A single positioning method for a seeder

Abstract

The invention discloses a seeding machine monomer positioning method, which is applied to a seeding system. The method comprises the following steps of acquiring the geographical position of a positioning system receiving machine on a plane coordinate system according to a position signal received by the positioning system receiving machine; calculating an included angle theta i between the vectorformed between the i-th line seeding monomer and the positioning system receiving machine and the positive axis of the x axis of the coordinate system, wherein i is in an integral between 1 and n; nis the quantity of the seeding monomers; calculating the coordinate of the i-th line seeding monomer according to the distance between the i-th line seeding monomer and the positioning system receiving machine. The position of each seeding monomer can be obtained through the precise calculation by using the position of one GPS receiving machine; the independent control on each seeding monomer canbe realized, so that the intelligent seeding precision of the seeding machine can be improved. The seeding lag compensation method has the advantages that the seeding lag distance generated by the seeding control system can be effectively reduced; meanwhile, the advancing speed can be eliminated; the condition of seeding lag distance increase after the advancing speed increase can be eliminated; the seeding precision can be further improved.

Description

technical field [0001] The invention belongs to the field of agricultural machinery automation and intelligence, and in particular relates to a straight-line positioning method for each unit of a planter and a seeding lag compensation method. Background technique [0002] When the seeder performs intelligent seeding operations such as straight-line variable seeding and section control, the positioning system usually has only one receiver, which is installed at the center axis of the tractor roof at a certain distance from the seeder; and the number of sowing rows of the seeder is at least There are 2 rows, and most of them are dozens of rows. Therefore, when the planter enters another sowing area (or enters the sown area) from one sowing area, each sowing unit does not enter the new sowing area at the same time due to the irregular shape of the sowing boundary. Therefore, in order to achieve more precise variable seeding and section control, it is necessary to know the posit...

AI Technical Summary

Problems solved by technology

[0003] In addition, in the process of intelligent sowing, due to factors such as the program execution cycle of the control system itself, the acceleration and deceleration time of the seed metering device, and the time it takes for the seeds to fall from the seeding port to the seed ditch, the seeding distance of the seeder lags behind, and the Lag distance increases with forward speed

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