Discharge amount control method and device, electronic equipment and computer readable storage medium

Abstract

Embodiments of the present application provide a kind of discharge amount control method, device, electronic equipment and computer readable storage medium, belong to automatic control field, the method applied to job equipment includes: when job equipment starts, according to the initial desired speed calculated, control discharge motor rotation, at any time after job equipment starts, according to the difference between the desired speed and actual speed of discharge motor at current time, adjust the speed of discharge motor at current time, and according to the weight difference between the actual weight of material box at current time and the actual weight of material box at previous time, and the actual speed of discharge motor at current time, calculate the desired speed of discharge motor at next time, realize open-loop control, to correct the discharge amount of job equipment in real time, to more accurately control the discharge amount of job equipment.

Description

Technical Field

[0001] This invention relates to the field of automatic control, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for controlling material output. Background Technology

[0002] A seeder is a planting machine that delivers crop seeds or fertilizer in the required amount into a seed delivery tube, which then falls into pre-dug furrows in the field via a furrow opener. Finally, a soil covering and compacting device covers and presses the seeds down. During the sowing or fertilizing process using a seeder, the seeding rate and fertilizer application rate are crucial factors in evaluating the quality of the seeder's operation. Insufficient seeding or fertilizer application will negatively impact crop growth, while excessive application will result in waste.

[0003] Currently, the main methods for controlling the seeding and fertilization rates of seeders are manual calibration and automatic calibration. Manual calibration is labor-intensive and has low accuracy. While existing automatic calibration methods still offer relatively poor accuracy in controlling seeding and fertilization rates, there is an urgent need for a more precise method to control the seeder's output. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, apparatus, electronic device and computer-readable storage medium for controlling the output of a material, which can more accurately control the output of a seeder and other operating equipment.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect, embodiments of the present invention provide a method for controlling the discharge volume, applied to a controller of an operating device. The operating device further includes a discharge motor, a material hopper, and a grooved wheel. The controller is communicatively connected to the discharge motor, and the discharge motor is connected to the grooved wheel. The grooved wheel is located at the outlet of the material hopper, and the grooved wheel is used to receive, measure, and discharge the material discharged from the material hopper. The method includes:

[0007] When the working equipment is started, the initial expected speed of the working equipment is calculated based on the preset working parameters and the operating status of the working equipment, and the material discharge motor is controlled to rotate at the initial expected speed.

[0008] At any moment after the working equipment is started, obtain the actual rotational speed of the discharge motor and the actual weight of the material box at the current moment;

[0009] Adjust the speed of the discharge motor at the current moment based on the difference between the expected speed and the actual speed of the discharge motor at the current moment;

[0010] The weight difference is obtained by comparing the actual weight of the hopper at the current moment with the actual weight of the hopper at the previous moment. Based on the weight difference and the actual speed of the discharge motor at the current moment, the expected speed of the discharge motor at the next moment is calculated.

[0011] The desired rotational speed of the discharge motor at the next moment is used to adjust the rotational speed of the discharge motor at the next moment in order to control the discharge amount at the next moment.

[0012] Furthermore, the grooved wheel has multiple identical material grooves circumferentially formed on it;

[0013] The step of calculating the expected rotational speed of the discharge motor at the next moment based on the weight difference and the actual rotational speed of the discharge motor at the current moment includes:

[0014] Based on the weight difference and the actual rotational speed of the discharge motor at the current moment, the actual filling efficiency of the trough at the current moment is calculated;

[0015] Based on the actual filling efficiency and the operating parameters, the expected rotational speed of the discharge motor at the next moment is calculated.

[0016] Furthermore, the operating equipment also includes standard parts, as well as a first weighing device and a second weighing device that are communicatively connected to the controller. The first weighing device is located below the material box, and the second weighing device is located below the standard parts.

[0017] The step of obtaining the actual weight of the bin at the current moment includes:

[0018] The measured weight of the hopper at the current moment is obtained through the first weighing device, and the measured weight of the standard part at the current moment is obtained through the second weighing device.

[0019] Based on the measured weight and actual weight of the standard part at the current moment, the weight influence factor at the current moment is obtained;

[0020] The actual weight of the hopper at the current moment is obtained based on the measured weight of the hopper at the current moment and the weight influence factor.

