Seeding control method and seeding machine

Abstract

The application provides a seeding control method and a seeding machine. The method comprises the following steps: acquiring an actual driving speed; acquiring a target fertilization speed and a target seeding speed of a target crop; controlling a fertilization module to fertilize the target crop according to the actual driving speed and the target fertilization speed; and controlling a seeding module to seed the target crop according to the actual driving speed and the target seeding speed. The target fertilization speed is used to control the fertilization speed of the fertilization module, and the target seeding speed is used to control the seeding speed of the seeding module, so that the seeding machine can seed and fertilize according to different parameter settings, and the effects of seeding and fertilizing control are achieved. Moreover, according to the actual driving speed of the seeding machine, the fertilization speed and the seeding speed can be adjusted, the adjustment mode is not affected by the skidding of the ground wheel, the actual fertilization effect and the actual seeding effect are less different from the expected error, and the effects of precision seeding and fertilizing are achieved.

Description

Technical Field

[0001] This application relates to the technical field of agricultural planting machinery, and in particular to a sowing control method and a seeder. Background Technology

[0002] A seeder is an agricultural machine used for sowing and fertilizing crops. A seeder consists of a power unit and implements. Depending on the number of rows the seeder operates, the implements are configured in one or more groups. For example, a six-row seeder includes six parallel implements, all mounted on the power unit. During seeding, the operator controls the power unit to move across the planting area, while each group of implements moves under the traction of the power unit and performs its respective sowing and fertilizing tasks.

[0003] Currently, the seeding and fertilizing devices in agricultural machinery are both driven by ground wheels. The seeding amount of the seeding device and the fertilizing amount of the fertilizing device are both controlled by the rotation speed of the ground wheels. However, the rotation of the ground wheels may slip due to the complex terrain in the field, resulting in large errors in the actual seeding and fertilizing effects. Summary of the Invention

[0004] In view of the above, it is necessary to provide a sowing control method and a seeder that can improve the overall quality of sowing operations and achieve the effect of precision sowing and fertilization.

[0005] In a first aspect, embodiments of this application provide a sowing control method applied to a seeder, the seeder including at least one operating device, the operating device including a fertilization module and a sowing module; the method includes: when the operating device is in an operating state, acquiring an actual driving speed, a target fertilization speed for a target crop, and a target sowing speed for the target crop; controlling the fertilization module to fertilize the target crop according to the actual driving speed and the target fertilization speed; and controlling the sowing module to sow the target crop according to the actual driving speed and the target sowing speed.

[0006] Optionally, obtaining the target fertilization speed and the target sowing speed of the target crop includes: obtaining a target driving speed; obtaining the total amount of fertilizer applied, the amount of fertilizer discharged per unit, and the sowing spacing of the target crop, wherein the total amount of fertilizer applied is the amount of fertilizer required within the operating range, and the amount of fertilizer discharged per unit is the amount of fertilizer discharged by the fertilization module in a single discharge; obtaining the target fertilization speed of the target crop based on the target driving speed, the total amount of fertilizer applied, and the amount of fertilizer discharged per unit; and obtaining the target sowing speed of the target crop based on the target driving speed and the sowing spacing.

[0007] Optionally, controlling the fertilization module to fertilize the target crop based on the actual driving speed and the target fertilization speed, and controlling the sowing module to sow the target crop based on the actual driving speed and the target sowing speed, includes: obtaining speed variable information based on the actual driving speed and the target driving speed; obtaining an adjusted fertilization speed based on the target fertilization speed and the speed variable information; controlling the fertilization module to fertilize the target crop based on the adjusted fertilization speed; obtaining an adjusted sowing speed based on the target sowing speed and the speed variable information; and controlling the sowing module to sow the target crop based on the adjusted sowing speed.

[0008] Optionally, the fertilization module includes a fertilizer discharge motor, and obtaining the unit fertilizer discharge amount includes: controlling the fertilizer discharge motor to discharge fertilizer according to the test number of revolutions, and obtaining the test fertilizer discharge amount after the fertilizer discharge motor discharges fertilizer; obtaining the unit fertilizer discharge amount based on the test number of revolutions and the test fertilizer discharge amount.

[0009] Optionally, before obtaining the target fertilization rate and the target sowing rate of the target crop, the method further includes: obtaining the association between the operating device and the crop, and determining the target crop based on the association.

[0010] Optionally, obtaining the actual driving speed includes: obtaining the actual driving speed through a navigation speed measurement module, wherein the navigation speed measurement module communicates with the BeiDou satellite navigation system.

[0011] Optionally, the method further includes: detecting whether the fertilization module is in a state of not discharging fertilizer through the fertilization monitoring module; when the fertilization module is in the state of not discharging fertilizer, controlling the sowing module, which belongs to the same working device as the fertilization module, to suspend its operation.

[0012] Optionally, before acquiring the actual driving speed, the target fertilization speed of the target crop, and the target sowing speed of the target crop when the operating device is in operation, the method further includes: acquiring the actual rotational speed of the ground wheel of the operating device through a rotation sensor; comparing the actual rotational speed with a rotational speed threshold, and determining whether the operating device is in the operating state based on the comparison result.

[0013] Secondly, embodiments of this application provide a seeder, which includes a control module and at least one operating device, the operating device including a fertilization module and a sowing module; the control module includes: an equipment parameter acquisition submodule, used to acquire the actual driving speed, the target fertilization speed of the target crop, and the target sowing speed of the target crop when the operating device is in operation; and a sowing and fertilization control submodule, used to control the fertilization module to fertilize the target crop according to the actual driving speed and the target fertilization speed, and to control the sowing module to sow the target crop according to the actual driving speed and the target sowing speed.

