Fertilizer applicator control method and fertilizer applicator

Abstract

The present invention discloses a control method and a fertilizer spreader, wherein the method includes acquiring surface terrain data through a collection device; adjusting the height position of a trenching cutter disc based on the terrain data; acquiring surface terrain data through the collection device includes: acquiring data from each sensor in the collection device at a first interval to obtain a first array; after obtaining the first array, acquiring data from each sensor in the collection device at a second interval to obtain a second array; calculating a comprehensive difference between the first array and the second array; determining whether the comprehensive difference is within a preset threshold; if so, performing data fitting based on the first array to obtain a terrain curve; otherwise, performing data fitting based on the first array and the second array to obtain a terrain curve. The present invention can reasonably perform trenching and fertilization on fields with complex terrain.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery control, and in particular to a control method for a fertilizer spreader and the fertilizer spreader. Background Art

[0002] During the crop planting process, crops usually need to be fertilized multiple times. Currently, fertilization is mainly carried out through fertilizer spreaders to improve fertilization efficiency. During the fertilization process, in order to ensure that the effectiveness of the fertilizer can be maintained for a long time, the trenching depth of the fertilizer spreader's trenching cutter disc needs to be adjusted in real time. In the prior art, the applicant's prior application CN114788444A provides a method for controlling the fertilization depth of a fertilizer spreader. In this solution, the height of the trenching cutter disc is dynamically adjusted based on the angle value returned by the angle sensor to adjust the trenching depth. This solution is only suitable for fertilizing simple terrain. For complex, uneven terrain, this solution is difficult to adapt to the complex and changing ground conditions and to properly trench. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a control method and a fertilizer spreader suitable for fertilizing fields with complex terrain.

[0004] Technical solution: To achieve the above-mentioned purpose, the control method of the fertilizer spreader of the present invention comprises:

[0005] Acquire surface topographic data through a collection device;

[0006] Adjusting the height of the trenching cutterhead according to the terrain data;

[0007] The acquisition of the topographic data of the surface by the acquisition device includes:

[0008] Acquire data from each sensor in the acquisition device at every first step to obtain a first array;

[0009] After obtaining the first array, acquiring data from each sensor in the acquisition device at a second step interval to obtain a second array;

[0010] Calculating a comprehensive difference value between the first array and the second array;

[0011] Determine whether the comprehensive difference value is within a preset threshold; if yes, perform data fitting based on the first array to obtain a terrain curve; otherwise, perform data fitting based on the first array and the second array to obtain a terrain curve;

[0012] The adjusting the height position of the trenching cutter disc according to the terrain data includes:

[0013] The height position of the trenching cutter disc is adjusted according to the terrain curve and the target trenching depth.

[0014] Furthermore, performing data fitting according to the first array and the second array includes:

[0015] Obtain the first n-1 values ​​in the second array and arrange them with all the values ​​in the first array in an alternating manner to obtain a third array, where n is the total number of sensors;

[0016] Multiplying the values ​​in the third array by a preset adjustment coefficient less than 1 to obtain a fourth array;

[0017] Performing curve fitting according to the fourth array to obtain a pre-fitted curve;

[0018] The pre-fitted curve is processed to obtain the terrain curve, and the processing of the pre-fitted curve sequentially includes: bridging the adjacent concave bands and convex bands, and leveling the sections with fluctuation values ​​less than a preset threshold.

[0019] Furthermore, after obtaining the terrain curve, the method further includes:

[0020] The real-time fertilizer discharge amount of the fertilizer dispenser is changed according to the terrain curve and the target fertilizer application amount range.

[0021] Furthermore, the first array is composed of first height values, and the changing of the real-time fertilizer discharge amount of the fertilizer dispenser according to the terrain curve and the target fertilizer discharge amount range includes:

[0022] Determining a relationship among an average of a set number of consecutive first height values, a first height threshold, and a second height threshold;

[0023] When the average value is greater than the first height threshold, dynamically adjusting the real-time fertilizer discharge amount of the fertilizer dispenser according to the terrain curve at the corresponding position, wherein the value of the real-time fertilizer discharge amount is between the median and the maximum value of the target fertilizer application amount range;

[0024] When the average value is less than the second height threshold, dynamically adjusting the real-time fertilizer discharge amount of the fertilizer dispenser according to the terrain curve at the corresponding position, wherein the value of the real-time fertilizer discharge amount is between the minimum value and the median value of the target fertilizer application amount range;

[0025] When the average value is greater than the first height threshold and less than the second height threshold, the median of the target fertilizer application amount range is used as the target fertilizer application value of the fertilizer dispenser.

[0026] Furthermore, the distance between the sensors is D, the value of the second step distance is D / 2; and the value of the first step distance is n·D, where n is the total number of the sensors.

