Monitoring system and monitoring method for seeder

Abstract

A monitoring system and a monitoring method for a planter includes a computer having an unit speed fusion module, a seeding flow rate monitoring module, and a decision module for theoretical rotation speed of a drive motor, a rotation speed deviation inference module, a controlling parameter tuning module, an adjusting module for rotation speed of a seeding shaft, a controlling module for rotation speed of seeding shaft and a positioning signal receiver fixed on a top of a cab for receiving a geographic position signal. The system monitors operating state parameters of the planter and accurately controls seed amount.

Claims

1. A monitoring system for a planter, said system comprising a computer, a drive motor, a unit speed fusion module, a seeding flow rate monitoring module, a decision module for theoretical rotation speed of the drive motor, a rotation speed deviation inference module, a control parameter tuning module, an adjusting module for adjusting rotation speed of seeding shaft, and a control module for controlling rotation speed of seeding shaft; a positioning signal receiver fixed on a top of a cab, and configured to receive a geographic position signal, the positioning signal receiver being connected with the decision module for theoretical rotation speed of the drive motor, the decision module for theoretical rotation speed of drive motor being configured to convert the geographic position signal into a theoretical seeding amount Q in the area by a look-up table method according to Q=f(N.sub.u,E.sub.u), where N.sub.u is a north latitude coordinate of the planter and E.sub.u is an east longitude coordinate of the planter; a speed sensor mounted on a drive wheel of the planter to measure the rotation speed of the drive wheel of the planter; the speed sensor being connected with the unit speed fusion module, and the drive wheel rotation speed n.sub.u of the planter at the uth sampling being used as an input of the unit speed fusion module; an acceleration sensor installed on a cross beam of the planter frame, configured to measure acceleration of the planter; the acceleration sensor being connected with a unit speed fusion module, and the acceleration rotation speed a.sub.u of the planter at the uth sampling being used as an input of the unit speed fusion module; the input drive wheel rotation speed n.sub.u and acceleration rotation speed a.sub.u of the planter at the uth sampling being converted into planter speed v.sub.u at the uth sampling by the unit speed fusion module through a speed fusion algorithm, wherein: $v_u=\{\begin{array}{cc}\pi .Math.n_u.Math.D& .Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\le 2\\ v_{u-1}+a_u.Math.T& 2<.Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\end{array}$ where n.sub.u is the drive wheel rotation speed of planter at the uth sampling, round/min; n.sub.u-1 is the drive wheel rotation speed of planter at the (u−1)th sampling, round/min; when u equals to 1, n.sub.0 equals to 0; D is the drive wheel diameter of the planter, m; a.sub.u is the acceleration rotation speed of the planter at the uth sampling, m/s.sup.2; V.sub.u-1 is the speed of planter at (u−1)th sampling, m/s; when u equals to 1, v.sub.0 equals to 0; u is the current sampling number of times, 1≤u≤m, m is the total sampling number of times, and sampling period T is the time interval from (u−1)th sampling to uth sampling, and T is a constant; wherein flow rate sensors are installed on each seeding opening of planter for measuring the flow rate of each seeding opening; said flow rate sensors being connected with the seeding flow rate monitoring module and the flow rate on each seeding opening of planter being used as an input of the seeding flow rate monitoring module; wherein the seeding flow rate monitoring module outputs the total seeding amount and is connected with a decision module for theoretical rotation speed of drive motor, so that a total seeding amount of the planter is used as the input of the decision module for theoretical rotation speed of drive motor; wherein the decision module for theoretical rotation speed of drive motor outputs the theoretical rotation speed n.sub.u.sup.t of drive motor by the drive motor rotation speed algorithm through the input total seeding amount, the theoretical seeding amount Q in the area, and the speed v.sub.u of the planter at the uth sampling; wherein: $n_u^t=\frac{60.Math.\left(Q-\underset{u=1}{\overset{n}{.Math.}}{q}_u\right).Math.v_u.Math.A}{\left(666.7-A.Math.\underset{u=1}{\overset{n}{.Math.