[0021] Further, the step of calculating the actual filling efficiency of the material trough at the current moment based on the weight difference and the actual rotational speed of the discharge motor at the current moment includes:

[0022] Based on the weight difference, the actual rotational speed of the discharge motor at the current moment, the volume of the trough, and the material density, the actual filling efficiency of the trough at the current moment is calculated using the filling efficiency calculation formula.

[0023] The formula for calculating the filling efficiency includes:

[0024]

[0025] in, Characterizes the actual filling efficiency of the feed trough. Represents the length of time at the current moment. Characterizing the weight difference, Characterizing material density, Characterizes the actual rotational speed of the feeding motor. Characterizes the volume of the material tank.

[0026] Further, the step of calculating the expected rotational speed of the discharge motor at the next moment based on the actual filling efficiency and the operating parameters includes:

[0027] The actual speed of the operating equipment at the current moment is obtained. Based on the actual speed, the actual filling efficiency, and various preset parameters in the operating parameters, the expected speed of the discharge motor at the next moment is obtained using the expected speed calculation formula.

[0028] The formula for calculating the desired rotational speed includes:

[0029]

[0030] in, Characterizing the desired rotational speed, Characterizes the working width of the equipment. Characterizing the actual speed of the operating equipment, It represents the material requirements of a unit of work field. Characterizes the filling efficiency of the material tank. Characterizes the volume of the material tank. Characterizes the density of a material.

[0031] Furthermore, the step of calculating the initial desired rotational speed of the working equipment based on preset operating parameters and the operating status of the working equipment includes:

[0032] The initial speed of the working equipment is obtained. Based on the initial speed and various preset parameters in the working parameters, the initial expected speed is obtained using the initial speed calculation formula.

[0033] The initial rotational speed calculation formula includes:

[0034]

[0035] in, Characterizing the initial desired rotational speed, Characterizes the working width of the equipment. Characterizing the initial speed of the operating equipment, It represents the material requirements of a unit of work field. Characterize the expected filling efficiency of the feed trough. Characterizes the volume of the material tank. Characterizes the density of a material.

[0036] Further, the step of obtaining the weight influence factor at the current moment based on the measured weight and actual weight of the standard part at the current moment includes:

[0037] Calculate the ratio of the actual weight of the standard part to the measured weight of the standard part at the current moment, and use the ratio as the weight influence factor at the current moment.

[0038] Secondly, embodiments of the present invention provide a discharge quantity control device applied to the controller of an operating device. The controller is communicatively connected to a discharge motor, the discharge motor is connected to a grooved wheel, the grooved wheel is located at the outlet of the material box, and the grooved wheel is used to receive, measure, and discharge the material discharged from the material box. The discharge quantity control device includes a calculation module, a data acquisition module, and a feedback adjustment module.

[0039] The calculation module is used to calculate the initial expected speed of the working equipment based on preset working parameters and the operating status of the working equipment when the working equipment is started, and control the discharge motor to rotate at the initial expected speed.

[0040] The data acquisition module is used to acquire the actual rotation speed of the discharge motor and the actual weight of the material box at any time after the working equipment is started.

[0041] The feedback adjustment module is used to adjust the speed of the discharge motor at the current moment based on the difference between the expected speed and the actual speed of the discharge motor at the current moment.

[0042] The calculation module is also used to obtain the weight difference based on the actual weight of the hopper at the current moment and the actual weight of the hopper at the previous moment, and to calculate the expected speed of the discharge motor at the next moment based on the weight difference and the actual speed of the discharge motor at the current moment.

[0043] The desired rotational speed of the discharge motor at the next moment is used to adjust the rotational speed of the discharge motor at the next moment in order to control the discharge amount at the next moment.

[0044] Thirdly, embodiments of the present invention provide an electronic device, including a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the output control method as described in the first aspect.

[0045] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the discharge quantity control method as described in the first aspect.

[0046] The discharge control method, device, electronic equipment, and computer-readable storage medium provided in this invention control the discharge motor according to the calculated initial desired speed when the working equipment starts. At any moment after the working equipment starts, the discharge motor speed is adjusted based on the difference between the desired speed and the actual speed of the discharge motor at the current moment. Simultaneously, the desired speed of the discharge motor at the next moment is calculated based on the weight difference between the actual weight of the hopper at the current moment and the actual weight of the hopper at the previous moment, as well as the actual speed of the discharge motor at the current moment. The discharge motor speed at the next moment is adjusted according to the desired speed of the discharge motor at the next moment to control the discharge amount of the working equipment at the next moment. This achieves real-time correction of the discharge amount, which can greatly improve the problem of uneven seeding caused by changes in speed, terrain, etc., and more accurately control the discharge amount of the working equipment.

