Intelligent monitoring control method for mini-tillage corn seeding

Abstract

The invention belongs to the technical field of intelligent agricultural equipment, and discloses an intelligent monitoring control method for mini-tiller corn seeding. During seeding operation, the speed acquisition module acquires the operation speed and determines the seeding rotation speed and the fertilizer rotation speed, the seeding system and the fertilizer system perform seeding and fertilizer application operation, and the seeding monitoring module monitors the seed falling position and feeds back the real-time operation plant spacing; the seed and fertilizer amount monitoring system feeds back the residual amount of seed and fertilizer in real time, the operation state monitoring system monitors the pressure of an air path pipeline, the pressure of a press wheel and the sowing depth in real time, and the sowing depth regulation and control system performs active profiling; after the central control system comprehensively processes the information, the data are transmitted to the man-machine interaction system to be displayed and uploaded to the network storage platform for operation information recording; and performing multi-dimensional regulation and control by using the regulation and control model during operation of the seeder. According to the invention, real-time and accurate monitoring of the whole process of sowing operation can be realized, and the method plays an important role in improvement of transparency and intelligent level of mini-tillage corn sowing operation.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural equipment, and particularly relates to a method for intelligent monitoring and control of minimum tillage corn seeding. Background Art

[0002] Seeding is a key link in agricultural production, and the quality of seeding operations is an important factor affecting the growth of later crops. Reasonable close planting can ensure that each crop obtains optimal soil nutrients, moisture, light and other conditions, which is beneficial to the improvement of crop yields, and different corn planting methods with different plant spacings have emerged. With the popularization of the conservation tillage mode and the development of intelligent agricultural machinery and equipment, minimum tillage intelligent corn seeders have been widely used.

[0003] During the operation of the seeder, accurately monitoring the state of the seed metering motor, real-time plant spacing, seed and fertilizer amount, and other operation state variables is crucial for realizing functions such as single-row controllable seeding control, operation strategy adjustment, and fault prediction and alarm. Although many explorations have been made in the prior art for the intelligent control of the seeding process, such as patents CN202411324774.X, CN202110689015.3, and CN201610268084.6, the limitations are also relatively obvious. These technologies mostly focus on data monitoring and feedback regulation of single links or simple composite links such as plant spacing, sowing depth, or fertilization, and have insufficient monitoring capabilities for key operation parameters such as the running state of the motor, real-time plant spacing, seed and fertilizer amount, and fan pressure in complex operation environments, and it is difficult to achieve comprehensive and coordinated control of multiple parameters. With the efficient combination of agronomy and intelligent agricultural machinery, a system and method for intelligent monitoring and control of minimum tillage corn seeding that can adapt to the minimum tillage mode and achieve single-row controllability are urgently needed. Summary of the Invention

[0004] The object of the present invention is to propose a method for intelligent monitoring and control of minimum tillage corn seeding, including the following steps:

[0005] Step A: Before seeding operations, set the operation area, row spacing, and the relative position of pre-seeding, seeding amount, and fertilization amount of each seeding row in the man-machine interaction system according to the same plant spacing seeding method and different plant spacing close planting methods.

[0006] Step B: Set the standard operation speed and mu fertilization amount, and determine the fertilizer application speed according to the operation width and number of operation rows.

[0007] Step C: Adjust the initial angle of the seed metering disc according to the relative pre-seeding position.

[0008] Step D: Take the position of the main Beidou antenna placed on the seeder as the origin, generate the X and Y axes in the due east and due north directions as the reference for storing the operation position, and record the path during operation according to the angle between the vector from the slave Beidou antenna to the main Beidou antenna and the due north direction as the course angle.

[0009] Step E: The seeding operation starts. The speed acquisition module obtains the operation speed, determines the seed metering rotation speed and the fertilizer metering rotation speed. The seed metering system and the fertilizer metering system carry out seeding and fertilizing operations. The seed metering monitoring module monitors the seed dropping position and feeds back the real-time plant spacing of the operation; the seed and fertilizer quantity monitoring system feeds back the remaining quantity of seeds and fertilizers in real time, and the operation status monitoring system monitors the pressure of the air duct, the pressure of the press wheel and the seeding depth in real time. The seeding depth control system performs active contour following.

[0010] Step F: After comprehensively processing the information, the central control system transmits the data to the human-computer interaction system for display, and combines with the operation position in Step D to upload it to the network storage platform for recording operation information.

