CN116267326A - Intelligent seedling tray seeding rate regulating and controlling device and method for rice seedling raising production line - Google Patents
Intelligent seedling tray seeding rate regulating and controlling device and method for rice seedling raising production line Download PDFInfo
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Abstract
The invention relates to an intelligent seedling tray seeding amount regulating device and method for a rice seedling raising production line, wherein the device comprises a fixed frame, a metering device, a position detecting device, a seeder and a control system; the seeder comprises a seed sowing wheel, a seed sowing wheel driving motor, a frequency converter and a vibration seed tray; an initial sowing amount unit in the control system controls the seeder to sow after receiving the input seedling tray sowing parameters; when the seedling tray weighing device works, after the position detection device detects that the seedling tray reaches the weighing position, the position detection unit sends seedling tray in-place information to the data processing unit, the data processing unit starts to collect and process weighing data sent by the metering device, the quality of the seedling tray on the front metering device and the rear metering device is calculated respectively, and then difference value analysis is carried out to obtain seedling tray seeding quantity and the seedling tray seeding quantity is sent to the seedling tray seeding quantity regulating and controlling unit; the seedling tray seeding quantity regulating and controlling unit controls a regular model between the output frequency of the frequency converter of the seeding wheel driving motor and the seeding quantity of the seedling tray to intelligently regulate and control the seeding quantity.
Description
Technical Field
The invention relates to the technical field of agricultural detection, in particular to an intelligent seedling tray seeding amount regulating device and method for a rice seedling raising production line.
Background
At present, the sowing quantity detection and regulation technology is the content of intensive researches of students at home and abroad, and mainly adopts detection methods including a photoelectric method, a capacitance method, an image method, a piezoelectric method and a weighing method. The Grift et al establish a relation model of fertilizer flow and photoelectric sensor output pulse width based on a photoelectric method, and can finish detection of fertilizer application amount under different flow rates and densities. Gao Xiaoyan A rape variable control system is designed by utilizing a photoelectric method, although higher sowing quantity detection precision is obtained by adopting a method of combining an optical fiber sensor with an improved sowing mechanism, the anti-interference performance of the detection system is poor, and in addition, the system completes the regulation and control of the sowing quantity by manually inputting regulation and control parameters, so that the intelligent level of the system is lower. Zhou Liming and the like accurately and rapidly acquire the capacitance pulse peak value interval of adjacent seeds based on a capacitance method, and obtain seed metering parameters of a seed metering device by calculating the pulse integral area so as to realize the detection of corn sowing quantity. Chen Jianguo and the like analyze that the detection precision of the photoelectric method and the capacitance method on the simultaneously falling multiple seeds is lower, and the photoelectric method is greatly influenced by external light. Tan Suiyan and the like extract shape characteristic parameters of super rice by utilizing machine vision and BP neural network, establish a BP neural network communication area super rice number detection model, and realize detection of seed adhesion overlapping parts. Dong Wenhao and the like design a seeding amount detection and control device based on embedded machine vision, acquire seeding amount information and adjust the seeding amount through an image processing technology, and can realize real-time detection and regulation of the low seeding amount (less than 70 g/disc) of hybrid rice. But the image method has higher cost, equipment is easily interfered by factors such as illumination, is difficult to adapt to complex working condition environments such as open farmland and the like, and has poor real-time detection effect under large seeding amount. Ding Youchun, zhang Lin and the like design a seeding amount detection device by utilizing a PVDF piezoelectric film, and can obtain information such as miss seeding, replay seeding, seeding amount and the like; however, piezoelectric sensors are susceptible to vibration and have poor detection stability. The invention is different from the conventional seeding quantity detection method, ma Xu and the like, and the dynamic metering device for the seeding quantity of the seedling raising, which is used for detecting the quality before and after the seeding of the seedling raising disk by utilizing the variable speed transmission seedling raising disk, has high detection precision; however, because the seedling trays are accelerated in the weighing process, a large gap is formed between two adjacent seedling trays, a large amount of seedling raising soil, water fertilizer and seeds leak out of the gap between the two seedling trays in the seedling raising process, the secondary use mechanization is difficult to operate, and resource waste is caused.
In addition, the scholars at home and abroad have also obtained more achievements on the research of the seeding quantity regulating and controlling technology. The Land prism rand Pai PS25120 pasture seeder manufactured by Great Plains company in the United states can accurately control the seeding depth and adjust the seeding quantity, thereby improving the seeding efficiency and pasture quality. Li Zehui A seed metering monitoring system based on an electromagnetic vibration type seed metering device is designed, and the seed metering quantity is adjusted by controlling voltage based on the operation speed of an agricultural machine and the linear rule of voltages at two ends of the seed metering device; but the seed metering precision is affected when the speed of the agricultural machinery is changed. Zhang Shuyan the control system of the rice seeding rate is designed by establishing a mathematical model between the rice seeding rate and key influencing factors thereof, and the regulation performance is good; however, the model needs to be re-built for different varieties of rice, and the intelligent level of the system is low. Liu Hao based on the technology of mechanical seed stirring and filling and pneumatic seed suction, a combined adjustable rice precision hill-drop seed metering device is designed and developed, and multi-level multi-row quantity adjustment is realized; however, the seed metering device has a complex structure and is inconvenient to install and maintain.
