Adaptive sowing control system and its control method based on unmanned driving technology

Abstract

The invention discloses an adaptive seeding control system based on unmanned driving technology, which includes a vehicle-mounted central controller, an automatic driving system controller, a seeding system controller, a driving status monitoring device, and an agricultural machinery status monitoring device; the vehicle-mounted central controller responds When the agricultural machinery moves to the seeding path, the seeding system controller is driven to adjust the motor speed according to the preset seeding parameters so that the seeding operation can be carried out; the agricultural machinery status monitoring is used to monitor the seeding status parameters of the agricultural machinery in real time. If the abnormal type is seed shortage, a The reseeding control signal is used to calculate the reseeding navigation planning path. The invention can effectively coordinate the automatic driving system and the sowing system in a completely independent state, and complete the sowing operation task efficiently and adaptively; it can handle abnormal states during the sowing operation task in a timely manner, especially the seed shortage abnormality, without affecting the Under the premise of sowing efficiency, route adjustment and reseeding operations can be completed adaptively.

Description

technical field [0001] The invention relates to the technical field of intelligent agricultural machinery, in particular to an adaptive sowing control system based on unmanned driving technology and a control method thereof. Background technique [0002] Agricultural machinery auxiliary technology and unmanned technology are a development trend. The article "Design of Navigation Immune PID Controller for Small Tracked Rapeseed Planter" written by Ding Youchun, Huazhong Agricultural University, etc. To simplify the intelligent problem of seeder, a navigation controller of small crawler rape seeder based on immune PID is designed. Based on the small tracked rape seeder, the steering system is electronically modified by using electromagnets, and the high-precision Beidou positioning module and electronic compass are used for combined navigation to obtain the position and heading information of the tracked seeder as the navigation controller. Input, designed a small crawler rap...

AI Technical Summary

Problems solved by technology

However, the article does not explain how the seeder works in coordination with the automatic driving of the tracked main platform

In fact, it is still difficult to realize full automation in the sowing process of existing agricultural machinery. The reasons include but are not limited to the following: the farmland environment is complex, and various abnormal states are prone to occur during the sowing process (for example, the sowing area is too large and needs to be replanted midway. ;Multiple sowing areas need to sow different types of seeds; the terrain of the farmland is complex, and some obstacles will affect the sowing operation, and even affect the progress of the agricultural machinery, etc.); the requirements for sowing accuracy are high, once the accuracy drops due to abnormal conditions , crop yield will be greatly affected. For farmland areas with low sowing precision, rework is difficult and costly

However, in the prior art, there is no feasible solution that does not affect the sowing efficiency for various abnormal states that occur during the sowing process.

Images