[0011] Step G: Multidimensional regulation is carried out using the regulation model when the seeder is running.

[0012] Furthermore, the formula for calculating the plant spacing d in the same plant spacing seeding method in Step A is as follows:

[0013]

[0014] where A m is the seeding quantity per mu of the operation, and B is the planting row spacing.

[0015] Furthermore, the plant spacing d of each row in the different plant spacing close planting method in Step A h is calculated as follows:

[0016]

[0017] where L is the operation length, and A h is the seeding quantity of each row.

[0018] Furthermore, the relative position of the adjacent row seeding in Step A is reflected by the relative angle α of the adjacent row seeds:

[0019]

[0020] α is achieved by adjusting the relative angle β of the seed metering disc on the adjacent row seeding monomer:

[0021]

[0022] where n is the number of divisions of the connection line when a certain seed is projected onto the connection line between two adjacent seeds in the adjacent row, 360 represents the circumferential angle of the seed metering disc, and N is the number of holes in the seed metering disc.

[0023] Furthermore, the formula for calculating the fertilizer application speed in Step B is as follows:

[0024]

[0025] where mf is the fertilizer application rate, v0 is the standard operation speed, M f is the fertilizer application amount per mu, v i is the operation speed, b is the working width of the seeder, and e is the number of working rows of the seeder.

[0026] Furthermore, the calculation formula for the operation speed in step E is as follows:

[0027]

[0028] where v t is the operation speed, δ1 is the error drift value of the encoder, δ2 is the error drift value of the lidar, δ3 is the error drift value of the Beidou antenna, v encoder is the speed obtained by the encoder, v radar is the speed obtained by the lidar, v bds is the speed obtained by the Beidou antenna;

[0029] The calculation formula for the seed metering rotation speed is as follows:

[0030]

[0031] where ω seed is the seed metering rotation speed, d is the plant spacing, and N is the number of holes in the seed metering disc;

[0032] The calculation formula for the fertilizer application rotation speed is as follows:

[0033]

[0034] where ω fertilizer is the fertilizer application rotation speed, m f is the fertilizer application rate, and p is the fertilizer application amount per revolution of the fertilizer box;

[0035] The calculation formula for the real-time operation plant spacing is as follows:

[0036] d work = 3.6 × v t × t intercal

[0037] where d work is the real-time operation plant spacing, t interval is the seed dropping interval time;

[0038] The calculation formula for the remaining amount of seeds and fertilizers is as follows:

[0039]

[0040] where V seed is the remaining amount of seeds in the seed box, V fertilizer is the remaining amount of fertilizer in the fertilizer box, δ c , δl , δ u and δ i are the error drift values of the capacitive proximity switch, level gauge, ultrasonic sensor, and infrared sensor respectively. V c , V l , V u and V i are the volume states of the objects in the box corresponding to the numerical states of different sensors specified in advance according to different boxes;

[0041] Judge whether the air duct pressure is safe through the following formula:

[0042] P i ∩(P min ~P max ) = 1

[0043] where P i is the pressure of a certain air duct, P min is the lowest threshold of the pipeline safety pressure, and P max is the highest threshold of the pipeline safety pressure;

[0044] The calculation formula for the pressure of the rolling wheel is as follows:

[0045] F = k·Δs

[0046] where F is the pressure of the rolling wheel, k is the spring stiffness coefficient of the rolling wheel, and Δs is the spring deformation displacement;

[0047] The calculation formula for the seeding depth is as follows:

[0048] Δh = Δγ·L·cosΔγ

[0049] where Δh is the change value of the seeding depth, Δγ is the change value of the angle of the ground wheel swing arm, and L is the length of the ground wheel swing arm;

[0050] The conditions for the Beidou system to record the seed dropping position are as follows:

[0051] U i ∩U send = 1

[0052] where U i is the voltage value of the infrared sensor in the seeding row, and U send is the voltage matching value for seed dropping.