[0027] Furthermore, the calculation of the comprehensive difference value between the first array and the second array is specifically performed according to the following formula:

[0028] Among them, A is the comprehensive difference value; x i is the value generated by the i-th sensor in the first array; y i is the value generated by the i-th sensor in the second array; i=1…n.

[0029] Furthermore, the height position of the trenching cutter disc is adjusted by a PID control method.

[0030] A fertilizer spreader includes a collection device, a furrowing device, a fertilizer dispenser, and a soil covering mechanism arranged in sequence from front to back; the collection device includes a plurality of detection wheels arranged equidistantly in front and back, and a sensor provided corresponding to each of the detection wheels; the furrowing device includes a furrowing cutter disc and a height adjustment device; and a controller is also included, to which the collection device, the height adjustment device, and the fertilizer dispenser are all connected; the controller is capable of implementing the above-mentioned control method.

[0031] Beneficial effects: The control method and fertilizer spreader of the present invention collect terrain data through multiple detection wheels and sensors arranged in an array, and collect the first array and the second array in the first step and the second step respectively. The complexity of the terrain can be evaluated based on the comprehensive difference value of the two arrays. The more complex the terrain, the greater the comprehensive difference value, and more data is needed to participate in the curve fitting work. The simpler the terrain, the smaller the comprehensive difference value, and less data is needed to participate in the curve fitting work. In this way, the difficulty of curve fitting can be reduced for simple terrain, saving computing power. For frequently undulating terrain, adjusting the trenching depth according to the terrain curve does not require frequent and large adjustments to the operating height of the trenching cutter disc, and is more convenient to control the trenching cutter disc; the actual terrain after the covering mechanism covers the soil eliminates the frequent undulations of the original terrain and is closer to the terrain curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the composition of a fertilizer spreader;

[0033] Figure 2 1. It is a flow chart of a control method for a fertilizer spreader;

[0034] Figure 3 This is a schematic diagram of the specific process of obtaining surface terrain data through a collection device. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings.

[0036] like Figure 1 The fertilizer spreader shown in the figure includes a collection device 1, a furrowing device 2, a fertilizer dispenser 3 and a soil covering mechanism 4 arranged in sequence from front to back; the collection device 1 includes a plurality of detection wheels 11 arranged equidistantly in front and back and a sensor 12 corresponding to each detection wheel 11, the number of sensors 12 is n, and n=4 in the illustrated embodiment; the furrowing device 2 includes a furrowing cutter disc 21 and a height adjustment device 22; and also includes a controller, the collection device 1, the height adjustment device 22 and the fertilizer dispenser 3 are all connected to the controller; the controller can implement the above-mentioned control method.

[0037] Based on the above-mentioned fertilizer spreader, the control method of the fertilizer spreader of the present application includes the following steps S101-S102:

[0038] Step S101, acquiring terrain data of the ground surface through the acquisition device 1;

[0039] Step S102, adjusting the height position of the trenching cutterhead 21 according to the terrain data;

[0040] The acquisition of the topographic data of the ground surface by the acquisition device 1 in the above step S101 includes the following steps S201-S204:

[0041] Step S201, acquiring data from each sensor 12 in the acquisition device 1 at every first step interval to obtain a first array;

[0042] Step S202, after obtaining the first array, obtaining data from each sensor 12 in the acquisition device 1 at a second step interval to obtain a second array;

[0043] Step S203, calculating a comprehensive difference value between the first array and the second array;

[0044] Step S204, determining whether the comprehensive difference value is within a preset threshold; if so, performing data fitting based on the first array to obtain a terrain curve; otherwise, performing data fitting based on the first array and the second array to obtain a terrain curve;

[0045] The step S102 of adjusting the height of the trenching cutter head 21 according to the terrain data includes:

[0046] According to the terrain curve and the target trenching depth, the height adjustment device 22 is controlled to operate to adjust the height position of the trenching cutter disc 21 .

[0047] In the above steps, terrain data is collected by multiple detection wheels 11 and sensors 12 arranged in an array, and the first array and the second array are collected in the first step and the second step respectively. The complexity of the terrain can be evaluated based on the comprehensive difference value of the two arrays. The more complex the terrain, the greater the comprehensive difference value, and more data is required to participate in the curve fitting work. The simpler the terrain, the smaller the comprehensive difference value, and less data is required to participate in the curve fitting work. In this way, the difficulty of curve fitting can be reduced for simple terrain, saving computing power. For frequently undulating terrain, adjusting the trenching depth according to the terrain curve does not require frequent and large adjustments to the operating height of the trenching cutterhead 21, which makes it more convenient to control the trenching cutterhead 21; the actual terrain after the covering mechanism 4 covers the soil eliminates the frequent undulations of the original terrain and is closer to the terrain curve.