In summary, the photoelectric method, the capacitance method and the piezoelectric method have the problems of insufficient detection precision, poor anti-interference performance and the like, and cannot be accurately regulated and controlled. Although the image method has higher detection precision, the current research is mainly applicable to the performance detection of the low sowing quantity (less than 70 g/disc) of the hybrid rice, and the sowing quantity under the condition of large sowing quantity (more than 80 g/disc) of the conventional rice cannot be accurately detected. The existing weighing method is accurate, but wastes seedling raising resources and needs improvement. Therefore, the existing seeding quantity detection device and regulation method cannot meet the accurate detection requirement and regulation requirement of the seeding quantity of the seedling tray of the current rice seedling raising production line, and development of a detection device and a control method with good stability and high precision is needed to continuously and dynamically and intelligently measure and regulate the seeding quantity of the seedling tray of the rice seedling raising production line.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the intelligent seedling tray seeding rate regulating device for the rice seedling raising production line, which has higher precision and stability.
The second aim of the invention is to provide an intelligent regulation and control method for the seeding rate of the seedling tray of the rice seedling raising production line.
The technical scheme for solving the technical problems is as follows:
an intelligent regulation and control device for seeding rate of a seedling tray of a rice seedling raising production line comprises a fixed frame, a metering device, a position detection device, a seeder, a conveying device and a control system, wherein the metering device, the position detection device, the seeder, the conveying device and the control system are arranged on the fixed frame,
the metering devices are two groups, namely a front metering device arranged in front of the seeder and a rear metering device arranged behind the seeder; the front metering device is used for sending weighing data of the seedling tray before sowing to the control system; the rear metering device is used for sending the weighing data of the seedling tray after sowing to the control system;
the two groups of position detection devices are respectively a seedling tray position front detection device arranged in front of the seeder and a seedling tray rear position detection device arranged behind the seeder;
the conveying device is used for sequentially conveying the seedling tray to the front metering device, the front seedling tray position detecting device, the seeder, the rear metering device and the rear seedling tray position detecting device;
the seeder comprises a seed sowing wheel, a seed sowing wheel driving motor, a frequency converter and a vibration seed tray;
the control system comprises an initial sowing quantity unit, a position detection unit, a data processing unit and a seedling tray sowing quantity regulation and control unit; wherein, the initial sowing quantity unit controls the seeder to start sowing after receiving the input seedling tray sowing quantity parameters; after the position detection device detects that the seedling tray reaches the weighing position, the position detection unit sends seedling tray in-place information to the data processing unit, the data processing unit starts to collect and process weighing data sent by the metering device, the quality of the seedling tray on the front metering device and the rear metering device is calculated respectively, and then difference analysis is carried out on the two qualities to obtain seedling tray seeding quantity and the seedling tray seeding quantity is sent to the seedling tray seeding quantity regulating and controlling unit; the seedling tray seeding amount regulating and controlling unit intelligently regulates and controls the seeding amount through a regular model between the output frequency of the conveying device and the seedling tray seeding amount.
Preferably, the conveying device comprises driving wheel assemblies arranged on the fixing frame and a conveying driving mechanism for driving the driving wheel assemblies to rotate so as to convey the seedling tray, wherein the driving wheel assemblies are multiple groups, and the multiple groups of driving wheel assemblies are equidistantly arranged along the conveying direction of the seedling tray.
Preferably, the metering device comprises a frame, a weighing sensor, a bearing frame, a front row of supporting wheels, a rear row of supporting wheels, a front row of driving wheels and a rear row of driving wheels, wherein the weighing sensor is arranged on a bottom plate, and the bearing frame is connected with the weighing sensor and used for weighing the seedling tray; the front row supporting wheels and the rear row supporting wheels are arranged on the bearing frame and used for bearing the seedling tray; the front driving wheel is used for driving the seedling tray to leave the weighing station; the rear driving wheel is used for driving the seedling tray to reach a weighing station; the front row supporting wheels and the rear row supporting wheels are respectively arranged on the frame, and the front row driving wheels and the rear row driving wheels are arranged on the fixing frame and are positioned between the front row supporting wheels and the rear row supporting wheels.