}}{v}_u\right).Math.N.Math.q.Math.r}$ where Q is the theoretical seeding amount in an area, kg; q.sub.u is a total seeding amount at the uth sampling, kg; v.sub.u is a speed of planter at the uth sampling, m/s; A is a working width of planter, m; q is a theoretical seeding amount per round of a single row of seeding shafts, kg; N is the number of seeding rows of the planter; r is a transmission ratio between the seeding shaft drive motor and the seeding shaft; wherein an encoder is installed on the drive motor to measure the actual drive motor rotation speed n.sub.u.sup.r; the encoder and the decision module for theoretical rotation speed of drive motor are respectively connected with the rotation speed deviation inference module, in which the rotation speed deviation e.sub.u is obtained by the actual rotation speed n.sub.u.sup.r of the drive motor and the theoretical rotation speed n.sub.u.sup.t of the seeding shaft via differential gate operation, e.sub.u=n.sub.u.sup.t−n.sub.u.sup.r; wherein the controlling parameter tuning module is connected with a rotation speed deviation inference module, the rotation speed deviation e.sub.u is inputted to the controlling parameter tuning module; through the calculation of fuzzy neural network, a proportional coefficient K.sub.u.sup.p, integral coefficient K.sub.u.sup.i and a differential coefficient K.sub.u.sup.d the uth sampling are obtained, wherein: $K_u^p=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^p.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^i=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^i.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^d=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^d.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}$ where e.sub.u is a rotation speed deviation at the uth sampling; Δe.sub.u is a variable of the rotation speed deviations between two adjacent sampling periods, i.e., Δe.sub.u=e.sub.u−e.sub.u-1 and e.sub.0 is the initial value and e.sub.0 equals to 0; m.sub.j is a mean value of the jth fuzzy subset corresponding to the rotation speed deviation e.sub.u, j is a number of fuzzy subsets corresponding to the rotation speed deviation e.sub.u and an optimal interval is {j∈N|5≤j≤11}; m′.sub.k is a mean value of the kth fuzzy subset corresponding to the variable of the rotation speed deviation Δe.sub.u; k is the number of the fuzzy subsets corresponding to the variable of the rotation speed deviation Δe.sub.u, and the optimal interval is {k∈N|5≤k≤11}; δ.sub.j is a standard deviation of the jth fuzzy subset corresponding to rotation speed deviation e.sub.u; δ′.sub.k is a standard deviation of kth fuzzy subset corresponding to rotation speed deviation variable Δe.sub.u; θ.sub.jk.sup.p is a corrected weight coefficient of the proportional parameter; θ.sub.jk.sup.i is a corrected weight coefficient of the integral parameter; θ.sub.jk.sup.d is a corrected weight coefficient of the differential parameter; wherein the controlling parameter tuning module is connected with the adjusting module for rotation speed of seeding shaft, the proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i, the differential coefficient K.sub.u.sup.d, at the uth sampling are used as the input of the adjusting module for adjusting rotation speed of seeding shaft; the rotation speed deviation inference module is connected with the adjusting module for adjusting rotation speed of seeding shaft, and the rotation speed deviation e.sub.u is used as the input of the adjusting module for adjusting rotation speed of seeding shaft; the adjusting module for rotation speed of seeding shaft converts the input proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i, the differential coefficient K.sub.u.sup.d and the rotation speed deviation e.sub.u at the uth sampling into the output of adjusting speed n.sub.u.sup.a by the incremental PID algorithm, wherein: $n_u^a=\left\{\begin{array}{cc}{n}_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u& u=1\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}& u=2\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}+& m>u>2\\ K_u^p\frac{K_u^d}{T}{e}_{u-2}& \end{array}\right\}$ wherein the adjusting module for rotation speed of seeding shaft is connected with the controlling module for controlling rotation speed of seeding shaft, through which the input adjusting rotation speed n.sub.u.sup.a is converted into output of impulse frequency P.sub.u; and the driving motor controller is connected with the controlling module for controlling rotation speed of seeding shaft to control the rotation speed of the driving motor by the pulse signal with the frequency of P.sub.u.