[0053] Furthermore, the regulation model in step G specifically includes:

[0054] Regulation of seeding rotation speed sub-model:

[0055]

[0056] where uω Indicates the regulation of the seeding rotation speed, e ω and e d Indicates the deviation between the actual and theoretical values of the seeding motor rotation speed and plant spacing, K p,ω 、K i,ω 、K d,ω Are the rotation speed PID parameters, K p,d 、K i,d 、K d,d Are the plant spacing PID parameters, f1 represents the functional relationship between the seeding motor rotation speed and plant spacing;

[0057] Sub-model for regulating the fertilizer application rotation speed:

[0058]

[0059] Among them, u f Indicates the regulation of the fertilizer application rotation speed, e f Indicates the deviation between the actual fertilizer application motor rotation speed and the ideal rotation speed, K fp ,K fi ,K fd Are the PID parameters;

[0060] Sub-model for regulating the fan rotation speed:

[0061]

[0062] Among them, u b Indicates the regulation of the fan rotation speed, e b Indicates the deviation between the actual air duct pressure and the ideal pressure, K bp ,K bi ,K bd Are the PID parameters, f2 represents the functional relationship between the fan rotation speed and the air duct pressure;

[0063] Sub-model for active depth following during seeding:

[0064]

[0065] Among them, u L Indicates the regulation of the extension length of the hydraulic cylinder, e L ,e γ ,e h and e p Indicates the deviation between the actual and theoretical values of the extension length of the hydraulic cylinder, the angle of the ground wheel swing arm, the seeding depth, and the pressure, K p,L 、K i,L 、K d,L Are the hydraulic cylinder PID parameters, K p,γ 、K i,γ 、K d,γ Are the depth limiting angle PID parameters, K p,h 、K i,h, K d,h is the seeding depth PID parameter, K p,p , K i,p , K d,p are the pressure PID parameters. f3, f4, and f5 respectively represent the functional relationships between the extension length of the hydraulic cylinder, the angle of the ground wheel swing arm, the seeding depth, and the deviation of the pressure value.

[0066] The beneficial effects of the present invention are as follows:

[0067] 1. Through the multi-sensor fusion technology, the present invention can realize real-time and accurate monitoring of the whole process of seeding operation. The system can comprehensively obtain key data such as operation speed, seeding effect, remaining amount of seeds and fertilizers, fan pressure, pressing force, seeding depth, and seed dropping position, providing reliable data support for the control of operation quality and fault warning, and playing an important role in improving the transparency and intelligent level of minimum tillage corn seeding operation.

[0068] 2. Based on advanced mathematical models and intelligent algorithms, the present invention can realize precise and dynamic regulation of seeding operation. The system can quickly adjust key parameters such as seeding, fertilizing, fan speed, and seeding depth according to real-time monitoring data to ensure that the operation process meets the preset standards. The intelligent regulation method can not only improve the accuracy and stability of seeding operation, but also effectively cope with complex terrains and changing working conditions, providing strong guarantee for the operation quality of minimum tillage corn seeding and the growth of crops after seeding. Description of the Drawings

[0069] Figure 1 is a schematic flow chart of the intelligent control method for minimum tillage corn seeding in the present invention.

[0070] Figure 2 is a structure diagram of the intelligent monitoring and regulation system for minimum tillage corn seeding in the present invention.

[0071] Figure 3 is a schematic structure diagram of the seed metering disc position monitoring module in the present invention.

[0072] Figure 4 is a structure and principle diagram of the seed metering monitoring module and the seed dropping position recording in the present invention.

[0073] Figure 5 is a structure diagram of the seed and fertilizer amount monitoring system in the present invention.

[0074] Figure 6 is a schematic diagram of the principle and structure of the fan pressure monitoring module in the present invention.

[0075] Figure 7 is a principle and structure diagram of the pressing force monitoring module in the present invention.

[0076] Figure 8 is a principle and structure diagram of the seeding depth regulation system in the present invention.

[0077] Figure 9 This is the schematic diagram of the intelligent regulation model for minimum tillage corn seeding in the present invention.

[0078] Figure 10 This is the schematic diagram of cloud storage of seeding information in the present invention. Detailed implementation manners

[0079] The present invention provides an intelligent monitoring and control method for minimum tillage corn seeding. The following further describes the present invention with reference to the accompanying drawings and specific embodiments.

[0080] Figure 1 This is the flow schematic diagram of the intelligent control method for minimum tillage corn seeding in the present invention, which specifically includes the following steps:

[0081] Step A: Before seeding operation, set the operation area, row spacing, relative position of adjacent row seeding, seeding rate, and fertilization rate in the man-machine interaction system according to the seeding method with the same plant spacing and the close planting method with different plant spacings.

[0082] Step B: Set the standard operation speed and mu fertilization rate, and determine the fertilizer application speed according to the operation width and number of operation rows.