Preferably, the horizontal mounting positions of the front row support wheels and the rear row support wheels are higher than the horizontal mounting positions of the front row drive wheels and the rear row drive wheels, and the height difference is Δz1 of 2mm.
Preferably, a mud guard is arranged in the frame above the front metering device.
Preferably, the position detection device comprises a support frame, a diffuse reflection photoelectric sensor I, a diffuse reflection photoelectric sensor II and a lifting mechanism, wherein the diffuse reflection photoelectric sensor I and the diffuse reflection photoelectric sensor II are arranged on the support frame, and the lifting mechanism is used for respectively driving the diffuse reflection photoelectric sensor I and the diffuse reflection photoelectric sensor II to lift; wherein the support frame is arranged on the fixing frame.
Preferably, the position detection device further comprises a light shielding box and a brush, wherein the light shielding box is arranged on the support frame; the hairbrush is fixed on the shading box and is used for preventing external light from affecting the diffuse reflection photoelectric sensor I and the diffuse reflection photoelectric sensor II; the brush is fixed on the shading box and is used for sweeping seeds and soil on the edge eave of the seedling tray, so that the seeds and the soil are prevented from interfering detection.
Preferably, the data processing unit performs noise reduction processing on the acquired weighing data through arithmetic average filtering and Kalman filtering to obtain seedling tray quality, and performs difference analysis on the seedling tray quality before sowing and after sowing to calculate seedling tray sowing quantity; the seedling tray seeding amount regulating and controlling unit consists of a frequency converter and a singlechip control circuit, and performs statistical analysis on the seedling tray seeding amount sent by the data processing unit, comprehensively analyzes the result, and intelligently regulates and controls the seeding amount through a regular model between the output frequency (namely the rotation speed of the seeding wheel) of the frequency converter of the seeding wheel driving motor and the seeding amount of the seedling tray.
An intelligent regulation and control method for seeding rate of a seedling tray of a rice seedling raising production line comprises the following steps:
s1, before seedling raising production, inputting seeding quantity Qs of a seedling tray through a control box, and controlling a seed sowing wheel to reach a set rotating speed by an initial seeding quantity unit to perform seeding; in the seedling raising production process, the seedling tray enters a front metering device after finishing the procedure of laying the bottom soil through a bottom soil box, and the seedling tray is driven by a rear driving wheel to coil a rear supporting wheel to rotate upwards and gradually enter a front weighing position; after the surface soil paving process of the seedling tray is completed, the total height of objects in the seedling tray is smaller than the height of the edge eave of the seedling tray; when two diffuse reflection photoelectric sensors in the seedling tray front position detection device detect the edge and eave of the seedling tray simultaneously within the detection distance, starting timing, and stopping timing until the edge and eave of the seedling tray leaves the detection distance; after stopping timing each time, the control system collects the detection time length of the edge and the eave of the seedling tray, if two effective detection time lengths are collected in the set time, the seedling tray is predicted to reach the pre-weighing position, and the position detection unit sends the in-place information of the seedling tray to the data processing unit;
s2, after the data processing unit receives the seedling tray in-place information, starting to acquire weighing data of the seedling tray on the metering device before acquisition, and performing preliminary processing on the data through a Kalman filter to obtain an optimal estimated value x (k|k):
wherein x (k) is true; z (k) is a measurement; k (k) is the filter gain; a is a state transition matrix; b is an input gain matrix; h is a measurement matrix; x (k|k) is the optimal estimated value at time k; x (k|k-1) is a predicted value at time k; x (k-1|k-1) is the optimal estimated value at time k-1; u (k) is measurement noise; w (k) is process noise;
then, x (k|k) is processed through arithmetic average filtering to obtain the seedling tray mass M before sowing:
subsequently saving M in the data processing unit;
s3, the seedling tray continuously advances forwards, the seedling tray enters a rear metering device after seeding is completed through a seeder, and the detection process of the seedling tray rear position detection device for the seedling tray to reach a rear weighing position is the same as the detection process of the seedling tray front position detection device in the step S1 for the seedling tray to reach a front weighing position;
s4, after receiving the seedling tray in-place information, the data processing unit starts to acquire weighing data of the seedling tray on the metering device, and obtains the quality N of the seedling tray after sowing after the data processing same as that in the step S1, so as to obtain the sowing quantity Qi of the seedling tray, wherein Qi=N-M; the seeding quantity of the seedling tray is respectively sent to a display screen and a seeding quantity regulating unit of the seedling tray, so that dynamic metering of the seeding quantity is completed;
s5, the seedling tray seeding quantity regulating unit accumulates the received seedling tray seeding quantity times, and calculates the average value Qj of the seedling tray seeding quantity when the accumulated times reach n times,
then, carrying out difference analysis on Qj and the input seeding rate Qs of the seedling tray, and if the absolute error of Qj and Qs is greater than 10% of Qs, regulating and controlling the seeding rate of the seedling tray, wherein the seeding rate regulating and controlling unit calculates the output frequency Fb of the regulated frequency converter based on a regular model between the output frequency (namely the rotation speed of the seeding wheel) of the frequency converter of the constructed seeding wheel driving motor and the seeding rate of the seedling tray, further controlling the frequency converter to output the regulated output frequency, correcting the seeding rate of the seedling tray, finishing intelligent regulation and control of the seeding rate of the seedling tray, and keeping the seeding rate of the seedling tray consistent; wherein, the rule model is as follows:
Fb＝Fa+(Qs-Qj)×a；
in the rule model, a is the change rate (measured by test) between the output frequency of the frequency converter and the seeding rate of the seedling tray, and Fa is the output frequency before adjustment.