[0048] Furthermore, the data fitting according to the first array and the second array in the above step S204 includes the following steps S301-S304:

[0049] Step S301: Get the first n-1 values ​​in the second array and arrange them with all the values ​​in the first array in an alternating manner to obtain a third array; the first value of the third array is the first value in the first array;

[0050] Step S302: multiplying the values ​​in the third array by a preset adjustment coefficient less than 1 to obtain a fourth array; the multiplication by the preset adjustment coefficient less than 1 takes into account the compaction effect of the soil after the covering device passes through;

[0051] Step S303, performing curve fitting according to the fourth array to obtain a pre-fitted curve;

[0052] Step S304: Processing the pre-fitted curve to obtain the terrain curve. The processing of the pre-fitted curve includes: bridging the adjacent concave bands and convex bands (in actual operation, the covering device can push the soil in the high place to the low place), and leveling the sections with fluctuation values ​​less than the preset threshold.

[0053] The above process S301-S304 fully considers the soil condition after the trenching cutter head 21 and the covering mechanism 4 pass through, as well as the soil compression, so that the terrain curve is more consistent with the actual terrain after the covering process is completed, so that the trenching depth is more reasonable.

[0054] Similarly, the specific method for obtaining the terrain curve by performing data fitting based on the first array is: first multiplying the values ​​in the first array by a preset adjustment coefficient less than 1 to obtain a fifth array; performing curve fitting based on the fifth array to obtain a pre-fitted curve; processing the pre-fitted curve to obtain the terrain curve, and the processing of the pre-fitted curve sequentially includes: bridging the adjacent concave bands and convex bands (in actual operation, the covering device can push the soil in the high place to the low place), and leveling the sections whose fluctuation values ​​are less than the preset threshold.

[0055] Furthermore, after obtaining the terrain curve, the method further includes the following step S401:

[0056] Step S401: changing the real-time fertilizer discharge amount of the fertilizer dispenser 3 according to the terrain curve and the target fertilizer discharge amount range.

[0057] Furthermore, the first array is composed of first height values. The step S401 described above of changing the real-time fertilizer discharge amount of the fertilizer dispenser 3 according to the terrain curve and the target fertilizer discharge amount range includes the following steps S501-S504:

[0058] Step S501, determining the relationship between an average value of a set number of consecutive first height values, a first height threshold, and a second height threshold; the set number of consecutive first height values ​​may come from different first arrays;

[0059] Step S502: When the average value is greater than the first height threshold, dynamically adjusting the real-time fertilizer discharge amount of the fertilizer dispenser 3 according to the terrain curve at the corresponding position, wherein the value of the real-time fertilizer discharge amount is between the median and the maximum value of the target fertilizer application amount range;

[0060] Step S503: When the average value is less than the second height threshold, dynamically adjusting the real-time fertilizer discharge amount of the fertilizer dispenser 3 according to the terrain curve at the corresponding position, wherein the value of the real-time fertilizer discharge amount is between the minimum value and the median value of the target fertilizer application amount range;

[0061] Step S504 : When the average value is greater than the first height threshold and less than the second height threshold, the median value of the target fertilizer application amount range is used as the target fertilizer discharge value of the fertilizer discharger 3 .

[0062] By adjusting the amount of fertilizer according to the terrain curve and the target fertilization range, you can increase fertilizer in locations where fertilizer efficiency may be lost quickly and reduce fertilizer in locations where fertilizer efficiency is lost slowly, thereby achieving reasonable fertilizer allocation.

[0063] Furthermore, the spacing between the sensors 12 is D, the value of the second step distance is D / 2; and the value of the first step distance is n·D, where n is the total number of the sensors 12 .

[0064] Furthermore, the calculation of the comprehensive difference value between the first array and the second array in the above step S203 is specifically performed according to the following formula:

[0065] Among them, A is the comprehensive difference value; x i is the value generated by the i-th sensor 12 in the first array; y i is the value generated by the i-th sensor 12 in the second array; i=1...n.

[0066] Furthermore, the height position of the trenching cutter disc 21 is adjusted by a PID control method.