[0083] Step C: Adjust the initial angle of the seed metering disc according to the relative seeding position of adjacent rows.

[0084] Step D: Take the position of the main Beidou antenna placed on the seeder as the origin, generate the X and Y axes in the due east and due north directions as the reference for storing the operation position, and record the path during operation according to the angle between the vector from the slave Beidou antenna pointing to the main Beidou antenna and the due north direction as the course angle.

[0085] Step E: When the seeding operation starts, the speed acquisition module obtains the operation speed, determines the seed metering rotation speed and fertilizer application rotation speed, the seed metering system and the fertilizer application system perform seeding and fertilization operations, the seed metering monitoring module monitors the seed dropping position and feeds back the real-time operation plant spacing; the seed and fertilizer amount monitoring system feeds back the remaining amount of seeds and fertilizers in real time, the operation state monitoring system monitors the air duct pressure, press wheel pressure and seeding depth in real time, and the seeding depth regulation system performs active profiling.

[0086] Step F: After the central control system comprehensively processes the information, it transmits the data to the man-machine interaction system for display, and uploads it to the network storage platform for recording operation information in combination with the operation position in Step D.

[0087] Step G: Perform multi-dimensional regulation using the regulation model when the seeder is running.

[0088] Figure 2This is the structural diagram of the intelligent monitoring and control system for minimum tillage corn seeding in the present invention. The intelligent monitoring and control system for minimum tillage corn seeding mainly includes: a central control system, a speed acquisition module, a seeding system, a fertilizing system, a seed and fertilizer quantity monitoring system, an operation status monitoring system, a seeding depth control system, a human-computer interaction system, and a network cloud storage system. The central control system is connected to all system modules and is used to control the start and stop of system operation, process monitoring data, and issue execution commands; the speed acquisition module includes an encoder, a lidar, and a Beidou antenna, which are jointly used to obtain the operation speed; the seeding system includes a seeding disk position monitoring module, a seeding drive module, and a seeding monitoring module. The seeding disk position monitoring uses a diffuse reflection photoelectric switch to measure different angles of the seeding disk by recording the position of the angle grooves on the seeding disk to determine the initial position. The seeding drive module uses a stepper motor to drive the rotation of the seeding disk and obtains the rotation speed. The seeding detection module records the seed dropping situation in the seeding tube using an infrared sensor to determine the seeding effect; the fertilizing system includes a fertilizing drive module, which is mainly used to drive the fluted roller of the fertilizer box; the seed and fertilizer quantity monitoring system includes a seed box remaining quantity monitoring subsystem and a fertilizer box remaining quantity monitoring subsystem. The seed box remaining quantity monitoring subsystem includes a capacitive proximity switch, a level gauge, a ultrasonic probe, and an infrared module. The fertilizer box remaining quantity monitoring subsystem includes a capacitive proximity switch and a ultrasonic module, both of which are used for multi-dimensional monitoring of the remaining quantity; the operation status monitoring system includes a fan pressure monitoring and control module, a compaction pressure monitoring module, a seeding depth monitoring module, and a position monitoring module. The fan pressure monitoring and control module is installed by combining a pressure sensor with an air duct and adjusts the fan speed when the pressure is inappropriate. The compaction pressure monitoring module uses a ultrasonic sensor to measure the deformation of the compaction wheel spring. The seeding depth detection module uses a patch type angle sensor placed on the ground wheel cantilever to measure the depth limit angle. The position monitoring module uses the Beidou antenna described in the speed acquisition module to record the seed dropping position of each seeding unit; the seeding depth control system includes a hydraulic cylinder mechanism combined with a parallelogram mechanism and a patch type pressure sensor. The hydraulic mechanism combines the seeding depth and pressure monitoring conditions to perform active contour following during the operation of the seeder; the main body of the human-computer interaction system is a human-computer interaction screen, which is connected to the central control system and is mainly used for parameter setting before operation, including seeding forms, general situation of the operation field, etc., and is also used for displaying monitoring data to timely understand the operation status and prevent faults; the network cloud storage system includes a data transmission unit (DTU) and a self-built network storage platform, which are used for cloud recording and callback of information such as operation position and seeding quantity.