[0014] Thirdly, embodiments of this application provide a seeder, which includes a control module, a memory, and at least one operating device. The memory is used to store a computer program, which includes program instructions. The control module is used to invoke the computer program to execute a seeding control method as described in any of the first aspects. The operating device includes a fertilization module and a seeding module.

[0015] This application embodiment utilizes a target fertilization speed to control the fertilization speed of the fertilization module and a target sowing speed to control the sowing speed of the sowing module. This allows the seeder to perform sowing and fertilization separately according to different parameter settings, achieving the effect of separate control over sowing and fertilization. Furthermore, in operation, i.e., during actual sowing operations, the seeder's actual travel speed can be analyzed to determine whether it meets the preset speed requirements, thereby adjusting the fertilization and sowing speeds. This adjustment method is unaffected by wheel slippage, resulting in a smaller error between the actual fertilization and sowing effects and the expected results, improving the overall quality of the sowing operation and achieving the effect of precision sowing and fertilization. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a seeder in related technologies.

[0017] Figure 2 This is a schematic diagram of the seeder in the embodiments of this application.

[0018] Figure 3 This is a schematic diagram of the sowing module, fertilization module, and control module in the embodiments of this application.

[0019] Figure 4 This is a schematic diagram of the modules of the seeder in the embodiments of this application.

[0020] Figure 5 This is a schematic diagram of the overall process of the seeding control method in the embodiments of this application.

[0021] Figure 6This is a schematic diagram of the sub-processes of steps S601-S604 in the seeding control method of the present application embodiment.

[0022] Figure 7 This is a schematic diagram of the sub-process of step S502 in the seeding control method of the present application.

[0023] Figure 8 This is a flowchart illustrating steps S801-S502 of the seeding control method in the embodiments of this application.

[0024] Figure 9 This is a flowchart illustrating steps S901-S902 of the seeding control method in the embodiments of this application.

[0025] Figure 10 This is a schematic diagram of the working device in the working state according to the embodiments of this application.

[0026] Figure 11 This is a flowchart illustrating steps S1101-S1102 in the seeding control method of this application.

[0027] Figure 12 This is a schematic diagram of a sub-module of the control module in the embodiments of this application.

[0028] Explanation of main component symbols

[0029] Power Engine 1

[0030] Operating device 2

[0031] Seeding Module 21

[0032] Seed Box 211

[0033] Electronic seed metering device 212

[0034] Seeding tube 213

[0035] 214 Sowing and Furrowing Shovel

[0036] Fertilization Module 22

[0037] Fertilizer bin 221

[0038] Electronic fertilizer applicator 222

[0039] Fertilizer drain pipe 223

[0040] Fertilizer trenching shovel 224

[0041] Earth Wheel 23

[0042] Weighing instrument 24

[0043] Fertilizer monitoring module 25

[0044] Rotation sensor 26

[0045] Lifting Module 27

[0046] Control Module 3

[0047] Device parameter acquisition submodule 31

[0048] Sowing and fertilization control submodule 32

[0049] Control Panel 4

[0050] Display terminal 5

[0051] Navigation speed measurement module 6

[0052] Rack 10

[0053] Seeding device 20

[0054] Fertilizer application device 30

[0055] Ground wheel 40

[0056] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0058] In the following description, the reference numerals for steps, such as S501, S502, etc., do not necessarily indicate that these steps will always be performed. The order of steps may be interchanged or performed simultaneously where permissible. The term "implementation" as used in this specification means that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least some embodiments of the invention. Therefore, the terms "some embodiments" or "in embodiments" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0060] The following is a brief explanation of the relevant technologies.

[0061] Please see Figure 1 The seeder includes a frame 10, a sowing device 20, a fertilizing device 30, and a ground wheel 40. The sowing device 20, fertilizing device 30, and ground wheel 40 are all mounted on the frame 10 of the seeder. The ground wheel 40 is rotatably connected to the frame 10. Both the sowing device 20 and the fertilizing device 30 employ a rotary discharge mechanism. The sowing device 20 and the fertilizing device 30 are coaxially arranged and are drive-connected to the ground wheel 40.

[0062] During sowing operations, the user can push the frame 10 or use a tractor to move it. The ground wheel 40 rotates as it moves, driving the sowing device 20 and fertilizer application device 30 to discharge seeds and fertilizer, respectively. The sowing speed of the sowing device 20 and the fertilization speed of the fertilizer application device 30 are both controlled by the rotation speed of the ground wheel 40. The user can control the rotation speed of the ground wheel 40 by controlling the moving speed of the frame 10, thereby controlling the sowing speed of the sowing device 20 and the fertilization speed of the fertilizer application device 30, and thus controlling the sowing and fertilization rates. The user can also manually adjust the transmission efficiency of the transmission structure between the sowing device 20, the fertilizer application device 30 and the ground wheel 40, thereby adjusting the sowing speed of the sowing device 20 and the fertilization speed of the fertilizer application device 30, and thus changing the sowing and fertilization rates.

[0063] However, the complex terrain in the field, along with environmental factors such as stubble, weeds, and potholes on the soil surface, makes it difficult to control the adhesion between the ground wheel 40 and the ground. This causes the ground wheel 40 to slip during rotation, which in turn affects the sowing speed of the sowing device 20 and the fertilization speed of the fertilization device 30. Consequently, the actual sowing spacing and fertilization amount have large errors, and it is not easy to sow and fertilize evenly, making it difficult to guarantee the quality of the sowing operation.

[0064] Therefore, this application provides a sowing control method and a seeder, which improves the overall quality of sowing operations and achieves the effect of precision sowing and fertilization.