Preferably, in step S1, the total height of the subsoil and the seeds in the seedling tray is smaller than the height of the edge and the eave of the seedling tray, and the height difference Δz2 is 10mm.
Compared with the prior art, the invention has the following beneficial effects:
1. the front metering device and the rear metering device in the intelligent regulation device for the seeding rate of the seedling tray in the rice seedling raising production line can enable the seedling tray to reach the weighing positions on the front supporting wheel and the rear supporting wheel by virtue of inertia force after leaving the rear driving wheel and keep the seedling tray to be temporarily stationary, and the control system completes the acquisition and the processing of weighing data under the stationary state of the seedling tray, so that the quality of the seedling tray is obtained. In addition, in the weighing process, a larger gap can not appear between seedling trays, and the waste of resources can be avoided.
2. The intelligent seedling tray seeding rate regulating and controlling device for the rice seedling raising production line not only can continuously, dynamically and accurately measure the seeding rate of the seedling trays, but also can intelligently regulate and control the seeding rate, ensure that the seeding rate of each seedling tray is the same, and is beneficial to improving the seedling raising quality.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the rice seedling raising production line of the invention.
Fig. 2 is a schematic structural diagram of the intelligent seedling tray seeding quantity regulating and controlling device.
Fig. 3 is a schematic view showing the constitution of the seeder according to the present invention.
Fig. 4 and 5 are schematic views of the front metering device according to the present invention, wherein the v direction is the traveling direction of the seedling tray.
Fig. 6 is a schematic view of the installation height difference Δz1 of the front driving wheel, the rear driving wheel, the front supporting wheel and the rear supporting wheel in the front metering device according to the present invention, wherein the v direction is the traveling direction of the seedling tray.
Fig. 7 is a schematic view of the height difference deltaz 2 between the edge of the seedling tray and the object in the seedling tray.
Fig. 8 and 9 are schematic diagrams showing the constitution of the device for detecting the position before seedling tray in the present invention.
Fig. 10 is a working schematic diagram of the intelligent seedling tray seeding quantity regulating and controlling device in the invention.
Fig. 11 is a control flow chart of the control system in the present invention.
Reference numerals illustrate:
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Referring to fig. 1-11, the intelligent seedling tray seeding rate regulating and controlling device for the rice seedling raising production line comprises a fixed frame, a metering device, a position detecting device, a seeder 3-4, a conveying device and a control system, wherein the metering device, the position detecting device, the seeder 3-4 and the control system are arranged on the fixed frame.
Referring to fig. 1-11, the metering devices are two groups, namely a front metering device 3-1 arranged between the subsoil box 2 and the seeder 3-4 and a rear metering device 3-5 arranged between the seeder 3-4 and the surface soil box 4; wherein, the front metering device 3-1 is used for sending the weighing data of the seedling tray before sowing to the control system; the rear metering device 3-5 is used for sending the seedling tray weighing data after sowing to the control system; the structure of the unit of measurement will be described below by taking the "front measuring device 3-1" as an example:
the metering device comprises a weighing sensor 3-1-11, a bearing frame 3-1-6, a front row supporting wheel 3-1-1, a rear row supporting wheel 3-1-4, a front row driving wheel 3-1-2, a rear row driving wheel 3-1-3 and a bottom plate 3-1-5 connected with a frame 3-1-8, wherein the weighing sensor 3-1-11 is arranged on the bottom plate 3-1-5, and the bearing frame 3-1-6 is connected with the weighing sensor 3-1-11 for weighing seedling trays; the front row supporting wheels 3-1-1 and the rear row supporting wheels 3-1-4 are arranged on the bearing frame 3-1-6 and used for bearing seedling trays; the front driving wheel 3-1-2 is used for driving the seedling tray to leave the weighing station; the rear driving wheels 3-1-3 are used for driving the seedling trays to reach a weighing station; the front support wheel 3-1-1 and the rear support wheel 3-1-4 are respectively arranged on the frame 3-1-8, and the front drive wheel 3-1-2 and the rear drive wheel 3-1-3 are arranged on the fixed frame 5 and are positioned between the front support wheel 3-1-1 and the rear support wheel 3-1-4; wherein, in order to reduce the contact interference caused by the symmetrical weight trays of the front and rear adjacent seedling trays, the horizontal installation positions of the front row supporting wheels 3-1-1 and the rear row supporting wheels 3-1-4 in the embodiment are higher than the horizontal installation positions of the front row driving wheels 3-1-2 and the rear row driving wheels 3-1-3, and the height difference is deltaz 1 of 2mm.