[0067] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A control method for a fertilizer spreader, applied to the fertilizer spreader, the fertilizer spreader comprising, arranged from front to back, a collection device, a furrowing device, a fertilizer dispenser, and a soil covering mechanism, the furrowing device comprising a furrowing cutter disc and a height adjustment device; and a controller, the collection device, the height adjustment device, and the fertilizer dispenser being connected to the controller, the controller being configured to implement the control method for the fertilizer spreader; The method comprises: Acquire surface topographic data through a collection device; Adjusting the height of the trenching cutterhead according to the terrain data; It is characterized in that the collection device includes a plurality of detection wheels arranged equidistantly in front and behind and a sensor corresponding to each detection wheel; The acquisition of the topographic data of the surface by the acquisition device includes: Acquire data from each sensor in the acquisition device at every first step to obtain a first array; After obtaining the first array, acquiring data from each sensor in the acquisition device at a second step interval to obtain a second array; Calculating a comprehensive difference value between the first array and the second array; Determine whether the comprehensive difference value is within a preset threshold; if yes, perform data fitting based on the first array to obtain a terrain curve; otherwise, perform data fitting based on the first array and the second array to obtain a terrain curve; The adjusting the height position of the trenching cutter disc according to the terrain data includes: The height position of the trenching cutter disc is adjusted according to the terrain curve and the target trenching depth.

2. The control method of the fertilizer spreader according to claim 1, characterized in that: The performing data fitting according to the first array and the second array includes: Obtain the first n-1 values ​​in the second array and arrange them with all the values ​​in the first array in an alternating manner to obtain a third array, where n is the total number of sensors; Multiplying the values ​​in the third array by a preset adjustment coefficient less than 1 to obtain a fourth array; Performing curve fitting according to the fourth array to obtain a pre-fitted curve; The pre-fitted curve is processed to obtain the terrain curve, and the processing of the pre-fitted curve sequentially includes: bridging the adjacent concave bands and convex bands, and leveling the sections with fluctuation values ​​less than a preset threshold.

3. The control method of the fertilizer spreader according to claim 1, characterized in that: After obtaining the terrain curve, the method further includes: The real-time fertilizer discharge amount of the fertilizer dispenser is changed according to the terrain curve and the target fertilizer application amount range.

4. The control method of the fertilizer spreader according to claim 2, characterized in that: The first array is composed of first height values, and the changing of the real-time fertilizer discharge amount of the fertilizer dispenser according to the terrain curve and the target fertilizer discharge amount range includes: Determining a relationship among an average of a set number of consecutive first height values, a first height threshold, and a second height threshold; When the average value is greater than the first height threshold, dynamically adjusting the real-time fertilizer discharge amount of the fertilizer dispenser according to the terrain curve at the corresponding position, wherein the value of the real-time fertilizer discharge amount is between the median and the maximum value of the target fertilizer application amount range; When the average value is less than the second height threshold, dynamically adjusting the real-time fertilizer discharge amount of the fertilizer dispenser according to the terrain curve at the corresponding position, wherein the value of the real-time fertilizer discharge amount is between the minimum value and the median value of the target fertilizer application amount range; When the average value is greater than the first height threshold and less than the second height threshold, the median of the target fertilizer application amount range is used as the target fertilizer application value of the fertilizer dispenser.

5. The control method of the fertilizer spreader according to claim 1, characterized in that: The distance between the sensors is D, the value of the second step distance is D / 2; the value of the first step distance is n·D, where n is the total number of the sensors.

6. The control method of the fertilizer spreader according to claim 1, characterized in that: The calculation of the comprehensive difference between the first array and the second array is specifically performed according to the following formula: Among them, A is the comprehensive difference value; x i is the value generated by the i-th sensor in the first array; y i is the value generated by the i-th sensor in the second array; i=1…n.

7. The control method of the fertilizer spreader according to claim 1, characterized in that: The height position of the trenching cutter disc is adjusted by a PID control method.

8. A fertilizer spreading machine, characterized in that: The device comprises a collection device, a trenching device, a fertilizer dispenser, and a soil covering mechanism arranged in sequence from front to back; the collection device comprises a plurality of detection wheels arranged equidistantly in front and back, and a sensor corresponding to each detection wheel; the trenching device comprises a trenching cutter disc and a height adjustment device; and further comprises a controller to which the collection device, the height adjustment device, and the fertilizer dispenser are all connected; the controller is capable of implementing the following control method to obtain surface topographic data through the collection device; Adjusting the height of the trenching cutterhead according to the terrain data; The collecting device includes a plurality of detection wheels arranged equidistantly in front and behind and a sensor provided corresponding to each of the detection wheels; The acquisition of the topographic data of the surface by the acquisition device includes: Acquire data from each sensor in the acquisition device at every first step to obtain a first array; After obtaining the first array, acquiring data from each sensor in the acquisition device at a second step interval to obtain a second array; Calculating a comprehensive difference value between the first array and the second array; Determine whether the comprehensive difference value is within a preset threshold; if yes, perform data fitting based on the first array to obtain a terrain curve; otherwise, perform data fitting based on the first array and the second array to obtain a terrain curve; The adjusting the height position of the trenching cutter disc according to the terrain data includes: The height position of the trenching cutter disc is adjusted according to the terrain curve and the target trenching depth.

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