[0065] Please see Figure 2The seeder includes a power unit 1, a working device 2, and a control module 3. The power unit 1 provides the driving power and is preferably an agricultural tractor. The working device 2 is mounted on the agricultural tractor and is used for sowing the target crop. The sowing operation includes discharging seeds and fertilizer. The target crop refers to the crop specified in the current sowing operation by the working device 2. The working device 2 can store one or more crops in its storage mechanism, and sowing is performed only on the target crop in a single sowing operation. The working device 2 uses electronic control equipment, and the control module 3 is connected to the working device 2. The control module 3 can output electrical signals to the working device 2 to control it to sow and fertilize at a specified sowing speed, which includes both sowing and fertilization speeds.

[0066] In one specific embodiment, the number of working devices 2 is greater than or equal to 2, and multiple working devices 2 can perform sowing operations simultaneously. Each working device 2 performs sowing operations on only one type of crop in a single sowing operation, but different working devices 2 can be used to sow different crops, so that one or more crops can be sown simultaneously.

[0067] Taking a scenario with 6 working devices 2 as an example, the 6 working devices 2 are mounted side by side on the power unit 1. When the power unit 1 moves, it drives each working device 2 to move simultaneously, forming 6 parallel working paths in the direction of travel of the 6 working devices 2. Sowing and fertilization are carried out simultaneously on the 6 working paths. In scenarios of multiple crop compound sowing, such as corn-soybean compound sowing, the target crop of the working devices 2 can be set. For example, the target crop of the working devices 2 in the first and sixth rows can be set to "corn", and the target crop of the working devices 2 in the second, third, fourth, and fifth rows can be set to "soybeans". Then, during the simultaneous movement of the 6 working devices 2, corn is sown in the first and sixth working paths, and soybeans are sown in the second, third, fourth, and fifth working paths.

[0068] In one specific embodiment, each operating device 2 includes a lifting module 27, a sowing module 21, a fertilizing module 22, and a ground wheel 23. The lifting module 27 is connected to the power unit 1. The sowing module 21 and the fertilizing module 22 are fixed to the lifting module 27 via a support structure. The ground wheel 23 is rotatably connected to the sowing module 21. The lifting module 27, connected to the power unit 1, is used to drive the sowing module 21, the fertilizing module 22, and the ground wheel 23 to move up and down as a whole. The lifting module 27 is preferably an electro-hydraulic lifting device. The sowing module 21 is used to sow the target crop, and the fertilizing module 22 is used to fertilize the target crop. The sowing module 21 and the fertilizing module 22 in the same operating device 2 are used to sow and fertilize the same target crop, therefore there is a one-to-one correspondence between them. The sowing module 21 and the fertilization module 22 are arranged sequentially according to the driving direction of the power unit 1, so that when the power unit 1 passes through a certain position of the sowing plot, the fertilization module 22 will pass through that position before the sowing module 21, so that the fertilization and sowing can be carried out in sequence at that position.

[0069] When the seeder begins sowing, the lifting module 27 lowers the sowing module 21, fertilization module 22, and ground wheel 23 to the designated tillage depth. At this time, the ground wheel 23 contacts the sowing plot and rotates as the seeder moves. When the seeder needs to pause sowing operations, such as when it is about to turn or make a U-turn, the lifting module 27 raises the sowing module 21, fertilization module 22, and ground wheel 23 to the designated lifting height. At this time, the ground wheel 23 is suspended above the sowing plot and does not rotate as the seeder moves.

[0070] Please see Figure 3 and Figure 4 In one specific embodiment, the sowing module 21 includes a seed box 211, an electronic seed metering device 212, a seed metering tube 213, and a sowing furrow shovel 214. The seed box 211 stores seeds. The electronic seed metering device 212 is signal-connected to the control module 3, and its inlet end is connected to the seed box 211 via the seed metering tube 213. The sowing furrow shovel 214 is fixed below the seed box 211, and the outlet end of the electronic seed metering device 212 faces the shovel surface. The control module 3 outputs an electrical signal to the electronic seed metering device 212 to cause it to discharge seeds at a specified sowing speed. Preferably, the electronic seed metering device 212 is a seed metering motor.

[0071] Since the output shaft of the seed metering motor discharges a seed once every specified number of revolutions, the seeding speed of the electronic seed metering device 212 is equivalent to the number of revolutions of the seed metering motor per unit time.

[0072] In one specific embodiment, the fertilization module 22 includes a fertilizer tank 221, an electronic fertilizer applicator 222, a fertilizer discharge pipe 223, and a fertilizer ditching shovel 224. The fertilizer tank 221 stores fertilizer. The electronic fertilizer applicator 222 is signal-connected to the control module 3. The inlet end of the electronic fertilizer applicator 222 is connected to the fertilizer tank 221, and the outlet end is connected to the upper end of the fertilizer discharge pipe 223. The fertilizer ditching shovel 224 is fixed below the fertilizer tank 221, with the lower end of the fertilizer discharge pipe 223 facing the shovel surface of the fertilizer ditching shovel 224. The control module 3 outputs an electrical signal to the electronic fertilizer applicator 222 to cause it to discharge fertilizer at a specified sowing speed. Preferably, the electronic fertilizer applicator 222 is a fertilizer discharge motor.

[0073] Since the output shaft of the fertilizer discharge motor discharges a certain amount of fertilizer with each rotation, the sowing speed of the electronic fertilizer discharger 222 is equivalent to the number of rotations of the fertilizer discharge motor per unit time.

[0074] Please see Figure 4 In one specific embodiment, the seeder also includes a control panel 4 and a display terminal 5, which are signal-connected to the control module 3. The user can input device parameters through the control panel 4 to set various functions of the seeder, such as the seeder's travel speed, planting spacing, and fertilizer application rate. The control terminal can receive feedback information from functional modules such as the sowing module 21 and the fertilization module 22, and send this feedback information to the display terminal 5. The display terminal 5 allows monitoring of the seeder's current operating status or display of its various parameters through its interface window.