[0089] Before the seeding operation, parameters are set. The seeding mode is divided into two types: seeding the operation plot with the same plant spacing and close planting with different plant spacings. If the former is selected, the seeding quantity per mu A for the operation needs to be set. m , the planting row spacing B, through the formula:

[0090]

[0091] The row spacing d is obtained. At this time, staggered sowing during travel can be selected, such as diamond sowing, etc. With the sowing form as a reference, through

[0092]

[0093] the relative angle α of the seeds during travel is determined, and then through

[0094]

[0095] the relative angle β of the row seed metering disc during travel is determined. Figure 3 is a schematic diagram of the structure of the row seed metering disc position monitoring module. The diffuse reflection photoelectric switch is placed at a specific position inside the row seed metering disc housing, and different relative angles for sowing during travel are achieved by measuring the position of the specially designed angle groove of the row seed metering disc; if the latter is selected, the operation length L and the sowing quantity A per row need to be set h , through

[0096]

[0097] the row spacing d per row is calculated. h ; The fertilization amount is also an important parameter for sowing operations. Similarly, before the sowing operation, when the standard operation speed v0 is set, the fertilization amount per mu is M f , then the sowing monomer fertilizer application speed m when the operation speed is v i is determined by f From

[0098]

[0099] After the parameters are set, the row seed metering motor rotates and adjusts, and the coordinate system in the due east and due north directions is generated for the seeder for position storage; after the operation starts, the speed acquisition module obtains multi-source speeds through the encoder, lidar, and Beidou system, and through

[0100]

[0101] the comprehensive operation speed v is determined. t Subsequently, the row seed metering system determines the rotational speed ω of the row seed metering motor through

[0102]

[0103] to achieve uniform sowing with speed. During the row seed metering process, the infrared sensor of the row seed metering pipe captures the time between two adjacent same levels to confirm the seed dropping interval time, and through seed , through

[0104] d work = 3.6 × v t × t interval

[0105] Obtain the actual plant spacing of the operation for adjustment; the fertilizer application system is based on

[0106]

[0107] Determine the rotational speed ω of the fertilizer application motor fertilizer ; Install capacitive proximity switches, level gauges, ultrasonic sensors, and infrared sensors at different positions of the seed box and fertilizer box. Figure 4 For the seed metering monitoring module and the structure and schematic diagram of the seed dropping position recording, a capacitive proximity switch, an ultrasonic sensor, and a side-mounted level gauge are installed on the seed box to measure the remaining amount of seeds. Considering the corrosiveness of the fertilizer, the fertilizer box uses a capacitive proximity switch and an ultrasonic sensor to measure the remaining amount of fertilizer. First, clarify the volume state of the object in the box corresponding to the numerical state of each sensor under different installation methods, and then through

[0108]

[0109] Obtain the remaining amounts of seeds and fertilizers during operation; for the pressure of the air duct Figure 5 For the structure diagram of the seed and fertilizer amount monitoring system, install the pressure sensor on the air duct to monitor the pressure value in real time. Set the lowest threshold P min and the highest threshold P max before operation, and through

[0110] P i ∩(P min ~P max )=1

[0111] Judge whether the pipeline pressure P i is safe and select an alarm; for the monitoring of the pressure of the press wheel Figure 6 For the principle and structure diagram of the fan pressure monitoring module, install the ultrasonic sensor parallel to the deformation direction of the press wheel spring, use ultrasonic waves to measure the spring deformation, and through Hooke's law

[0112] F=k·Δs

[0113] Calculate the pressing force; for the monitoring of the seeding depth, determine the angle values corresponding to different seeding depth gears before operation. Figure 7 For the principle and structure diagram of the pressing force monitoring module, place the patch type angle sensor on the ground wheel cantilever. During operation, as the terrain undulates and the ground wheel jitters, monitor the change value of the angle in real time. During operation, through

[0114] Δh=Δγ·L·cosΔγ

[0115] Calculate the change value Δh of the seeding depth; for the recording of the seed dropping position Figure 8 For the principle and structure diagram of the seeding depth control system, trigger the recording instruction through the infrared sensor. When

[0116] U i ∩U send = 1

[0117] When, that is, the voltage value of the infrared sensor in the sowing row (U i ) matches the seeding voltage (U send ), the Beidou system performs position recording and sending, and conveys the information to the DTU; Figure 9 Figure is the schematic diagram of the intelligent control model for minimum tillage corn seeding. The central control system receives and aggregates the operation status and position information monitored by each system and module through the serial port protocol, and conveys it to the DTU using the RS485 protocol. The DTU uploads data to the cloud service platform using the MQTT protocol, and realizes data callback in the storage platform through network address mapping.

