Variable rate fertilizer control system and method

Abstract

The application provides a variable fertilization control system and method, the fertilization control system takes a precision fertilization combined land preparation machine as a carrier, uses a Beidou satellite navigation system to obtain an advancing speed and uses a depth sensor to obtain a position height of the precision fertilization combined land preparation machine, a fertilization controller takes an STM32 single-chip microcomputer as a control core, controls a fertilizer discharging motor to be at a corresponding rotating speed, and realizes variable fertilization operation. Before operation, navigation debugging and input of project parameter of a variable fertilization control program in a vehicle-mounted display terminal are completed; during operation, when a field U-turn is encountered, a position height of the precision fertilization combined land preparation machine is changed after a tractor lifting and suspension, and then on-off of the fertilizer discharging motor can be controlled, fertilizer waste is reduced, and manual participation is reduced. The variable fertilization system has high practical value, is simple to operate, solves problems of low field fertilization work efficiency, difficult fertilization control and the like, and achieves the purposes of reducing investment, improving efficiency and increasing crop yield.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery control, in particular to a variable fertilization control system and method. BACKGROUND

[0002] At present, the fertilization in the field is mainly by ordinary fertilization machine, and the fertilization function is single, which cannot effectively meet the needs of farmers to improve work efficiency, improve agricultural production and reduce input cost. Efficient fertilization and accurate variable fertilization are still important key technologies. Many fertilization devices on the market change the working length of the fertilizer discharge wheel in the fertilizer discharge device to adjust the fertilization amount, and start and stop the fertilizer motor by switch control. Such fertilization devices not only have insufficient control of the variable nature of the fertilization amount, but also have low work efficiency. At the same time, some fertilization devices use variable fertilization prescription map to realize accurate variable fertilization, but this technology is highly professional and not mature, and the cost of technical training and new equipment will increase, which limits its promotion. SUMMARY

[0003] In view of the above problems, the present application aims to provide a variable fertilization control system and method, which determines the variable fertilization scheme according to the tractor forward speed information, agricultural implement height information and project parameter input information of the variable fertilization control program in the vehicle-mounted display terminal, effectively controls the fertilizer motor, matches the fertilizer motor speed with the forward speed, and then realizes the variable fertilization control. In addition, the system is simple to operate and does not need manual intervention for fertilization, which improves the work efficiency and is convenient for promotion.

[0004] To solve the above technical problems, the specific technical scheme adopted by the present application is as follows:

[0005] A variable fertilization control system, characterized in that it comprises a Beidou satellite navigation system, a control switch, a vehicle-mounted display terminal, a fertilization controller, a fertilizer motor and a depth sensor. The Beidou satellite navigation system comprises a GNSS satellite antenna and a Beidou GNSS receiver. The GNSS satellite antenna is fixed on the tractor canopy, and the Beidou GNSS receiver is installed in the tractor cab. The navigation system is used to obtain the positioning information and speed information of the tractor in real time, and outputs them to the vehicle-mounted display terminal through RS485 communication.

[0006] The vehicle-mounted display terminal is installed in the tractor cab for easy observation and operation. The vehicle-mounted display terminal is provided with a variable fertilization control program. The parameters controllable by the program include fertilization calibration, rising calibration, falling calibration, working width and target fertilization amount. All information is sent to the fertilization controller through CAN bus.

[0007] The fertilization calibration is used to obtain the fertilizer discharge amount of the fertilizer motor per revolution.

[0008] The ascending calibration and descending calibration are determined according to the height information monitored by the depth sensor, the height range between the ascending calibration and the descending calibration is set as the non-working state, and the height below the descending calibration is set as the working state;

[0009] The depth sensor is installed below the precision fertilization combined land preparation machine frame towed by the tractor, is used for monitoring the height change of the precision fertilization combined land preparation machine in real time, and integrates the detection information into the CAN bus;

[0010] The fertilization controller takes the STM32F405 single-chip microcomputer as a control core, is connected with the vehicle-mounted display terminal and the fertilizer discharging motor, is used for receiving the machine position information and processing, converts the received information into a speed instruction, and sends the speed instruction to the fertilizer discharging motor through RS232 communication when the system is determined as the working state;

[0011] The control switch is fixed below the steering wheel of the cab, and is used for on-off of the power supply of the fertilizer discharging motor;

[0012] The fertilizer discharging motor selects a direct-current brushless motor, the three-phase Hall sensor is integrated in the direct-current brushless motor, the fertilization condition is fed back, and closed-loop control is formed.

[0013] A variable fertilization control method, characterized in that, comprising:

[0014] Step S1: obtaining the positioning information and speed information of the tractor based on the Beidou navigation technology, and obtaining the position height of the precision fertilization combined land preparation machine by the depth sensor;

[0015] Step S2: inputting each item parameter of the variable fertilization control program in the vehicle-mounted display terminal;

[0016] Step S3: formulating a variable fertilization scheme according to the navigation information, the depth sensor information and the item parameter information, calculating the speed of the fertilizer discharging motor by the fertilization controller, and the motor speed instruction calculation formula is C=(666.67QV) / (Bq)

[0017] Wherein, C is the speed instruction; Q is the target fertilization amount per mu (kg); V is the forward speed of the tractor (m / s); B is the width of the agricultural implement (m); and q is the fertilization calibration value (kg / r);

[0018] Step S4: sending the motor speed instruction to control the fertilizer discharging motor at the corresponding speed according to the working state determination result of the whole machine.