2. The monitoring system for planter according to claim 1, wherein the positioning signal receiver is a GPS positioner.

3. The monitoring system for planter according to claim 1, wherein the transmission mode among the positioning signal receiver, the plurality of flow rate sensors, the speed sensor, the acceleration sensor, the encoder and the industrial personal computer are connected by wireless transmission.

4. The monitoring system for planter according to claim 1, wherein the wireless transmission is a Zigbee wireless network transmission.

5. The monitoring system for planter according to claim 1, wherein the sampling period T is 0.02 second.

6. A monitoring method for a planter, which method comprises the following steps: S01: a decision module for theoretical rotation speed of driving motor converts the geographic position signal input by a positioning signal receiver at an uth sampling into a theoretical seeding amount Q of the area where the uth sampling is located by a look-up table method, wherein Q=f (N.sub.u,E.sub.u) where N.sub.u is a north latitude coordinate of the planter at the uth sampling and E.sub.u is an east longitude coordinate of the planter at the uth sampling; S02: an unit speed fusion module converts input driving wheel rotation speed n.sub.u and driving wheel acceleration rotation speed a.sub.u of the planter at the uth sampling into planter speed v.sub.u at the uth sampling by the speed fusion algorithm, wherein: $v_u=\{\begin{array}{cc}\pi .Math.n_u.Math.D& .Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\le 2\\ v_{u-1}+a_u.Math.T& 2<.Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\end{array}$ where n.sub.u is a driving wheel rotation speed of planter at an uth sampling, round/min; n.sub.u-1 is a driving wheel rotation speed of planter at an (u−1)th sampling, round/min; when u equals to 1, n.sub.0 equals to 0; D is a driving wheel diameter of the planter, m; a.sub.u is an acceleration rotation speed of the planter at the uth sampling, m/s.sup.2; V.sub.u-1 is a speed of planter at (u−1)th sampling, m/s; when u equals to 1, v.sub.0 equals to 0; u is a current sampling number of times, 1≤u≤m, m is a total sampling number of times, and sampling period T is a time interval from (u−1)th sampling to uth sampling, and T is a constant; S03: a flow rate sensor is used to measure flow rate of each seeding opening of the planter at the uth sampling; the flow rate is input to a seeding flow rate monitoring module and is converted to total seeding amount q.sub.u at an uth sampling by the seeding flow rate monitoring module; S04: the theoretical seeding amount Q in an area, total seeding amount q.sub.u and speed v.sub.u of the planter at the uth sampling are used as an input of the decision module for a theoretical rotation speed of drive motor; the theoretical drive motor rotation speed n.sub.u.sup.t is output by driving motor rotation speed algorithm, wherein: $n_u^t=\frac{60.Math.\left(Q-\underset{u=1}{\overset{n}{.Math.}}{q}_u\right).Math.v_u.Math.A}{\left(666.7-A.Math.\underset{u=1}{\overset{n}{.Math.}}{v}_u\right).Math.N.Math.q.Math.r}$ where Q is a theoretical seeding amount in an area, kg; q.sub.u is a total seeding amount at the uth sampling, kg; v.sub.u is a speed of planter at the uth sampling, m/s; A is a working width of planter, m; q is a theoretical seeding amount per round of a single row of seeding shafts, kg; N is the number of seeding rows of the planter; r is a transmission ratio between the seeding shaft drive motor and the seeding shaft; S05; a rotation speed deviation e.sub.u is obtained via a differential gate operation by inputting the drive motor theoretical rotation speed n.sub.u.sup.t the actual speed n.sub.u.sup.r fedback by the encoder into the rotation speed deviation inference module, wherein e.sub.u=n.sub.u.sup.t−n.sub.u.sup.r; S06: a rotation speed deviation e.sub.u is input to the controlling parameter tuning module; through the calculation of fuzzy neural network, the proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i and the differential coefficient K.sub.u.sup.d at the uth sampling are obtained, wherein: $K_u^p=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^p.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^i=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^i.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^d=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^d.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}$ where e.sub.u is a rotation speed deviation at the uth sampling; Δe.sub.u is a variable of the rotation speed deviations between two adjacent sampling periods, i.e., Δe.sub.u=e.sub.u−e.sub.u-1 and e.sub.0 is an initial value and e.sub.0 equals to 0; m.sub.j is a mean value of the jth fuzzy subset corresponding to a rotation speed deviation e.sub.u, j is a number of fuzzy subsets corresponding to the rotation speed deviation e.sub.u and an optimal interval is {j∈N|5≤j≤11}; m′.sub.k is a mean value of a kth fuzzy subset corresponding to the variable of the rotation speed deviation Δe.sub.u; k is a number of the fuzzy subsets corresponding to the variable of the rotation speed deviation Δe.sub.u, and an optimal interval is {k∈N|5≤k≤11}; δ.sub.j is a standard deviation of the jth fuzzy subset corresponding to rotation speed deviation e.sub.u; δ′.sub.k is a standard deviation of kth fuzzy subset corresponding to rotation speed deviation variable Δe.sub.u; θ.sub.jk.sup.p is a corrected weight coefficient of the proportional parameter; θ.sub.jk.sup.i is a corrected weight coefficient of the integral parameter; δ.sub.jk.sup.d is a corrected weight coefficient of the differential parameter; S07: a proportional coefficient K.sub.u.sup.p, an integral coefficient K.sub.u.sup.i, a differential coefficient K.sub.u.sup.d, and the rotation speed deviation e.sub.u at the uth sampling are input to the adjusting module for rotation speed of seeding shaft and converted into the output of adjusting rotation speed n.sub.u.sup.a by the incremental PID algorithm, wherein: $n_u^a=\left\{\begin{array}{cc}{n}_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u& u=1\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}& u=2\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}+& m>u>2\\ K_u^p\frac{K_u^d}{T}{e}_{u-2}& \end{array}\right\}$ S08: an input adjusting rotation speed n.sub.u.sup.a is converted into output of impulse frequency P.sub.u by the controlling module for rotation speed of seeding shaft; the drive motor controller controls the rotation speed of the driving motor by the pulse signal with the frequency of P.sub.u; the encoder outputs the feedback of actual rotational speed n.sub.u.sup.r to the rotation speed deviation inference module; S09: if u<m, an (u+1)th sampling period is started, the mentioned steps S01 to S08 are executed circularly; if or the computer receives a stop command, the planter stops the seeding operation.