[0118] Figure 10 Figure is the schematic diagram of cloud storage of seeding information. The intelligent control model for minimum tillage corn seeding is mainly based on the controlled variable and the remaining variables related to the controlled variable, and performs PID control through the methods of direct association and function conversion, focusing on four aspects: seeding rotation speed, fertilizer application rotation speed, fan rotation speed, and active profiling of sowing depth; for the seeding rotation speed, mainly considering the actual rotation speed of the seeding motor and the actual operation plant spacing, through

[0119]

[0120] to carry out regulation; for the fertilizer application rotation speed, mainly considering the actual rotation speed of the fertilizer application motor, through

[0121]

[0122] to implement adjustment; for the fan rotation speed, mainly considering the pipeline pressure, when the overall air duct pipeline pressure does not meet the safety requirements, through

[0123]

[0124] to carry out adjustment; for the active profiling of sowing depth, as Figure 7 shown, the extension distance of the hydraulic cylinder, the angle of the ground wheel swing arm, and the pressure of the profiling wheel are measured in real time to adjust the sowing depth, and then through

[0125]

[0126] to regulate the extension length of the hydraulic cylinder to ensure the accuracy of profiling.

[0127] Through the multi-sensor fusion technology, the present invention can achieve real-time and accurate monitoring of the whole process of seeding operation, which plays an important role in improving the transparency and intelligent level of minimum tillage maize seeding operation. Based on advanced mathematical models and intelligent algorithms, it can achieve precise and dynamic regulation of seeding operation, and can also effectively cope with complex terrains and changing working conditions, providing strong guarantee for the operation quality of minimum tillage maize seeding and the growth of crops after seeding.

Claims

1. An intelligent monitoring and control method for reduced tillage corn sowing, characterized in that: The following steps are involved: Step A: Before sowing, according to the same-spacing sowing method and the different-spacing dense planting method, the operation area, row spacing, and the relative position of each sowing row, sowing amount, and fertilizer amount are set in the human-computer interaction system; Step B, set the standard operation speed and fertilizer application amount per mu, and determine the fertilizer discharge speed according to the operation width and the number of operation rows; Step C: adjust the initial angle of the seed tray according to the relative sowing position before the row; Step D, taking the position of the main Beidou antenna placed on the seed drill as the origin, generating X and Y axes in the due east and due north directions as the reference for storing the operation position, taking the angle between the vector pointing from the Beidou antenna to the due north direction as the heading angle, and recording the path during the operation; Step E: When the sowing operation starts, the speed acquisition module obtains the operation speed, determines the seeding speed and fertilizer discharge speed, and the seeding system and fertilizer discharge system perform sowing and fertilizing operations. The seeding monitoring module monitors the seeding position and provides feedback on the real-time operation spacing. The seed and fertilizer quantity monitoring system provides feedback on the remaining seed and fertilizer quantity in real time. The operation status monitoring system monitors the air duct pressure, the pressure of the pressure wheel and the sowing depth in real time, and the sowing depth control system performs active profiling. Step F: After the central control system comprehensively processes the information, the data is transmitted to the human-computer interaction system for display, and combined with the operation position of step D, it is uploaded to the network storage platform for operation information recording; Step G: Use the control model to perform multi-dimensional control when the seeder is running.

2. The intelligent monitoring and control method for reduced tillage corn sowing according to claim 1 is characterized in that: The calculation formula of the plant spacing d in the same plant spacing sowing method in step A is as follows: Among them, A m is the sowing amount per mu, and B is the planting row spacing.

3. The intelligent monitoring and control method for reduced tillage corn sowing according to claim 1 is characterized in that: The spacing d of each row in different dense planting methods in step A h The calculation formula is as follows: Where L is the operation length, A h is the seeding rate per row.

4. The intelligent monitoring and control method for reduced tillage corn sowing according to claim 2 is characterized in that: The relative position of the seeding before the row in step A is reflected by the relative angle α of the seed before the row: α is achieved by adjusting the relative angle β of the seed tray on the sowing unit before the row: Among them, n is the number of divisions of the line when a certain seed is projected onto the line connecting two adjacent seeds in a row, 360 represents the circumferential angle of the seed disk, and N is the number of holes in the seed disk.