[0019] Compared with the prior art, the above technical scheme has the following beneficial effects:

[0020] The application can better complete field fertilization operation, automatic variable fertilization, has simple operation, high practical value and is convenient for popularization; in addition, when turning in the field, the height of the agricultural implement is lifted, the on-off of the fertilizer discharging motor can be controlled, fertilizer waste and manual participation are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A variable fertilization control system structure diagram is provided.

[0022] Figure 2 The control principle of the application.

[0023] Figure 3 A variable fertilization control scheme diagram is provided.

[0024] In the drawings:

[0025] 1. tractor; 2. control switch; 3. vehicle-mounted display terminal; 4. GNSS satellite antenna; 5. Beidou GNSS receiver; 6. fertilization controller; 7. fertilizer discharging motor; 8. depth sensor; 9. precision fertilization and land preparation machine. EMBODIMENT

[0026] The application will be further described below in combination with the drawings and specific embodiments.

[0027] As shown in Figure 1 , Figure 2 , Figure 3 A variable fertilization control system includes a Beidou satellite navigation system, a control switch (2), a vehicle-mounted display terminal (3), a fertilization controller (6), a fertilizer discharging motor (7) and a depth sensor (8), the Beidou satellite navigation system includes a GNSS satellite antenna (4) and a Beidou GNSS receiver (5), the GNSS satellite antenna (4) is fixed on the top of the tractor (1), the Beidou GNSS receiver (5) is installed in the cab of the tractor (1), the navigation system is used for real-time acquisition of positioning information and speed information of the tractor (1), and the information is output to the vehicle-mounted display terminal (3) through RS485 communication.

[0028] The vehicle-mounted display terminal (3) is installed in the cab of the tractor (1), which is convenient for observation and operation. The vehicle-mounted display terminal (3) is provided with a variable fertilization control program. The parameters controllable by the program include fertilization calibration, rising calibration, falling calibration, working width and target fertilization amount, and all information is sent to the fertilization controller (6) through the CAN bus. The fertilization calibration is used to obtain the fertilizer discharge amount of the discharge motor (7) per revolution. The rising calibration and the falling calibration are used to determine the working state of the precision fertilization combined land leveler (9) according to the height information monitored by the depth sensor (8). The height range between the rising calibration and the falling calibration is set as a non-working state, and the height value below the falling calibration is set as a working state.

[0029] The depth sensor (8) is installed below the frame of the precision fertilization combined land leveler (9) towed by the tractor (1), and is used to monitor the height change of the precision fertilization combined land leveler (9) in real time and integrate the detection information into the CAN bus. The fertilization controller (6) takes the STM32F405 single-chip microcomputer as the control core, is connected with the vehicle-mounted display terminal (3) and the discharge motor (7), is used to receive the on-machine position information and process, converts the received information into a speed instruction, and sends the speed instruction to the discharge motor (7) through the RS232 communication when the system is determined as the working state. The control switch (2) is fixed below the steering wheel of the cab, and is used to turn on and off the power supply of the discharge motor (7). The discharge motor (7) is a direct-current brushless motor, which integrates a three-phase Hall sensor inside, feeds back the fertilization condition, and forms a closed-loop control.

[0030] Step S1: Based on the Beidou navigation technology, the positioning information and speed information of the tractor (1) are obtained, and the position height of the precision fertilization combined land leveler (9) is obtained by the depth sensor (8).

[0031] Step S2: The project parameter input of the variable fertilization control program in the vehicle-mounted display terminal (3) is performed.

[0032] Step S3: According to the navigation information, the depth sensor (8) information and the project parameter information, a variable fertilization scheme is formulated, the speed of the discharge motor (7) is calculated by the fertilization controller (6), and the motor speed instruction calculation formula is C=(666.67QV) / (Bq), wherein C is the speed instruction, Q is the target fertilization amount per mu (kg), V is the forward speed of the tractor (1) (m / s), B is the width of the agricultural machine (m), and q is the fertilization calibration value (kg / r).

[0033] Step S4: According to the working state determination result of the whole machine, the motor speed instruction is sent in the working state to control the discharge motor (7) at the corresponding speed.

[0034] Preparation before operation:

[0035] The GNSS satellite antenna (4) fixed on the cab roof of the tractor (1) receives the signals transmitted by the satellite and sends them to the GNSS receiver (5). The Beidou GNSS receiver (5) in the cab receives, processes and calculates the satellite signals, and then sends the positioning information and speed information to the vehicle display terminal (3) through RS485 communication. The depth sensor (8) installed below the frame of the precision fertilization and combined land preparation machine (9) detects the height of the frame from the ground in real time, providing parameter values for the system to determine whether the precision fertilization and combined land preparation machine (9) is in the working state.