[0047] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A block diagram of some components of the discharge control system provided in an embodiment of the present invention is shown.

[0050] Figure 2 A schematic diagram of some components of the discharge control system provided in an embodiment of the present invention is shown.

[0051] Figure 3 A flowchart illustrating the discharge quantity control method provided in an embodiment of the present invention is shown.

[0052] Figure 4 It shows Figure 3 A flowchart illustrating some sub-steps of step S13.

[0053] Figure 5 It shows Figure 3 A flowchart illustrating some sub-steps of step S17.

[0054] Figure 6 A schematic diagram of the output control device provided in an embodiment of the present invention is shown.

[0055] Figure 7 A block diagram of an electronic device provided in an embodiment of the present invention is shown.

[0056] Reference numerals in the attached figures: 100-Discharge control system; 110-Controller; 120-Display and control terminal; 130-Discharge motor; 140-Bag; 150-Gateway wheel; 151-Gateway; 160-Standard part; 170-First weighing device; 180-Second weighing device; 190-Discharge control device; 200-Calculation module; 210-Data acquisition module; 220-Feedback adjustment module; 230-Electronic equipment. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0059] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0060] Currently, the main methods for controlling the seeding and fertilization rates of seeders are manual and automatic calibration. One manual calibration method involves suspending the seeder in mid-air, with its working parts not touching the ground, and rotating the seed or fertilizer dispensing shaft at a constant speed a certain number of revolutions. The weight of the seeds or fertilizer dispensing from the seed or fertilizer dispensing shaft is then measured to calculate the actual seeding or fertilizer dispensing rate per acre. This actual rate is then compared to the target rate, and adjustments are made accordingly. However, this manual calibration method is cumbersome, inefficient, and prone to significant errors due to manual adjustment.

[0061] Automatic calibration can complete the calibration in a shorter time, but the current automatic calibration method is prone to uneven seeding due to changes in speed, terrain, etc., and because it is a closed-loop control, the accuracy of the material discharge is still poor.

[0062] Based on the above considerations, embodiments of the present invention provide a method for controlling the output amount, which can more accurately control the output amount of operating equipment such as seeders.

[0063] The discharge rate control method provided in this embodiment of the invention can be applied to, for example... Figure 1 and Figure 2 The discharge control system 100 shown includes a controller 110, a display and control terminal 120, and a material box 140 for the working equipment, as well as a discharge motor 130, a grooved wheel 150, a first weighing device 170, a second weighing device 180, and a standard part 160 for the operating equipment.

[0064] The controller 110 is connected to the display and control terminal 120, the first weighing device 170, the second weighing device 180 and the discharge motor 130 via wired or wireless means.

[0065] The material bin 140 and the standard part 160 are mounted on the support of the working equipment. The first weighing device 170 is located between the support and the material bin 140, that is, the first weighing device 170 is located below the material bin 140. The second weighing device 180 is located between the support and the standard part 160, that is, the second weighing device 180 is located below the standard part 160.

[0066] The grooved wheel 150 is rotatably mounted on the bracket, and the grooved wheel 150 is located at the outlet of the hopper 140.

[0067] The operating equipment can be agricultural machinery such as a seeder or row seeder, and the feed bin 140 can contain materials such as seeds or fertilizer. Furthermore, both the first weighing device 170 and the second weighing device 180 can be, but are not limited to, weighing sensor assemblies. The standard component 160 can be, but is not limited to, a standard seed sample cup, a standard fertilizer sample cup, or a standard mass block. The display and control terminal 120 can be, but is not limited to, a control panel, a touch panel, or other control terminal.

[0068] The grooved wheel 150 is used to receive, measure and discharge the material discharged from the hopper 140.

[0069] The display and control terminal 120 is used to acquire the operating parameters of the operating equipment input by the operator and store the operating parameters, or transmit the operating parameters to the controller 110.

[0070] The controller 110 is used to implement the discharge quantity control method provided in the embodiments of the present invention during the operation of the working equipment, so as to control the discharge quantity of the working equipment by controlling the rotation speed of the discharge motor 130.

[0071] In one embodiment, the Geneva wheel 150 may have multiple identical material grooves 151 circumferentially formed on it, and the angles between adjacent material grooves 151 are the same. It should be understood that the volume and number of material grooves 151 on different models of Geneva wheels 150 may be different.

