a seed discharging motor (9) or a fertilizer discharging motor (10);
i, the transmission ratio of a speed reducer corresponding to the seed discharging motor (9) or the fertilizer discharging motor (10);
q_ aim, target sowing quantity or target fertilizing quantity;
radio_speed: the operation speed;
b: the operation breadth is calculated according to the sowing row spacing and the row number set in the manager interface, and B=row spacing×row number;
q_calibt: single-turn displacement;
n_calibt: the number of calibration turns input by a user through the user terminal (6);
m_calibt: after the calibration is finished, the seeding amount or the fertilizing amount is input by the user through the user terminal (6).
3. The intelligent monitoring method of a drill according to claim 1, characterized in that the speed sensor (2) is an encoder, a GPS module or a radar module; the advancing speed information of the machine tool is obtained according to the data of the speed measuring sensor (2), and the advancing speed information comprises:
the calculation modes of the advancing speed v of the computer according to the output signals of the encoder, the GPS module and the radar module are respectively as follows:
the calculation formula based on the encoder is as follows:
n is the encoder pulse difference value of one detection period;
d: the diameter of the land wheel;
m: encoder resolution;
t: detecting a period;
based on the GPS module, directly outputting the operation speed according to an NMEA protocol;
the calculation formula based on the radar module is as follows: v=18.95 x, where x is the radar output signal frequency, directly output by the radar.
4. Intelligent monitoring method of a drill according to claim 1, characterized in that the seed sensor (7) and the fertilizer sensor (8) are both detection devices based on piezoelectric effect; the step of acquiring signals of the seed sensor (7) and the fertilizer sensor (8) and calculating the sowing quantity and the fertilizing quantity according to the corresponding models comprises the following steps:
calculating the sowing quantity and the fertilizing quantity based on the following formula: y=kx+b, where k is a calibration value, and k=0.85 corresponding to the sowing amount; k=0.56 corresponding to the fertilizing amount; x is the response voltage value of the seed sensor (7) or the fertilizer sensor (8); b is the response value of the seed sensor (7) or the fertilizer sensor (8) corresponding to the fertilization amount and the sowing amount of 0.
5. The intelligent monitoring method of a drill according to claim 1, wherein the steps of sequentially determining whether the instruction content is a calibration instruction, setting an operating parameter instruction, and reading the operating parameter instruction are performed, and when any one of the steps is yes, executing a calibration procedure when the instruction content is determined to be the calibration instruction in a subsequent procedure corresponding to the instruction, where the calibration procedure includes:
the seed discharging motor (9) and the fertilizer discharging motor (10) are driven to rotate for a preset time according to a preset speed and then stop;
performing software filtering on the response values of the seed sensor (7) and the fertilizer sensor (8) by using an interpolation algorithm to obtain accurate response values of the sensors;
and establishing a seed and fertilizer sensor response model according to the response values of the sensors.
6. The intelligent monitoring method of a drill according to claim 1, wherein the steps of sequentially judging whether the instruction content is a calibration instruction, a set working parameter instruction, and a read working parameter instruction are performed, if any one of the instruction content is a set working parameter instruction, extracting a basic working parameter from the received working parameter, writing the basic working parameter into a register, and extracting the working speed of the machine tool when the instruction content is judged to be the set working parameter instruction in a subsequent flow corresponding to the instruction.
7. The intelligent monitoring method of a drill according to claim 1, wherein the steps of sequentially judging whether the instruction content is a calibration instruction, setting an operating parameter instruction and reading an operating parameter instruction are performed, and when any one of the instruction content is judged to be the operating parameter instruction, sending real-time seeding quantity, fertilizing quantity and rotating speed data of the seed metering motor (9) and the fertilizer metering motor (10) to the main controller (1) in a subsequent flow corresponding to the instruction.
8. The intelligent monitoring method of a drill according to claim 1, wherein the steps of obtaining the advancing speed information of the machine according to the data of the speed measuring sensor (2) are further included as follows: and judging whether the travel switch (3) is closed, if so, continuing to execute the subsequent steps, and if not, directly ending.
9. Intelligent monitoring system of a drill, for implementing the intelligent monitoring method according to any one of claims 1-8, characterized in that it comprises a main controller (1), a speed sensor (2) connected to the main controller (1), a travel switch (3), a CAN bus (4) and a user terminal (6), and a plurality of individual controllers (5), wherein one of the individual controllers (5) is a first individual controller (51); all the single controllers (5) are connected with the CAN bus (3); each single controller (5) is connected with a plurality of seed sensors (7) and a plurality of fertilizer sensors (8); wherein the first single controller (51) is simultaneously connected with the seed discharging motor (9) and the fertilizer discharging motor (10).
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| CN202311364848.8A CN117389181A (en) | 2023-10-19 | 2023-10-19 | Intelligent monitoring method and intelligent monitoring system for drill |
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| CN202311364848.8A CN117389181A (en) | 2023-10-19 | 2023-10-19 | Intelligent monitoring method and intelligent monitoring system for drill |
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