Description

DESCRIPTIONS OF DRAWINGS

(1) FIG. 1 is a control diagram of the planter monitoring system according to the present invention.

(2) FIG. 2 is a flow diagram of a planter monitoring method according to the present invention.

(3) Where 1—industrial personal computer, 1—unit speed fusion module, 12—seeding flow rate monitoring module, 13—decision module for theoretical rotation speed of driving motor, 14—rotation speed deviation inference module, 15—controlling parameter tuning module, 16—adjusting module for rotation speed of seeding shaft, 17—controlling module for rotation speed of seeding shaft, 2—driving motor controller, 3—driving motor, 4—encoder.

EMBODIMENTS

(4) The present invention will be further described below with reference to the drawings and examples, but the scope of protection of the present invention is not limited thereto.

(5) As shown in the FIG. 1, a monitoring system for planter includes an industrial personal computer 1 and a driving motor 3, the industrial personal computer 1 includes a unit speed fusion module 11, a seeding flow rate monitoring module 12, a decision module 13 for theoretical rotation speed of driving motor, a rotation speed deviation inference module 14, a controlling parameter tuning module 15, an adjusting module 16 for rotation speed of seeding shaft and a controlling module 17 for rotation speed of seeding shaft;

(6) a positioning signal receiver is fixed on the top of a cab, and used to receive a geographic position signal, the positioning signal receiver is connected with the decision module 13 for theoretical rotation speed of driving motor, the decision module 13 for theoretical rotation speed of driving motor converts the geographic position signal into the theoretical seeding amount Q in the area by the looking-up table method, i.e. Q=f(N.sub.u, E.sub.u), where N.sub.u is the north latitude coordinate of the planter and E.sub.u is the east longitude coordinate of the planter; the positioning signal receiver is a GPS positioner;