[0075] In one specific embodiment, the seeder also includes multiple sub-controllers, each corresponding one-to-one with each working device 2, and each sub-controller is signal-connected to the seed metering motor and fertilizer metering motor in the corresponding working device 2. Each sub-controller is signal-connected to the control module 3. The control module 3 controls the seed metering motor and fertilizer metering motor in different working devices 2 to operate by sending control commands to different sub-controllers.

[0076] Please see Figure 4 and Figure 5 This application provides a sowing control method applied to a seeder, which can be executed by the seeder's control module 3. The sowing control method includes the following steps:

[0077] S501. When the working device 2 is in operation, it acquires the actual driving speed, the target fertilization speed of the target crop, and the target sowing speed of the target crop.

[0078] Regarding the description of obtaining the actual driving speed, in one specific embodiment, the actual driving speed is the driving speed measured by the seeder in the working state, which is the actual driving speed of the seeder when it is sowing and fertilizing within the working range.

[0079] The operating range is a preset area. The seeder travels within the operating range and performs sowing and fertilization. Once the seeder has traveled within the operating range, it completes a single sowing operation.

[0080] In one specific embodiment, the seeder also includes a navigation speed measurement module 6, which is signal-connected to the control module 3. During operation, the navigation speed measurement module 6 detects the seeder's speed in real time, generates the actual speed, and sends it to the control module 3.

[0081] Specifically, the navigation speed measurement module 6 uses a BDS base station and communicates with the BeiDou satellite navigation system to detect the seeder's speed in real time. Utilizing the BeiDou satellite navigation system, the control module 3 can quickly and accurately detect the seeder's speed.

[0082] Regarding the acquisition of the target fertilization rate and target sowing rate for the target crop, in one specific embodiment, the target fertilization rate reflects the fertilization rate set by the fertilization module 22 during fertilization operations. The target sowing rate reflects the sowing rate set by the sowing module 21 during sowing operations.

[0083] Ideally, if the seeder travels at a constant speed according to the specified speed, and the fertilization module 22 fertilizes the target crop at the target fertilization speed and the sowing module 21 sows the target crop at the target sowing speed, then the specified fertilization and sowing tasks can be completed after the seeder has traveled within the working range.

[0084] Understandably, a target fertilization rate reflects the crop's required fertilization amount, and a target sowing rate reflects the crop's required sowing amount. Since different crops may correspond to different agronomical requirements, different target crops may have different target fertilization rates and target sowing rates.

[0085] Regarding whether the working device 2 is in a working state, in one specific embodiment, the working state refers to the current working state of the working device 2, and the working state of the working device 2 includes two types: working state and non-working state.

[0086] When the working device 2 is in operation, it should be in a normal fertilization and sowing state. At this time, the working device 2 should be at the preset tillage depth, and the power unit 1 should be traveling in a straight line. When the working device 2 is not in operation, it should be in a paused fertilization and sowing state. At this time, the power unit 1 may need to turn or turn around, and the lifting module 27 should lift the working device 2 to a height higher than the tillage depth.

[0087] S502, based on the actual driving speed and the target fertilization speed, control the fertilization module 22 to fertilize the target crop, and based on the actual driving speed and the target sowing speed, control the sowing module 21 to sow the target crop.

[0088] When the working device 2 is in operation, the control module 3 generates fertilization control information based on the actual driving speed and the target fertilization speed and outputs it to the fertilization module 22, that is, to the fertilizer discharge motor, so as to control the fertilizer discharge motor to rotate according to the specified number of rotations per unit time, so that the fertilization module 22 can perform fertilization.

[0089] When the working device 2 is in operation, the control module 3 generates sowing control information based on the actual driving speed and the target sowing speed and outputs it to the sowing module 21, that is, to the seed metering motor, so as to control the number of rotations of the seed metering motor per unit time, so that the sowing module 21 can sow seeds.

[0090] By utilizing the actual travel speed, it is possible to analyze whether the seeder's travel speed has reached the preset speed requirements, thereby adjusting the fertilization speed and sowing speed. For example, the fertilization speed and sowing speed can be reduced when the seeder travels at a slow speed, and increased when the seeder travels at a fast speed, so that the seeder can complete the specified amount of fertilization and sowing when it finishes the sowing operation.

[0091] Please see Figure 4 and Figure 6 As an optional implementation, step S502 may include the following steps:

[0092] S601, Obtain the target driving speed.

[0093] The target speed reflects the expected speed of the seeder during this sowing operation. It is equivalent to the ideal speed of the seeder and serves as a reference value for the actual speed.

[0094] In one specific embodiment, the control module 3 is signal-connected to the power unit 1. During actual sowing operations, the control module 3 generates driving control information based on the target driving speed and sends the driving control information to the power unit 1. After receiving the driving control information, the power unit 1 moves at the target driving speed so that all working devices 2 move simultaneously at the target driving speed.

[0095] It is understandable that, due to the complex terrain in the field and the influence of environmental factors such as stubble, weeds, and potholes on the soil surface, the seeder cannot travel at a constant speed exactly as it is intended. Therefore, there will be a deviation between the actual speed of the seeder and the target speed.

[0096] In one specific implementation, the travel speed of the seeder during historical sowing operations is recorded as historical travel speed, which is stored in the memory of the control module 3 or in the background server that the control module 3 communicates with.

[0097] The control module 3 can acquire historical driving speeds and use them as target driving speeds; or, the control module 3 can display historical driving speeds on the display terminal 5 for reference, and the user can select the corresponding historical driving speed or re-enter the value of the target driving speed on the control panel 4. The control module 3 sets the target driving speed according to the input content of the control panel 4.

[0098] S602. Obtain the total amount of fertilizer applied to the target crop, the amount of fertilizer applied per unit area, and the planting spacing.

[0099] The total amount of fertilizer applied is the amount of fertilizer required within the work area.