In addition, a mud guard 3-1-7 is arranged above the front metering device 3-1 in the frame 3-1-8, and the mud guard 3-1-7 is used for preventing sundries such as soil and seeds in the seedling tray, external dust and the like from falling onto the metering device.
Referring to fig. 1 to 11, the two sets of position detecting devices are respectively a seedling tray front position detecting device 3-2 disposed between the subsoil tank 2 and the planter 3-4, and a seedling tray rear position detecting device 3-6 disposed between the planter 3-4 and the surface soil tank 4, and the structure of the position detecting device will be described below by taking the "seedling tray front position detecting device 3-2" as an example:
the position detection device comprises a support frame 3-2-3, a diffuse reflection photoelectric sensor I3-2-4 arranged on the support frame 3-2-3, a diffuse reflection photoelectric sensor II 3-2-5 and a lifting mechanism for respectively driving the diffuse reflection photoelectric sensor I3-2-4 and the diffuse reflection photoelectric sensor II 3-2-5 to lift; wherein the supporting frame 3-2-3 is arranged on the fixing frame 5; the lifting mechanism comprises a fixed seat 3-2-1 and a lifting rod 3-2-2, the position of the lifting rod 3-2-2 is adjusted through a bolt arranged on the fixed seat 3-2-1, and the diffuse reflection photoelectric sensor I3-2-4 and the diffuse reflection photoelectric sensor II 3-2-5 are fixed on the lifting rod 3-2-2 through an adjustable clamp.
In addition, the position detection device further comprises a shading box 3-2-7 and a hairbrush 3-2-8, wherein the shading box 3-2-7 is arranged on the supporting frame 3-2-3; the hairbrush 3-2-8 is fixed on the shading box 3-2-7 and is used for preventing external light from affecting the diffuse reflection photoelectric sensor I3-2-4 and the diffuse reflection photoelectric sensor II 3-2-5; the hairbrush 3-2-8 is fixed on the shading box 3-2-7 and is used for sweeping seeds and soil on the seedling tray eave, and the seeds and the soil are prevented from interfering detection.
Referring to fig. 1-11, the conveying device utilizes a motor 1 to drive a driving assembly to sequentially convey seedling trays to a front metering device 3-1, a front seedling tray position detecting device 3-2, a seeder 3-4, a rear metering device 3-5 and a rear seedling tray position detecting device 3-6, wherein the conveying device comprises driving wheel assemblies arranged on a fixing frame 5 and a conveying driving mechanism for driving the driving wheel assemblies to rotate so as to realize conveying of the seedling trays, the driving wheel assemblies are multiple groups, and the multiple groups of driving wheel assemblies are equidistantly arranged along the conveying direction of the seedling trays.
Referring to fig. 1 to 11, the control system comprises an initial sowing amount unit, a position detection unit, a data processing unit and a seedling tray sowing amount regulating unit; wherein, the initial seeding unit controls the seeding wheel 3-4-2 to seed after receiving the input seeding quantity parameters of the seedling tray; after the position detection device detects that the seedling tray reaches the weighing position, the position detection unit sends seedling tray in-place information to the data processing unit, the data processing unit starts to collect and process weighing data sent by the metering device, the quality of the seedling tray on the front metering device 3-1 and the rear metering device 3-5 is calculated respectively, and then difference analysis is carried out on the two qualities to obtain seedling tray seeding quantity and the seedling tray seeding quantity is sent to the seedling tray seeding quantity regulating and controlling unit; the seedling tray seeding quantity regulating and controlling unit intelligently regulates and controls the seeding quantity through a regular model between the output frequency (namely the rotation speed of the seeding wheel) of the seeding wheel driving motor frequency converter 3-4-1 and the seeding quantity of the seedling tray. Wherein, the liquid crystal display device comprises a liquid crystal display device,
the data processing unit performs noise reduction treatment on the acquired weighing data through arithmetic average filtering and Kalman filtering to obtain seedling tray mass, and performs difference analysis on the seedling tray mass before sowing and after sowing to calculate seedling tray sowing quantity; the seedling tray seeding amount regulating and controlling unit consists of a frequency converter and a singlechip control circuit, and performs statistical analysis on the seedling tray seeding amount sent by the data processing unit, comprehensively analyzes the result, and intelligently regulates and controls the seeding amount through a regular model between the output frequency (namely the rotation speed of the seeding wheel) of the frequency converter 3-4-1 of the seeding wheel driving motor and the seeding amount of the seedling tray.