(7) a speed sensor mounted on the driving wheel of the planter to measure the rotation speed of the driving wheel of the planter; the speed sensor is connected with the unit speed fusion module 11, and the driving wheel rotation speed n.sub.u of the planter at the uth sampling is used as the input of the unit speed fusion module 11; an acceleration sensor is installed on the cross beam of the planter frame, to measure the acceleration of the planter; the acceleration sensor is connected with the unit speed fusion module 11, and the acceleration rotation speed a.sub.u of the planter at the uth sampling is used as the input of the unit speed fusion module 11;

(8) the input driving wheel rotation speed n.sub.u and acceleration rotation speed a.sub.u of the planter at the uth sampling are converted into planter speed v.sub.u at the uth sampling by the unit speed fusion module 11 through the speed fusion algorithm, specifically:

(9) $v_u=\{\begin{array}{cc}\pi .Math.n_u.Math.D& .Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\le 2\\ v_{u-1}+a_u.Math.T& 2<.Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\end{array}$

(10) where n.sub.u is the driving wheel rotation speed of planter at the uth sampling, round/min;

(11) n.sub.u-1 is the driving wheel rotation speed of planter at the (u−1)th sampling, round/min; when u equals to 1, n.sub.0 equals to 0;

(12) D is the driving wheel diameter of the planter, m;

(13) a.sub.u is the acceleration rotation speed of the planter at the uth sampling, m/s.sup.2;

(14) V.sub.u-1 is the speed of planter at (u−1)th sampling, m/s; when u equals to 1, v.sub.0 equals to 0;

(15) u is the current sampling number of times, 1≤u≤m, m is the total sampling number of times, and sampling period T is the time interval from (u−1)th sampling to uth sampling, and T is a constant;

(16) a certain amount of flow rate sensors are installed on each seeding opening of planter for measuring the flow rate of each seeding opening; said a certain amount of flow rate sensors are connected with the seeding flow rate monitoring module 12 and the flow rate on each seeding opening of planter is used as the input of the seeding flow rate monitoring module 12; the seeding flow rate monitoring module 12 outputs the total seeding amount and is connected with the decision module 13 for theoretical rotation speed of driving motor, so that the total seeding amount of the planter is used as the input of the decision module 13 for theoretical rotation speed of driving motor;

(17) the decision module 13 for theoretical rotation speed of driving motor outputs the theoretical rotation speed n.sub.u.sup.t of drive motor by the driving motor rotation speed algorithm through the input total seeding amount, the theoretical seeding amount Q in the area, and the speed v.sub.u of the planter at the uth sampling; i.e.:

(18) 0$n_u^t=\frac{60.Math.\left(Q-\underset{u=1}{\overset{n}{.Math.}}{q}_u\right).Math.v_u.Math.A}{\left(666.7-A.Math.\underset{u=1}{\overset{n}{.Math.}}{v}_u\right).Math.N.Math.q.Math.r}$

(19) where Q is the theoretical seeding amount in an area, kg;

(20) q.sub.u is the total seeding amount at the uth sampling, kg;

(21) v.sub.u is the speed of planter at the uth sampling, m/s;

(22) A is the working width of planter, m;

(23) q is the theoretical seeding amount per round of a single row of seeding shafts, kg;

(24) N is the seeding rows of the planter, row;

(25) r is transmission ratio between the seeding shaft driving motor and the seeding shaft;

(26) u is the current sampling number of times, m is the total sampling number of times, 1≤u≤m, and sampling period T is the time interval from (u−1)th sampling to uth sampling, and T is a constant;

(27) an encoder 4 is installed on the driving motor 3 to measure the actual driving motor rotation speed n.sub.u.sup.r; the encoder 4 and the decision module 13 for theoretical rotation speed of driving motor are respectively connected with the rotation speed deviation inference module 14, in which the rotation speed deviation e.sub.u is obtained by the actual rotation speed n.sub.u.sup.r of the driving motor 3 and the theoretical rotation speed n.sub.u.sup.t of the seeding shaft via differential gate operation, i.e. e.sub.u=n.sub.u.sup.t−n.sub.u.sup.r;