[0100] The unit fertilizer discharge volume refers to the amount of fertilizer discharged by the fertilizer application module in a single discharge cycle. In this embodiment, a fertilizer discharge motor is used as the fertilizer application module 22. Since the fertilizer discharge motor discharges fertilizer once every specified number of rotations, the unit fertilizer discharge volume is equivalent to the amount of fertilizer discharged when the fertilizer discharge motor rotates a specified number of times.

[0101] The planting spacing is the required planting spacing for the target crop as specified by the planting module 21. The seeder must plant according to the planting spacing within its operating range.

[0102] In one specific implementation, the method for obtaining the total fertilizer application amount and sowing spacing of the target crop is as follows:

[0103] Control module 3 acquires the current geographical location information of the seeder and, based on this information and the target crop, obtains the corresponding agronomic requirements information. Based on these agricultural requirements, control module 3 calculates the total fertilizer application rate and the seeding spacing. The geographical location information reflects the current location of the seeder, while the agricultural requirements information reflects the agronomic needs arising from this location.

[0104] In one specific implementation, the user can input operational parameter information into the control panel 4 according to the agricultural needs of the current planting plot. The control module 3 determines the total fertilizer application rate and planting spacing based on the input from the control panel 4.

[0105] In one specific implementation, the control module 3 generates corresponding crop tags based on the types of crops stored in the database, and displays these tags through the display terminal 5. Each crop tag represents a crop and specifies the total fertilizer application rate and planting spacing for that crop. Users can select the corresponding crop tag through the control panel 4 and modify the total fertilizer application rate and planting spacing of the crop tag, thereby modifying the total fertilizer application rate and planting spacing of the corresponding crop.

[0106] In one specific implementation, the user can create a custom label in the control panel 4 and input the total fertilizer application amount and planting spacing corresponding to the custom label. The control module 3 generates crop labels based on the acquired custom label, total fertilizer application amount, and planting spacing.

[0107] In one specific implementation, the method for obtaining the unit fertilizer discharge volume is as follows:

[0108] Step 1: Control the fertilizer discharge motor to discharge fertilizer according to the test number of revolutions, and obtain the test amount of fertilizer discharged after the fertilizer discharge motor discharges fertilizer.

[0109] The fertilization module 22 also includes a weighing device 24 for weighing the fertilizer tank 221. The weighing device 24 is connected to the control module 3. First, the weighing device 24 obtains the first weight information of the fertilizer tank 221. Then, the fertilizer dispensing motor is controlled to rotate a specified number of test revolutions, such as 10 revolutions. Next, the weighing device 24 obtains the second weight information of the fertilizer tank 221. Then, the control module 3 calculates the difference between the first weight information and the second weight information to obtain the test fertilizer dispensing amount.

[0110] Step 2: Based on the number of test cycles and the amount of fertilizer discharged per unit, obtain the amount of fertilizer discharged per unit.

[0111] The test fertilizer discharge volume is the amount of fertilizer discharged after the fertilizer discharge motor has rotated a certain number of test revolutions. Control module 3 calculates the quotient of the test fertilizer discharge volume and the number of test revolutions to obtain the unit fertilizer discharge volume.

[0112] S603. Based on the target driving speed, total fertilizer application rate, and unit fertilizer discharge rate, the target fertilization speed for the target crop is obtained.

[0113] The total fertilizer application amount is the total amount of fertilizer discharged by the fertilizer application module 22, and the unit fertilizer discharge amount is the amount of fertilizer discharged by the fertilizer application module 22 per revolution.

[0114] Given the total amount of fertilizer applied and the amount of fertilizer discharged per unit, the number of rotations required for the fertilizer module 22 to discharge the total amount of fertilizer can be calculated, i.e., the number of fertilizer rotations.

[0115] Given a defined operating range and target travel speed, the travel time of the seeder can be calculated, which is the fertilization time of the fertilization module 22.

[0116] This means that the fertilization module 22 needs to rotate according to the number of fertilization cycles within the fertilization time. Therefore, given the number of fertilization cycles and the fertilization time, the target fertilization speed of the fertilization module 22 can be calculated.

[0117] S604. Based on the target driving speed and the sowing spacing, obtain the target sowing speed for the target crop.

[0118] The seed spacing is the interval between two seed discharges from the seeding module 21. Since the seed metering motor discharges a seed only after rotating a specified number of times, this number of rotations is defined as the seed metering rotation number. Therefore, the seed spacing can be considered as the interval between two seed metering rotations of the seed metering motor.

[0119] Given a target travel speed, the sowing distance traveled by the seeder within a unit of time period can be determined.

[0120] Given the seeding distance traveled within a unit time period and the interval between two seeding rotations of the seed metering motor, the number of rotations of the seed metering motor within a unit time period can be calculated, which is the target seeding speed for the target crop.

[0121] In one specific implementation, the specific method for obtaining the working range is as follows: the user inputs the area or distance that the seeder needs to sow in this sowing operation in the control panel 4, and the control module 3 sets the working range according to the input content of the control panel 4.

[0122] In an optional implementation, the user can input the boundary of the area to be sown by the seeder in the current sowing operation on the control panel 4. The control module 3 sets the operating range according to the input on the control panel 4. Specifically, the control module 3 communicates with the satellite navigation system to request satellite remote sensing data. The control module 3 generates a satellite remote sensing image based on the satellite remote sensing data and displays it on the display terminal 5. The satellite remote sensing image can reflect the surface topography of the sown plot. The user can operate the control panel 4 to set the target area in the satellite remote sensing image. The setting method can be to set multiple edge nodes or virtual borders to outline the target area on the interface. The control module 3 obtains the target area according to the input on the control panel and sets the operating range according to the area of ​​the target area.