Referring to fig. 1-11, the intelligent seedling tray seeding rate regulating and controlling method for the rice seedling raising production line comprises the following steps:
s1, before seedling raising production, inputting seeding quantity Qs of a seedling tray through a control box 3-3, and controlling a seed sowing wheel 3-4-2 to reach a set rotating speed by an initial seeding quantity unit; in the seedling raising production process, a motor 1 in a conveying device drives a driving assembly to drive a seedling tray to move, when the seedling tray enters a front metering device 3-1 after finishing a bottom soil laying process through a bottom soil box 2, the seedling tray is driven by a rear driving wheel 3-1-3 to rotate upwards and gradually enter a front weighing position by coiling a rear supporting wheel 3-1-4; after the surface soil paving process of the seedling tray is completed, the total height of objects in the seedling tray is smaller than the height of the edge eave of the seedling tray; when two diffuse reflection photoelectric sensors in the seedling tray front position detection device 3-2 detect the edge and the eave of the seedling tray at the same time within the detection distance, starting timing, and stopping timing until the edge and the eave of the seedling tray leave the detection distance; after stopping timing each time, the control system collects the detection time length of the edge and the eave of the seedling tray, if two effective detection time lengths are collected in the set time, the seedling tray is predicted to reach the pre-weighing position, and the position detection unit sends the in-place information of the seedling tray to the data processing unit;
s2, after the data processing unit receives the seedling tray in-place information, starting to acquire weighing data of the seedling tray on the metering device 3-1 before acquisition, and performing preliminary processing on the data through a Kalman filter to obtain an optimal estimated value x (k|k):
wherein x (k) is true; z (k) is a measurement; k (k) is the filter gain; a is a state transition matrix; b is an input gain matrix; h is a measurement matrix; x (k|k) is the optimal estimated value at time k; x (k|k-1) is a predicted value at time k; x (k-1|k-1) is the optimal estimated value at time k-1; u (k) is measurement noise; w (k) is process noise;
then, x (k|k) is processed through arithmetic average filtering to obtain the seedling tray mass M before sowing:
subsequently saving M in the data processing unit;
s3, the seedling tray continues to advance, the seedling tray enters a rear metering device 3-5 after seeding is completed through a seeder 3-4, and the detection process of the seedling tray rear position detection device 3-6 on the seedling tray reaching rear weighing position is the same as the detection process of the seedling tray front position detection device 3-2 in the step S1 on the seedling tray reaching front weighing position;
s4, after receiving the seedling tray in-place information, the data processing unit starts to acquire weighing data of the seedling tray on the post-metering device 3-5, and obtains the quality N of the seedling tray after sowing after the data processing same as the step S1, so as to obtain the sowing quantity Qi of the seedling tray, wherein Qi=N-M; the seeding quantity of the seedling tray is respectively sent to a display screen and a seeding quantity regulating unit of the seedling tray, so that dynamic metering of the seeding quantity is completed;
s5, the seedling tray seeding quantity regulating unit accumulates the received seedling tray seeding quantity times, and calculates the average value Qj of the seedling tray seeding quantity when the accumulated times reach n times,
then, carrying out difference analysis on Qj and the input seeding rate Qs of the seedling tray, and if the absolute error of Qj and Qs is greater than 10% of Qs, regulating and controlling the seeding rate of the seedling tray, wherein the seeding rate regulating and controlling unit calculates the regulated output frequency Fb of the frequency converter based on a regular model between the output frequency (namely the rotation speed of the seeding wheel) of the frequency converter 3-4-1 of the seeding wheel driving motor and the seeding rate of the seedling tray, and further controls the frequency converter to output the regulated output frequency, corrects the seeding rate of the seedling tray, completes intelligent regulation and control of the seeding rate of the seedling tray, and keeps the seeding rate of the seedling tray consistent; wherein, the rule model is as follows:
Fb＝Fa+(Qs-Qj)×a；
in the rule model, a is the change rate (measured by test) between the output frequency of the frequency converter and the seeding rate of the seedling tray, and Fa is the output frequency before adjustment.