(28) the controlling parameter tuning module 15 is connected with the rotation speed deviation inference module 14, the rotation speed deviation e.sub.u is inputted to the controlling parameter tuning module 15; through the calculation of fuzzy neural network, the proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i and the differential coefficient K.sub.u.sup.d at the uth sampling are obtained, specifically:

(29) $K_u^p=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^p.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^i=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^i.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^d=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^d.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}$

(30) where e.sub.u is the rotation speed deviation at the uth sampling;

(31) Δe.sub.u is the variable of the rotation speed deviations between two adjacent sampling periods, i.e., Δe.sub.u=e.sub.u−e.sub.u-1 and e.sub.0 is the initial value and e.sub.0 equals to 0;

(32) m.sub.j is the mean value of the jth fuzzy subset corresponding to the rotation speed deviation e.sub.u, j is the number of fuzzy subsets corresponding to the rotation speed deviation e.sub.u and the optimal interval is {j∈N|5≤j≤11};

(33) m′.sub.k is the mean value of the kth fuzzy subset corresponding to the variable of the rotation speed deviation Δe.sub.u; k is the number of the fuzzy subsets corresponding to the variable of the rotation speed deviation Δe.sub.u, and the optimal interval is {k ∈ N|5≤k≤11};

(34) δ.sub.j is the standard deviation of the jth fuzzy subset corresponding to rotation speed deviation e.sub.u;

(35) δ′.sub.k is the standard deviation of kth fuzzy subset corresponding to rotation speed deviation variable Δe.sub.u;

(36) θ.sub.jk.sup.p is the corrected weight coefficient of the proportional parameter;

(37) θ.sub.jk.sup.i is the corrected weight coefficient of the integral parameter;

(38) θ.sub.jk.sup.d is the corrected weight coefficient of the differential parameter;

(39) the controlling parameter tuning module 15 is connected with the adjusting module 16 for rotation speed of seeding shaft, the proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i, the differential coefficient K.sub.u.sup.d, at the uth sampling are used as the input of the adjusting module 16 for rotation speed of seeding shaft; the rotation speed deviation inference module 14 is connected with the adjusting module 16 for rotation speed of seeding shaft, and the rotation speed deviation e.sub.u is used as the input of the adjusting module 16 for rotation speed of seeding shaft; the adjusting module 16 for rotation speed of seeding shaft converts the input proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i, the differential coefficient K.sub.u.sup.d and the rotation speed deviation e.sub.u at the uth sampling into the output of adjusting speed n.sub.u.sup.a by the incremental PID algorithm, specifically:

(40) $n_u^a=\left\{\begin{array}{cc}{n}_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u& u=1\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}& u=2\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}+& m>u>2\\ K_u^p\frac{K_u^d}{T}{e}_{u-2}& \end{array}\right\}$

(41) the adjusting module 16 for rotation speed of seeding shaft is connected with the controlling module 17 for rotation speed of seeding shaft, through which the input adjusting rotation speed n.sub.u.sup.a is converted into output of impulse frequency P.sub.u; the formula is as following:

(42) $P_u=\frac{360.Math.d.Math.n_u^a}{ag},$
where n.sub.u.sup.a is the adjusting rotation speed of the seeding shaft driving motor, round/min; ag is the stepping angle of the seeding shaft driving motor, degree; d is the subdivision number of the seeding shaft driving motor; the driving motor controller 2 is connected with the controlling module 17 for rotation speed of seeding shaft to control the rotation speed of the driving motor 3 by the pulse signal with the frequency of P.sub.u.

(43) The transmission mode among the positioning signal receiver, the certain amount of flow rate sensors, the speed sensor, the acceleration sensor, the encoder 4 and the industrial personal computer 1 is wireless transmission. The wireless transmission is the Zigbee wireless network transmission.

(44) The sampling period T is 0.02 second.