[0123] In another optional implementation, the user can input the sowing distance, the number of sowing rows, and the sowing row spacing of the seeder in the current sowing operation on the control panel 4. The number of sowing rows refers to the number of working devices 2 participating in the sowing operation in the seeder, which is equivalent to the number of sowing paths; the sowing row spacing refers to the distance between every two sowing paths. The control module 3 calculates the area length based on the sowing distance, calculates the area width based on the number of sowing rows and the sowing row spacing, and obtains the target area based on the area length and area width. The control module 3 sets the operating range based on the area of ​​the target area.

[0124] Furthermore, control module 3 communicates with the satellite navigation system to request satellite remote sensing data. Based on this data, control module 3 generates a satellite remote sensing image and, according to the area of ​​the target region, creates a marker box within the image. Then, control module 3 simultaneously displays the satellite remote sensing image and the marker box on display terminal 5. The user can view or move the marker box within the image to determine if the target region matches expectations and adjust the marker box via control panel 4. Control module 3 updates the marker box and target region based on input from control panel 4 and sets the operating range.

[0125] Please see Figure 4 and Figure 7 As an optional implementation, step S504 may include the following steps:

[0126] S701. Obtain speed variable information based on actual driving speed and target driving speed.

[0127] The target speed is the ideal straight-line speed of the seeder, while the actual speed is the speed at which the seeder travels during actual sowing operations. In actual sowing operations, factors such as unevenness, stubble, and stubble on the field surface, as well as the seeder's directional sway, make it difficult for the seeder to maintain the target speed precisely. Therefore, there is a deviation between the actual and target speeds. The speed variable information reflects the degree of this deviation.

[0128] In one specific implementation, the speed variable information is obtained by calculating the ratio between the actual driving speed and the target driving speed, where the speed variable information is the actual driving speed / target driving speed.

[0129] S702. Based on the target fertilization rate and rate variable information, adjust the fertilization rate.

[0130] The adjusted fertilization speed is obtained by multiplying the target fertilization speed and the speed variable information. This is equivalent to adjusting the fertilization speed / target fertilization speed = actual driving speed / target driving speed. The adjusted fertilization speed will change proportionally depending on the deviation between the actual driving speed and the target driving speed.

[0131] The target fertilization speed is the reasonable fertilization speed when the seeder is traveling at the target speed. If the seeder maintains the target speed, the fertilization module 22 will fertilize according to the target fertilization speed, and theoretically the total amount of fertilizer can be completed.

[0132] By adjusting the fertilization speed according to the deviation between the actual travel speed and the target travel speed, the fertilization speed can be increased proportionally when the actual travel speed of the seeder is greater than the target travel speed, and decreased proportionally when the actual travel speed of the seeder is less than the target travel speed. This ensures that even if there is a deviation in the travel speed of the seeder, the amount of fertilizer discharged by the fertilization module 22 when completing the sowing task can be close to the total amount of fertilizer applied.

[0133] S703. Adjust the fertilization speed and control the fertilization module 22 to fertilize the target crop.

[0134] When the working device 2 is in operation, the control module 3 generates fertilization control information and outputs it to the fertilizer discharge motor according to the adjusted fertilization speed, so as to control the number of rotations of the fertilizer discharge motor per unit time, so that the fertilization module 22 fertilizes according to the adjusted fertilization speed.

[0135] S704. Based on the target sowing speed and speed variable information, adjust the sowing speed.

[0136] The adjusted sowing speed is obtained by multiplying the target sowing speed and the speed variable information. This is equivalent to adjusting the sowing speed / target sowing speed = actual driving speed / target driving speed. The adjusted sowing speed will change proportionally based on the deviation between the actual driving speed and the target driving speed.

[0137] The target sowing speed is the reasonable sowing speed when the seeder travels at the target speed. If the seeder maintains the target speed, the sowing module 21 will sow according to the target sowing speed, and theoretically the specified total sowing amount can be completed.

[0138] By adjusting the sowing speed according to the deviation between the actual travel speed and the target travel speed, the sowing speed can be increased proportionally when the actual travel speed of the seeder is greater than the target travel speed, and decreased proportionally when the actual travel speed of the seeder is less than the target travel speed. This ensures that even if there is a deviation in the travel speed of the seeder, the sowing module 21 can still sow at a plant spacing close to the ideal state.

[0139] S705. Adjust the sowing speed and control the sowing module 21 to sow the target crop.

[0140] When the working device 2 is in operation, the control module 3 generates sowing control information and outputs it to the seed metering motor according to the adjusted sowing speed, so as to control the number of rotations of the seed metering motor per unit time, so that the sowing module 21 sows according to the adjusted sowing speed.

[0141] Please see Figure 4 and Figure 8 As an optional implementation, before step S502, the seeding control method may further include the following steps:

[0142] S801. Obtain the relationship between the operating device and the crop, and determine the target crop based on the relationship.

[0143] In this context, the target crop is the crop associated with the operating device 2. Each operating device 2 performs a sowing operation on one of its associated target crops. The operating speed of the operating device 2 also needs to be calculated based on the total amount of fertilizer applied to the target crop and the sowing spacing. Therefore, before calculating the operating speed of the operating device 2, it is necessary to determine the target crop corresponding to the operating device 2, or to determine the total amount of fertilizer applied and the sowing spacing corresponding to the operating device 2.

[0144] In one specific implementation, the control module 3 generates several device tags, each corresponding to a different working device 2, based on the current number of working devices 2, and displays them through the display terminal 5. Users can select the corresponding device tag through the control panel 4, and associate the crop tag with the device tag on the control panel 4, thereby associating the working device 2 with the corresponding crop and setting the target crop for the working device 2.

[0145] Please see Figure 9 and Figure 10 As an optional implementation, before step S501, the seeding control method further includes the following steps S901-S902, which are mainly used to detect whether the working device 2 is in operation.

[0146] S901. The actual rotation speed of the ground wheel 23 of the working device 2 is obtained by rotating the sensor 26.