In the step S1, the total height of the bottom soil and the seeds in the seedling tray is smaller than the height of the edge eave of the seedling tray, and the height difference delta z2 is 10mm.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An intelligent regulation and control device for seeding rate of a seedling tray of a rice seedling raising production line comprises a fixed frame, a metering device, a position detection device, a seeder, a conveying device and a control system which are arranged on the fixed frame,
the metering devices are two groups, namely a front metering device arranged in front of the seeder and a rear metering device arranged behind the seeder; the front metering device is used for sending weighing data of the seedling tray before sowing to the control system; the rear metering device is used for sending the weighing data of the seedling tray after sowing to the control system;
the two groups of position detection devices are respectively a seedling tray position front detection device arranged in front of the seeder and a seedling tray rear position detection device arranged behind the seeder;
the conveying device is used for sequentially conveying the seedling tray to the front metering device, the front seedling tray position detecting device, the seeder, the rear metering device and the rear seedling tray position detecting device;
the seeder comprises a seed sowing wheel, a seed sowing wheel driving motor, a frequency converter and a vibration seed tray;
the control system comprises an initial sowing quantity unit, a position detection unit, a data processing unit and a seedling tray sowing quantity regulation and control unit; wherein, the initial sowing quantity unit controls the seeder to start sowing after receiving the input seedling tray sowing quantity parameters; after the position detection device detects that the seedling tray reaches the weighing position, the position detection unit sends seedling tray in-place information to the data processing unit, the data processing unit starts to collect and process weighing data sent by the metering device, the quality of the seedling tray on the front metering device and the rear metering device is calculated respectively, and then difference analysis is carried out on the two qualities to obtain seedling tray seeding quantity and the seedling tray seeding quantity is sent to the seedling tray seeding quantity regulating and controlling unit; the seedling tray seeding amount regulating and controlling unit intelligently regulates and controls the seeding amount through a regular model between the output frequency (namely the rotation speed of the seeding wheel) of the seeding wheel driving motor frequency converter and the seeding amount of the seedling tray.
2. The intelligent seedling tray seeding amount regulating and controlling device for the rice seedling raising production line according to claim 1, wherein the conveying device comprises driving wheel assemblies arranged on a fixing frame and a conveying driving mechanism for driving the driving wheel assemblies to rotate so as to realize conveying of seedling trays, wherein the driving wheel assemblies are multiple groups, and the multiple groups of driving wheel assemblies are equidistantly arranged along the conveying direction of the seedling trays.
3. The intelligent seedling tray seeding amount regulating and controlling device for the rice seedling raising production line according to claim 2, wherein the metering device comprises a frame, a weighing sensor, a bearing frame, a front row supporting wheel, a rear row supporting wheel, a front row driving wheel and a rear row driving wheel, wherein the weighing sensor is arranged on a bottom plate, and the bearing frame is connected with the weighing sensor and used for weighing the seedling tray; the front row supporting wheels and the rear row supporting wheels are arranged on the bearing frame and used for bearing the seedling tray; the front driving wheel is used for driving the seedling tray to leave the weighing station; the rear driving wheel is used for driving the seedling tray to reach a weighing station; the front row supporting wheels and the rear row supporting wheels are respectively arranged on the frame, and the front row driving wheels and the rear row driving wheels are arranged on the fixing frame and are positioned between the front row supporting wheels and the rear row supporting wheels.
4. The intelligent seedling tray seeding rate regulating device for the rice seedling raising production line according to claim 3, wherein the horizontal installation positions of the front row supporting wheels and the rear row supporting wheels are higher than the horizontal installation positions of the front row driving wheels and the rear row driving wheels, and the height difference is deltaz 1 and is 2mm.
5. The intelligent seedling tray seeding rate regulating and controlling device for the rice seedling raising production line according to claim 4, wherein a mud guard is arranged above the front metering device in the frame.
6. The intelligent seedling tray seeding rate regulating and controlling device for the rice seedling raising production line according to claim 5, wherein the position detecting device comprises a supporting frame, a diffuse reflection photoelectric sensor I, a diffuse reflection photoelectric sensor II and a lifting mechanism, wherein the diffuse reflection photoelectric sensor I and the diffuse reflection photoelectric sensor II are arranged on the supporting frame, and the lifting mechanism is used for respectively driving the diffuse reflection photoelectric sensor I and the diffuse reflection photoelectric sensor II to lift; wherein the support frame is arranged on the fixing frame.
7. The intelligent seedling tray seeding rate regulating and controlling device for the rice seedling raising production line according to claim 6, wherein the position detecting device further comprises a shading box and a brush, and the shading box is arranged on the supporting frame; the hairbrush is fixed on the shading box and is used for preventing external light from affecting the diffuse reflection photoelectric sensor I and the diffuse reflection photoelectric sensor II; the brush is fixed on the shading box and is used for sweeping seeds and soil on the edge eave of the seedling tray, so that the seeds and the soil are prevented from interfering detection.