[0072] The operating parameters include the material requirement per unit operating field, the operating width of the operating equipment, the type of wheel, the volume of the trough corresponding to the type of wheel, and the expected filling efficiency of the trough at different wheel speeds.

[0073] Through the aforementioned discharge control system 100, when the operating equipment starts, the discharge motor 130 is controlled to rotate according to the calculated initial desired speed. At any moment after the operating equipment starts, the speed of the discharge motor 130 is adjusted based on the difference between the desired speed and the actual speed of the discharge motor 130 at the current moment. At the same time, based on the weight difference between the actual weight of the material box 140 at the current moment and the actual weight of the material box 140 at the previous moment, and the actual speed of the discharge motor 130 at the current moment, the desired speed of the discharge motor 130 at the next moment is calculated. Thus, the speed of the discharge motor 130 at the next moment is adjusted according to the desired speed of the discharge motor 130 at the next moment to control the discharge amount of the operating equipment at the next moment. This achieves real-time correction of the discharge amount, which can greatly avoid the problem of uneven seeding caused by changes in speed, terrain, etc., and more accurately control the discharge amount of the operating equipment.

[0074] In the aforementioned discharge control system 100, the discharge principle of the operating equipment is as follows: material (seeds or fertilizer) falls through the outlet of the material box 140 into the trough 151 on the grooved wheel 150. The grooved wheel 150 rotates continuously, carrying away the material in the trough 151. Therefore, knowing the volume of a single trough in the grooved wheel 150, the rotational speed of the discharge motor 130, and the filling efficiency of the material in each trough 151, the actual seeding rate can be obtained. However, in practical applications, the filling efficiency of the trough 151 varies with the rotational speed of the grooved wheel 150 (i.e., the rotational speed of the discharge motor 130), and also varies with changes in seed type, particle size, and other conditions. Therefore, during the operation of the operating equipment, it is necessary to continuously calculate the actual filling efficiency of the trough 151 based on the type of material and the rotational speed of the discharge motor 130, in order to more accurately control the rotational speed of the discharge motor 130.

[0075] Based on the principle of the aforementioned working equipment, in one embodiment, referring to Figure 3 This invention provides a method for controlling the discharge rate, which may include the following steps. In this embodiment, the method for controlling the discharge rate is applied to... Figure 1 Let's take controller 110 as an example.

[0076] S11, when the working equipment is started, calculates the initial expected speed of the working equipment based on the preset working parameters and the operating status of the working equipment, and controls the discharge motor to rotate at the initial expected speed.

[0077] It should be noted that the start of the operating equipment in S11 refers to the start of material feeding in response to the material feeding command.

[0078] S13: At any moment after the working equipment is started, obtain the actual speed of the discharge motor and the actual weight of the material box at the current moment.

[0079] S15, adjust the speed of the discharge motor at the current moment according to the difference between the expected speed and the actual speed of the discharge motor at the current moment.

[0080] S17. Based on the actual weight of the hopper at the current moment and the actual weight of the hopper at the previous moment, obtain the weight difference. Based on the weight difference and the actual speed of the discharge motor at the current moment, calculate the expected speed of the discharge motor at the next moment.

[0081] The desired speed of the discharge motor at the next moment is used to adjust the speed of the discharge motor at the next moment, thereby controlling the discharge volume at the next moment. That is, at the next moment, steps S13-S15 are repeated to achieve open-loop control.

[0082] It should be noted that, in this embodiment, the interval between the current moment and the next moment is a fixed time period.

[0083] In one example, after receiving a material discharge command (i.e., the equipment starts), the controller 110 of the operating device calculates the initial desired rotational speed based on preset operating parameters and the operating status of the equipment, and sends the initial desired rotational speed to the discharge motor 130. The discharge motor 130 rotates at the initial desired speed, driving the grooved wheel 150 to rotate. At the same time, the hopper 140 begins to discharge material, and the grooved wheel 150 located at the outlet of the hopper 140 receives, measures, and discharges the material discharged from the hopper 140.

[0084] When the operating equipment starts, at each time interval t (which should be understood as t being any length such as 2ms), the controller 110 adjusts the speed of the discharge motor 130. Taking the current time as time T as an example, at time T, the controller 110 obtains the actual speed of the discharge motor 130 at the current time, calculates the difference between the known expected speed and the actual speed at the current time, and selects the corresponding speed PID control parameter based on the magnitude of the difference, thereby adjusting the speed of the discharge motor 130 using the speed PID control parameter.