[0036] Before determining the project parameters, the working length of the fertilizer discharge wheel of each fertilizer discharge device of the precision fertilization and combined land preparation machine (9) is adjusted to be consistent to ensure the consistency of fertilizer application in each row, and then the fertilizer box is loaded with fertilizer; start the fertilizer calibration, click "fertilizer calibration" in the variable fertilizer control program of the vehicle display terminal (3), the fertilizer discharge motor (7) will rotate at a speed of 1 r / s for one minute, collect the total amount of discharged fertilizer and count, repeat three times, take the average value and input it into the calibrated fertilizer amount, to obtain the fertilizer amount per rotation of the fertilizer discharge motor (7), after changing the type of fertilizer, it needs to be collected again; precision fertilization and combined land preparation machine (9) working state calibration, tractor (1) lifting, hanging precision fertilization and combined land preparation machine (9) to the highest point, click "up calibration" in the variable fertilizer control program, after lowering, make the precision fertilization and combined land preparation machine (9) close to the working height of the machine 15 cm, click "down calibration"; new target fertilizer amount, assuming that the required fertilizer for this farmland is 20 kg / acre, the target fertilizer amount in the variable fertilizer control program is input as 20 kg / acre; input the working width, according to the machine parameters and the agronomic requirements of cotton planting, the working width is 4.56 m.

[0037] Field fertilization operation:

[0038] Turn on the control switch (2), drive the tractor (1) to pull the precision fertilization and combined land preparation machine (9) forward, at this time the fertilizer discharge motor (7) is at the corresponding speed, the fertilizer discharge motor (7) transmits power to the fertilizer discharge device to realize variable rate fertilization, at the same time the rotation of the fertilizer discharge motor (7) is fed back to the vehicle display terminal (3), and the variable rate fertilization control program counts the total amount of fertilizer. The field fertilization operation needs to be turned around, the height of the precision fertilization and combined land preparation machine (9) is between "up calibration" and "down calibration" by lifting the tractor (1) rear suspension, the fertilizer discharge motor (7) stops working and the fertilization operation is interrupted, after turning around, lower the tractor (1) rear suspension to make the height of the precision fertilization and combined land preparation machine (9) below "down calibration", the fertilizer discharge motor (7) works and the fertilization operation continues.

[0039] The above embodiments are only the preferred embodiments of the present application, and are not intended to limit the implementation of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art, and it is not necessary or possible to exhaust all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A variable fertilization control system, characterized in that: It includes a Beidou satellite navigation system, a control switch, an on-board display terminal, a fertilizer controller, a fertilizer discharge motor, and a depth sensor. The Beidou satellite navigation system includes a GNSS satellite antenna and a Beidou GNSS receiver. The GNSS satellite antenna is fixed to the tractor roof, and the Beidou GNSS receiver is installed in the tractor cab. The navigation system is used to obtain the tractor's positioning information and speed information in real time and output it to the on-board display terminal via RS485 communication. The on-board display terminal is installed in the tractor cab for easy observation and operation. The on-board display terminal is equipped with a variable fertilizer control program. The program can control parameters such as fertilizer calibration, rise calibration, descent calibration, working width and target fertilizer amount, and all information is sent to the fertilizer controller via the CAN bus; the fertilizer calibration is used to obtain the amount of fertilizer applied per rotation of the fertilizer discharge motor; the rise calibration and descent calibration are used to determine the operating status of the precision fertilization combined with land preparation machine based on the height information monitored by the depth sensor. The height range between the rise calibration and the descent calibration is set as the non-operating state, and the height below the descent calibration height value is set as the operating state; The depth sensor is installed under the precision fertilization and land preparation machine frame towed by the tractor, and is used to monitor the height changes of the precision fertilization and land preparation machine in real time and incorporate the detection information into the CAN bus; the fertilization controller uses the STM32F405 single-chip microcomputer as the control core, is connected to the on-board display terminal and the fertilizer discharge motor, and is used to receive and process the upper machine position information, convert the received information into a speed command, and send the speed command to the fertilizer discharge motor via RS232 communication when the system determines that it is in an operating state; the control switch is fixed under the steering wheel of the cab and is used to turn on and off the power supply of the fertilizer discharge motor; the fertilizer discharge motor uses a brushless DC motor with an integrated three-phase Hall sensor to feedback the fertilization status to form a closed-loop control; The control method using the variable rate fertilization control system comprises the following steps: Step S1: Using Beidou navigation technology to obtain the tractor's positioning and speed information, and using a depth sensor to obtain the position and height of the precision fertilization and land preparation machine; Step S2: Inputting parameters of various items of the variable-rate fertilization control program into the vehicle-mounted display terminal; Step S3: Based on the navigation information, depth sensor information and project parameter information, a variable fertilization plan is formulated. The fertilization controller calculates the fertilizer motor speed. The motor speed command calculation formula is: C = (666.67QV / Bq) Where: C is the speed command; Q is the target fertilizer amount per mu (kg); V is the tractor forward speed (m / s); B is the width of the agricultural machinery (m); q is the fertilizer calibration value (kg / r); Step S4: According to the result of the whole machine operation state determination, a motor speed instruction is sent in the operation state to control the fertilizer discharge motor to be at a corresponding speed.

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