8. The intelligent seedling tray seeding rate regulating and controlling device for the rice seedling raising production line according to claim 7, wherein the data processing unit performs noise reduction processing on the collected weighing data through arithmetic average filtering and Kalman filtering to obtain seedling tray quality, and performs differential analysis on the seedling tray quality before seeding and after seeding to calculate the seedling tray seeding rate; the seedling tray seeding amount regulating and controlling unit consists of a frequency converter and a singlechip control circuit, and performs statistical analysis on the seedling tray seeding amount sent by the data processing unit, comprehensively analyzes the result, and intelligently regulates and controls the seeding amount through a regular model between the output frequency of the frequency converter of the seeding wheel driving motor and the seedling tray seeding amount.
9. An intelligent regulation and control method for seeding rate of a seedling tray of a rice seedling raising production line is characterized by comprising the following steps:
s1, before seedling raising production, inputting seeding quantity Qs of a seedling tray through a control box, and controlling a seed sowing wheel to reach a set rotating speed by an initial seeding quantity unit to perform seeding; in the seedling raising production process, the seedling tray enters a front metering device after finishing the procedure of laying the bottom soil through a bottom soil box, and the seedling tray is driven by a rear driving wheel to coil a rear supporting wheel to rotate upwards and gradually enter a front weighing position; after the surface soil paving process of the seedling tray is completed, the total height of objects in the seedling tray is smaller than the height of the edge eave of the seedling tray; when two diffuse reflection photoelectric sensors in the seedling tray front position detection device detect the edge and eave of the seedling tray simultaneously within the detection distance, starting timing, and stopping timing until the edge and eave of the seedling tray leaves the detection distance; after stopping timing each time, the control system collects the detection time length of the edge and the eave of the seedling tray, if two effective detection time lengths are collected in the set time, the seedling tray is predicted to reach the pre-weighing position, and the position detection unit sends the in-place information of the seedling tray to the data processing unit;
s2, after the data processing unit receives the seedling tray in-place information, starting to acquire weighing data of the seedling tray on the metering device before acquisition, and performing preliminary processing on the data through a Kalman filter to obtain an optimal estimated value x (k|k):
wherein x (k) is true; z (k) is a measurement; k (k) is the filter gain; a is a state transition matrix; b is an input gain matrix; h is a measurement matrix; x (k|k) is the optimal estimated value at time k; x (k|k-1) is a predicted value at time k; x (k-1|k-1) is the optimal estimated value at time k-1; u (k) is measurement noise; w (k) is process noise;
then, x (k|k) is processed through arithmetic average filtering to obtain the seedling tray mass M before sowing:
subsequently saving M in the data processing unit;
s3, the seedling tray continuously advances forwards, the seedling tray enters a rear metering device after seeding is completed through a seeder, and the detection process of the seedling tray rear position detection device for the seedling tray to reach a rear weighing position is the same as the detection process of the seedling tray front position detection device in the step S1 for the seedling tray to reach a front weighing position;
s4, after receiving the seedling tray in-place information, the data processing unit starts to acquire weighing data of the seedling tray on the metering device, and obtains the quality N of the seedling tray after sowing after the data processing same as that in the step S1, so as to obtain the sowing quantity Qi of the seedling tray, wherein Qi=N-M; the seeding quantity of the seedling tray is respectively sent to a display screen and a seeding quantity regulating unit of the seedling tray, so that dynamic metering of the seeding quantity is completed;
s5, the seedling tray seeding quantity regulating unit accumulates the received seedling tray seeding quantity times, and calculates the average value Qj of the seedling tray seeding quantity when the accumulated times reach n times,
then, carrying out difference analysis on Qj and the input seeding rate Qs of the seedling tray, and if the absolute error of Qj and Qs is greater than 10% of Qs, regulating and controlling the seeding rate of the seedling tray, wherein the seeding rate regulating and controlling unit calculates the output frequency Fb of the regulated frequency converter based on a regular model between the output frequency of the constructed frequency converter of the seeding wheel driving motor and the seeding rate of the seedling tray, further controls the frequency converter to output the regulated output frequency, corrects the seeding rate of the seedling tray, completes intelligent regulation and control of the seeding rate of the seedling tray, and keeps the seeding rate of the seedling tray consistent; wherein, the rule model is as follows:
Fb＝Fa+(Qs-Qj)×a；
in the rule model, a is the change rate between the output frequency of the frequency converter and the seeding rate of the seedling tray, and Fa is the output frequency before adjustment.
10. The intelligent regulation and control method for seedling tray seeding rate of rice seedling raising production line according to claim 9, wherein in step S1, the total height of bottom soil and seeds in the seedling tray is smaller than the height of the edge and eave of the seedling tray, and the height difference Δz2 is 10mm.
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