(45) The industrial personal computer 1 is equipped with a user software program, which can perform human-machine interaction, including an unit parameters setting interface and an unit state monitoring interface. The unit parameters setting interface is used to set a working zone, selection of seeding area, a tractor front wheel diameter and whether or not to open alarm for seed box margin and abnormal seeding amount. The unit state monitoring interface is used to update the current geographic position information of the planter, the advance speed of the planter, the seed box margin, the sustainable working time of the residual seeds and seeding amount of each seeding group. The industrial personal computer is further provided with an indicator light for border-crossing alarm of working zone, abnormal seeding amount alarm and insufficient seed storage alarm.

(46) As is shown in FIG. 2, a monitoring method of planter according to the present invention comprises the following steps:

(47) S01: a decision module 13 for theoretical rotation speed of driving motor converts the geographic position signal input by a positioning signal receiver at the uth sampling into the theoretical seeding amount Q of the area where the uth sampling is located by the looking-up table method, i.e. Q=f(N.sub.u, E.sub.u), where N.sub.u is the north latitude coordinate of the planter at the uth sampling and E.sub.u is the east longitude coordinate of the planter at the uth sampling;

(48) S02: an unit speed fusion module 11 converts the input driving wheel rotation speed n.sub.u and the driving wheel acceleration rotation speed a.sub.u of the planter at the uth sampling into planter speed v.sub.u at the uth sampling by the speed fusion algorithm, specifically:

(49) $v_u=\{\begin{array}{cc}\pi .Math.n_u.Math.D& .Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\le 2\\ v_{u-1}+a_u.Math.T& 2<.Math.\frac{\pi .Math.D.Math.\left(n_u-n_{u-1}\right)}{T}-a_u.Math.\end{array}$

(50) where n.sub.u is the driving wheel rotation speed of planter at the uth sampling, round/min;

(51) n.sub.u-1 is the driving wheel rotation speed of planter at the (u−1)th sampling, round/min; when u equals to 1, n.sub.0 equals to 0;

(52) D is the driving wheel diameter of the planter, m;

(53) a.sub.u is the acceleration rotation speed of the planter at the uth sampling, m/s.sup.2;

(54) V.sub.u-1 is the speed of planter at (u−1)th sampling, m/s; when u equals to 1, v.sub.0 equals to 0;

(55) u is the current sampling number of times, 1≤u≤m, m is the total sampling number of times, and sampling period T is the time interval from (u−1)th sampling to uth sampling, and T is a constant;

(56) S03: a certain amount of flow rate sensors are used to measure the flow rate of each seeding opening of the planter at the uth sampling; the flow rate is input to the seeding flow rate monitoring module 12 and is converted to the total seeding amount q.sub.u at the uth sampling by the seeding flow rate monitoring module 12;

(57) S04: the theoretical seeding amount Q in an area, the total seeding amount q.sub.u and the speed v.sub.u of the planter at the uth sampling are used as the input of the decision module 13 for theoretical rotation speed of driving motor; the theoretical driving motor rotation speed n.sub.u.sup.t is output by driving motor rotation speed algorithm as follows:

(58) $n_u^t=\frac{60.Math.\left(Q-\underset{u=1}{\overset{n}{.Math.}}{q}_u\right).Math.v_u.Math.A}{\left(666.7-A.Math.\underset{u=1}{\overset{n}{.Math.}}{v}_u\right).Math.N.Math.q.Math.r}$

(59) where Q is the theoretical seeding amount in an area, kg;

(60) q.sub.u is the total seeding amount at the uth sampling, kg;

(61) v.sub.u is the speed of planter at the uth sampling, m/s;

(62) A is the working width of planter, m;

(63) q is the theoretical seeding amount per round of a single row of seeding shafts, kg;

(64) N is the seeding rows of the planter, row;

(65) r is transmission ratio between the seeding shaft driving motor and the seeding shaft;

(66) u is the current sampling number of times, m is the total sampling number of times, 1≤u≤m, and sampling period T is the time interval from (u−1)th sampling to uth sampling, and T is a constant;

(67) S05: the rotation speed deviation e.sub.u is obtained via the differential gate operation by inputting the driving motor theoretical rotation speed n.sub.u.sup.t the actual speed n.sub.u.sup.r fedback by the encoder 4 into the rotation speed deviation inference module 14, i.e. e.sub.u=n.sub.u.sup.t−n.sub.u.sup.r;