5. The intelligent monitoring and control method for reduced tillage corn sowing according to claim 1 is characterized in that: The calculation formula of the fertilizer discharge speed in step B is as follows: Among them, m f is the fertilizer discharge speed, v0 is the standard operation speed, M f is the amount of fertilizer applied per mu, v i is the operating speed, b is the operating width of the seeder, and e is the number of operating rows of the seeder.

6. The intelligent monitoring and control method for reduced tillage corn sowing according to claim 1 is characterized in that: The calculation formula of the operating speed in step E is as follows: Among them, v t is the operating speed, δ1 is the error drift value of the encoder, δ2 is the error drift value of the laser radar, δ3 is the error drift value of the Beidou antenna, and v encoder is the speed acquired by the encoder, v radar is the speed acquired by the LiDAR, v bds is the speed acquired by the Beidou antenna; The calculation formula of seeding speed is as follows: Among them, ω seed is the seeding speed, d is the plant spacing, and N is the number of holes in the seeding plate; The calculation formula of fertilizer discharge speed is as follows: Among them, ω fertilizer is the fertilizer discharge speed, m f is the fertilizer discharge speed, p is the amount of fertilizer discharged per revolution of the fertilizer box; The calculation formula for real-time operation plant spacing is as follows: d work =3.6×v t ×t interval Among them, d work is the real-time plant spacing, t interval The interval between seeding. The calculation formula for the remaining amount of seed fertilizer is as follows: Among them, V seed is the remaining amount of seeds in the seed box, V fertilizer is the remaining amount of fertilizer in the fertilizer box, δ c , δ l , δ u and δ i They are used to measure the error drift values ​​of capacitive proximity switch, level meter, ultrasonic sensor and infrared sensor, respectively. c , V l , V u and V i The volume states of the objects in the box corresponding to the numerical states of different sensors are determined in advance according to different boxes; Use the following formula to determine whether the air duct pressure is safe: P i ∩(P min ~P max )=1 Among them, P i is the pressure of a certain air pipeline, P min is the minimum threshold of pipeline safety pressure, P max It is the maximum threshold of pipeline safety pressure; The calculation formula of the pressure of the pressure wheel is as follows: F=k·Δs Among them, F is the pressure of the pressure wheel, k is the spring stiffness coefficient of the pressure wheel, and Δs is the spring deformation displacement; The calculation formula for sowing depth is as follows: Δh=Δγ·L·cosΔγ Wherein, Δh is the change in sowing depth, Δγ is the change in the angle of the ground wheel swing arm, and L is the length of the ground wheel swing arm; The conditions for the Beidou system to record the seeding location are as follows: IN i ∩U send =1 Among them, U i is the voltage value of the infrared sensor in the sowing row, U send is the seeding voltage matching value.

7. The intelligent monitoring and control method for reduced tillage corn sowing according to claim 1 is characterized in that: The control model in step G specifically includes: Controlling the seeding speed sub-model: Among them, u ω Indicates the control of seeding speed, e ω and e d Indicates the deviation between the actual and theoretical values ​​of the seeding motor speed and plant spacing, K p,ω , K i,ω , K d,ω is the speed PID parameter, K p,d , K i,d , K d,d is the plant spacing PID parameter, f1 represents the functional relationship between the seeding motor speed and the plant spacing; Sub-model for regulating fertilizer discharge speed: Among them, u f Indicates the speed of fertilizer discharge, e f Indicates the deviation between the actual fertilizer discharge motor speed and the ideal speed, K fp , K fi , K fd is the PID parameter; Sub-model for controlling fan speed: Among them, u b Indicates the control of fan speed, e b Indicates the deviation between the actual air duct pressure and the ideal pressure, K bp , K bi , K bd is the PID parameter, f2 represents the functional relationship between the fan speed and the air duct pressure; Deep Active Profiling Sub-Model: Among them, u L Indicates the extension length of the hydraulic cylinder, e L , e γ , e h and e p Indicates the deviation between the actual and theoretical values ​​of the hydraulic cylinder extension length, ground wheel swing arm angle, sowing depth and pressure, K p,L , K i,L , K d,L is the hydraulic cylinder PID parameter, K p,γ , K i,γ , K d,γ is the depth limit angle PID parameter, K p,h , K i,h , K d,h is the seeding depth PID parameter, K p,p , K i,p , K d,p is the pressure PID parameter, and f3, f4, and f5 represent the functional relationship between the extension length of the hydraulic cylinder and the ground wheel swing arm angle, sowing depth, and pressure value deviation, respectively.

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