[0147] The working device 2 includes a rotation sensor 26, which is located at the rotational connection of the ground wheel 23 and is connected to the control module 3. The rotation sensor 26 detects the rotational speed of the ground wheel 23 in real time, generates the actual rotational speed, and sends it to the control module 3.

[0148] Since the working device 2 can only carry out sowing operations when it is at the specified tillage depth, the ground wheel 23 will contact the ground and rotate as the working device 2 moves. Therefore, by using the rotation state of the ground wheel 23, it is possible to detect whether the working device 2 has descended to the specified tillage depth, that is, to detect the lifting state of the working device 2.

[0149] S902. Based on the comparison between the actual rotational speed and the rotational speed threshold, determine whether the working device 2 is in working state according to the comparison result.

[0150] The rotational speed thresholds include a minimum rotational speed threshold and a maximum rotational speed threshold. If the actual rotational speed is greater than or equal to the minimum rotational speed threshold and less than or equal to the maximum rotational speed threshold, it can be considered that the ground wheel 23 is rotating in accordance with the movement of the working device 2, and the working device 2 is marked as being in operation.

[0151] If the actual rotation speed is less than the minimum speed threshold, it can be assumed that the ground wheel 23 is only rotating slightly. The rotation of the ground wheel 23 may be caused by the shaking of the working device 2. It is assumed that the ground wheel 23 is not rotating with the movement of the working device 2, and the working device 2 is marked as non-operating.

[0152] If the actual rotational speed is greater than the maximum rotational speed threshold, it can be considered that the current ground wheel 23 may be abnormal. It is assumed that the ground wheel 23 is not rotating in accordance with the movement of the working device 2, and the working device 2 is marked as non-operating.

[0153] When the working device 2 is in a non-operating state, the control module 3 outputs a pause signal to the sowing module 21 and the fertilization module 22 of the working device 2 respectively, so as to stop the sowing operation of the working device 2 in a timely manner.

[0154] By using the rotation status of the detection wheel 23 to detect the lifting status of the working device 2, it is possible to accurately and quickly detect whether the working device 2 has reached the tillage depth and whether the working device 2 is in motion, so as to more precisely control the equipment status of the working device 2.

[0155] In one specific implementation, the rotational speed threshold is a system preset value.

[0156] In an optional implementation, the speed threshold is obtained by the following steps:

[0157] Step 1: Obtain the rotation radius of wheel 23. The rotation radius is a system preset value. Users can also modify the rotation radius of wheel 23 in control panel 4, and control module 3 will update the rotation radius of wheel 23 based on the modifications made in control panel 4.

[0158] Step 2: Calculate the target rotational speed of wheel 23 based on the target driving speed and rotation radius.

[0159] Step 3: Calculate the minimum and maximum speed thresholds based on the error parameters and the target speed. The minimum speed threshold is the difference between the error parameters and the target speed, while the maximum speed threshold is the sum of the error parameters and the target speed. The error parameters are system preset values.

[0160] In an optional implementation, the user can also set the friction coefficient in the control panel 4. The friction coefficient reflects the adhesion of the seeded plot surface. The control module 3 obtains the friction coefficient based on the input from the control panel 4 and updates the error parameters based on the friction coefficient. The higher the friction coefficient, the smaller the error parameters.

[0161] Please see Figure 4 and Figure 11 As an optional implementation method, the seeding control method may further include the following steps:

[0162] S1101. The fertilization monitoring module 25 detects whether the fertilization module 22 is in a state of not discharging fertilizer.

[0163] The fertilization module 22 also includes a fertilization monitoring module 25, which is connected to the control module 3. The fertilization monitoring module 25 is located at the discharge end of the electronic fertilizer dispenser 222. The fertilization monitoring module 25 detects whether the fertilization module 22 is discharging fertilizer by detecting whether any object is discharged from the discharge end of the electronic fertilizer dispenser 222.

[0164] The fertilization module 22 has two states: fertilized and not fertilized. If the fertilization monitoring module 25 detects fertilizer discharge, it outputs a detection signal to the control module 3. Based on the detection signal, the control module 3 marks the corresponding operating device 2 as fertilized. Conversely, if the fertilization monitoring module 25 does not detect fertilizer discharge within a preset time period, it marks the corresponding operating device 2 as not fertilized.

[0165] In one specific embodiment, the fertilization monitoring module 25 uses a photoelectric sensor. The transmitter and receiver of the photoelectric sensor are located at the discharge end of the electronic fertilizer dispenser 222. When fertilizer is discharged from the discharge end of the electronic fertilizer dispenser 222, the fertilizer will block the light between the transmitter and receiver of the photoelectric sensor, and the photoelectric sensor will output a detection signal.

[0166] S1102. When the fertilization module 22 is in a non-fertilization state, the sowing module 21, which belongs to the same working device 2 as the fertilization module 22, is controlled to stop working.

[0167] When any one of the operating devices 2 is marked as not discharging fertilizer, the control module 3 outputs a pause command to the sowing module 21 of the operating device 2 so that the sowing module 21 stops working.

[0168] In actual sowing operations, when any fertilization module 22 stops discharging fertilizer, the sowing module 21 corresponding to that fertilization module 22 will also stop working in a timely manner, ensuring that the soil has been fertilized before sowing and improving the overall quality of the sowing operation.

[0169] The following combination Figure 5 The implementation principle of a sowing control method according to an embodiment of this application is described as follows: The fertilization speed of the fertilization module 22 is controlled by a target fertilization speed, and the sowing speed of the sowing module 21 is controlled by a target sowing speed. This allows the seeder to perform sowing and fertilization separately according to different parameter settings, achieving separate control of sowing and fertilization. Furthermore, in operation, i.e., during actual sowing operations, the seeder's actual travel speed can be analyzed to determine whether it meets the preset speed requirements, thereby adjusting the fertilization and sowing speeds. This adjustment method is not affected by slippage of the ground wheel 23, resulting in a smaller error between the actual fertilization and sowing effects and the expected results, achieving precision sowing and fertilization.