(68) S06: the rotation speed deviation e.sub.u is input to the controlling parameter tuning module 15; through the calculation of fuzzy neural network, the proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i and the differential coefficient K.sub.u.sup.d at the uth sampling are obtained as follows:

(69) $K_u^p=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^p.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^i=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^i.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{K}_u^d=\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}\frac{{\theta }_{\mathrm{jk}}^d.Math.e^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}{\underset{j=1}{\overset{j}{.Math.}}\underset{k=1}{\overset{k}{.Math.}}{e}^{\left(-\frac{{\delta }_k^{{\prime }^2}.Math.{\left(e_u^2-m_j\right)}^2+{\delta }_j^2.Math.{\left(\Delta e_u^2-m_k^{\prime }\right)}^2}{{\delta }_j^2.Math.{\delta }_k^{{\prime }^2}}\right)}}$

(70) where e.sub.u is the rotation speed deviation at the uth sampling;

(71) Δe.sub.u is the variable of the rotation speed deviations between two adjacent sampling periods, i.e., Δe.sub.u=e.sub.u−e.sub.u-1 and e.sub.0 is the initial value and e.sub.0 equals to 0;

(72) m.sub.j is the mean value of the jth fuzzy subset corresponding to the rotation speed deviation e.sub.u, j is the number of fuzzy subsets corresponding to the rotation speed deviation e.sub.u and the optimal interval is {j ∈ N|5≤j≤11};

(73) m′.sub.k is the mean value of the kth fuzzy subset corresponding to the variable of the rotation speed deviation Δe.sub.u; k is the number of the fuzzy subsets corresponding to the variable of the rotation speed deviation Δe.sub.u, and the optimal interval is {k ∈ N|5≤k≤11};

(74) δ.sub.j is the standard deviation of the jth fuzzy subset corresponding to rotation speed deviation e.sub.u;

(75) δ′.sub.k is the standard deviation of kth fuzzy subset corresponding to rotation speed deviation variable Δe.sub.u;

(76) θ.sub.jk.sup.p is the corrected weight coefficient of the proportional parameter;

(77) θ.sub.jk.sup.i is the corrected weight coefficient of the integral parameter;

(78) θ.sub.jk.sup.d is the corrected weight coefficient of the differential parameter;

(79) S07: the proportional coefficient K.sub.u.sup.p, the integral coefficient K.sub.u.sup.i, the differential coefficient K.sub.u.sup.d and the rotation speed deviation e.sub.u at the uth sampling are input to the adjusting module 16 for rotation speed of seeding shaft and converted into the output of adjusting rotation speed n.sub.u.sup.a by the incremental PID algorithm, specifically:

(80) $n_u^a=\left\{\begin{array}{cc}{n}_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u& u=1\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}& u=2\\ n_{u-1}^a+K_u^p\left(1+\frac{T}{K_u^i}+\frac{K_u^d}{T}\right)e_u+K_u^p\left(1+\frac{2K_u^d}{T}\right)e_{u-1}+& m>u>2\\ K_u^p\frac{K_u^d}{T}{e}_{u-2}& \end{array}\right\}$

(81) S08: the input adjusting rotation speed n.sub.u.sup.a is converted into output of impulse frequency P.sub.u by the controlling module 17 for rotation speed of seeding shaft; the driving motor controller 2 controls the rotation speed of the driving motor 3 by the pulse signal with the frequency of P.sub.u; the encoder 4 outputs the feedback of actual rotational speed n.sub.u.sup.r to the rotation speed deviation inference module 14;

(82) S09: if u<m, the (u+1)th sampling period is started, the mentioned steps S01 to S08 are executed circularly; if u=m or the industrial personal computer receives a stop command, the planter would stop the seeding operation.

(83) The embodiments are preferred embodiments of the invention, but the invention is not limited to the embodiments described above. Any obvious improvement, modification or alternative that can be made by the person skilled in the art without departing from the substantive content of the invention are deemed as falling in the protection scope of the invention.