[0170] Please see Figure 12 As an optional implementation, the control module 3 may include multiple functional sub-modules composed of program code segments. The control module 3 can be divided into multiple functional sub-modules according to the functions it performs. The functional sub-modules include at least an equipment parameter acquisition sub-module 31 and a sowing and fertilization control sub-module 32. The functions of each functional sub-module are as follows:

[0171] The equipment parameter acquisition submodule 31 is used to acquire the actual driving speed, the target fertilization speed of the target crop, and the target sowing speed of the target crop when the working device 2 is in operation.

[0172] The sowing and fertilization control submodule 32 is used to control the fertilization module 22 to fertilize the target crop according to the actual driving speed and the target fertilization speed when the seeder is in operation, and to control the sowing module 21 to sow the target crop according to the actual driving speed and the target sowing speed.

[0173] As an optional implementation, the seeder also includes a storage unit for storing a computer program, which includes program instructions. The control module is used to invoke the computer program and execute the seeding control method as described in the above embodiment.

[0174] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A seeding control method, applied to a seeder, characterized in that, The seeder includes at least one operating device, which includes a fertilization module and a sowing module; the method includes: The actual rotational speed of the ground wheel of the working device is obtained by rotating the sensor; Based on the comparison between the actual rotational speed and the rotational speed threshold, and according to the comparison result, it is determined whether the working device is in a working state; When the operating device is in operation, it acquires the actual driving speed, the target fertilization speed of the target crop, and the target sowing speed of the target crop. Based on the actual driving speed and the target fertilization speed, the fertilization module is controlled to fertilize the target crop; and based on the actual driving speed and the target sowing speed, the sowing module is controlled to sow the target crop. The rotational speed threshold includes a minimum rotational speed threshold and a maximum rotational speed threshold. The method for obtaining the rotational speed threshold includes: obtaining the rotation radius of the ground wheel; calculating the target rotational speed of the ground wheel based on the target travel speed and the rotation radius; and calculating the minimum rotational speed threshold and the maximum rotational speed threshold based on the error parameter and the target rotational speed. The error parameter is related to the friction coefficient, which is used to reflect the adhesion of the planting plot surface.

2. The sowing control method according to claim 1, characterized in that, The process of obtaining the target fertilization rate and the target sowing rate of the target crop includes: Obtain the target driving speed; The total amount of fertilizer applied, the amount of fertilizer discharged per unit, and the planting spacing of the target crop are obtained, wherein the total amount of fertilizer applied is the amount of fertilizer required within the operating area, and the amount of fertilizer discharged per unit is the amount of fertilizer discharged by the fertilization module in a single discharge. The target fertilization rate of the target crop is obtained based on the target driving speed, the total amount of fertilizer applied, and the unit amount of fertilizer discharged. The target sowing speed of the target crop is obtained based on the target driving speed and the sowing spacing.

3. The sowing control method according to claim 2, characterized in that, The step of controlling the fertilization module to fertilize the target crop based on the actual driving speed and the target fertilization speed, and controlling the sowing module to sow the target crop based on the actual driving speed and the target sowing speed, includes: Based on the actual driving speed and the target driving speed, speed variable information is obtained; Based on the target fertilization rate and the rate variable information, the fertilization rate is adjusted. The fertilizer application speed is adjusted accordingly, and the fertilizer application module is controlled to apply fertilizer to the target crop. Based on the target sowing speed and the speed variable information, the sowing speed is adjusted. The sowing speed is adjusted accordingly, and the sowing module is controlled to sow the target crop.

4. The sowing control method according to claim 2, characterized in that, The fertilization module includes a fertilizer discharge motor, and the step of obtaining the unit fertilizer discharge volume includes: The fertilizer discharge motor is controlled to discharge fertilizer according to the test number of revolutions, and the test amount of fertilizer discharged after the fertilizer discharge motor discharges fertilizer is obtained; The unit fertilizer discharge amount is obtained based on the number of test cycles and the test fertilizer discharge amount.

5. The sowing control method according to claim 1, characterized in that, Before obtaining the target fertilization rate and the target sowing rate of the target crop, the method further includes: Obtain the association between the operating device and the crop, and determine the target crop based on the association.

6. The sowing control method according to claim 1, characterized in that, The acquisition of actual driving speed includes: The actual driving speed is obtained through a navigation speed measurement module, wherein the navigation speed measurement module communicates with the BeiDou satellite navigation system.

7. The sowing control method according to claim 1, characterized in that, The method further includes: The fertilization monitoring module detects whether the fertilization module is in a state of not discharging fertilizer. When the fertilization module is in the non-fertilization state, the sowing module, which belongs to the same working device as the fertilization module, is controlled to suspend operation.

8. A seeder, characterized in that, The seeder includes a control module and at least one operating device, the operating device including a fertilization module and a sowing module; The control module is used to execute the seeding control method as described in any one of claims 1 to 7, the control module comprising: The equipment parameter acquisition submodule is used to acquire the actual driving speed, the target fertilization speed of the target crop, and the target sowing speed of the target crop when the operating device is in operation. The sowing and fertilization control submodule is used to control the fertilization module to fertilize the target crop according to the actual driving speed and the target fertilization speed, and to control the sowing module to sow the target crop according to the actual driving speed and the target sowing speed.

9. A seeder, characterized in that, The seeder includes a control module, a memory, and at least one operating device. The memory is used to store computer programs, the computer programs including program instructions; The control module is used to call the computer program to execute the seeding control method as described in any one of claims 1 to 7; The operating device includes a fertilization module and a sowing module.

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