[0085] Simultaneously, at time T, the actual weight of the material bin 140 at the current time is obtained through the first weighing device 170, and the weight difference is obtained based on the actual weight of the material bin 140 at time Tt (the previous time). Based on the weight difference and the actual rotational speed of the discharge motor 130 at the current time, the expected rotational speed of the discharge motor 130 at time T+t is obtained. It should be understood that the expected rotational speed at time T is obtained using the above method.

[0086] Compared with the existing technology of automatically calibrating the output amount, the output amount control method provided in this embodiment of the invention estimates the expected rotational speed at the next moment based on the actual output amount (weight difference) at the current moment, and adjusts the motor speed according to the expected rotational speed and the actual rotational speed fed back, thereby realizing open-loop control to correct the output amount of the working equipment in real time. This can greatly improve the problem of uneven output amount (i.e., seeding amount or fertilizer amount) caused by changes in speed, terrain, etc., and control the output amount of the working equipment more accurately.

[0087] It should be noted that in practical applications, the discharge accuracy during the material feeding process can be adjusted in real time by setting different time periods (i.e., the duration of t, and the sensitivity). When the time period is adjusted to infinity, the current speed of the discharge motor is fixed, achieving open-loop control.

[0088] In one implementation, the preset operating parameters include the material requirement per unit work area, the working width of the operating equipment, the type of Geneva wheel, the volume of the trough corresponding to the Geneva wheel type, and the expected filling efficiency of the trough at different Geneva wheel speeds. Before starting the operating equipment, the operator can select a desired filling efficiency from multiple options via a display and control terminal. Alternatively, when the operating equipment starts, it operates at the default desired filling efficiency.

[0089] It should be understood that the material requirement changes with the unit of the work field. For example, when the unit of the work field is mu (a Chinese unit of area), the material requirement per mu can be the material requirement per unit of work field; when the unit of the work field is hectares (a Chinese unit of area), the material requirement per hectare can be the material requirement per hectare.

[0090] In practical applications, the accuracy of the output of the operating equipment is affected by the vehicle speed. For example, when the vehicle speed is too fast, the amount of seeding per unit of operating field is less than the expected amount, and when the vehicle speed is too slow, the amount of seeding per unit of operating field is more than the expected amount.

[0091] To reduce the impact of vehicle speed on the output and further improve the accuracy of the output, in one embodiment, vehicle speed is incorporated into the calculation of the desired rotational speed. Specifically, step S11 can be further implemented as follows: obtaining the current initial speed of the operating equipment, and based on the initial speed and various preset parameters in the operating parameters, obtaining the initial desired rotational speed using the initial rotational speed calculation formula.

[0092] The initial rotational speed calculation formula includes:

[0093]

[0094] in, Characterizing the initial desired rotational speed, Characterizes the working width of the equipment. Characterizing the initial speed of the operating equipment, It represents the material requirements of a unit of work field. Characterize the expected filling efficiency of the feed trough. Characterizes the volume of the material tank. Characterizes the density of a material.

[0095] In one embodiment, the working equipment may further include a speed sensor that is communicatively connected to the controller 110, and the controller 110 may obtain the speed of the working equipment through the speed sensor.

[0096] In practical applications, weighing devices are subject to measurement errors due to the combined effects of gravitational acceleration, vertical vibration acceleration caused by road and vehicle movement, and forward and backward acceleration of the vehicle. To reduce the influence of these combined accelerations, in one implementation, reference is made to... Figure 4 The above step S13 can obtain the actual weight of the hopper at the current moment through the following sub-steps.

[0097] S131, the current weight of the hopper is obtained through the first weighing device, and the current weight of the standard part is obtained through the second weighing device.

[0098] S132, based on the measured weight and actual weight of the standard part at the current moment, obtain the weight influence factor at the current moment.

[0099] S133: Based on the measured weight of the hopper at the current moment and the weight influence factor, obtain the actual weight of the hopper at the current moment.

[0100] Furthermore, step S132 above can be further implemented as follows: calculate the ratio of the actual weight of the standard part to the measured weight of the standard part at the current moment, and use the ratio as the weight influence factor at the current moment.

[0101] Based on the above steps S131-S133, the actual weight M of the hopper at the current moment can be expressed as: ,in, The actual weight of the standard part. The measured weight of standard parts. This refers to the measured weight of the material bin. This is the weight influence factor at the current moment.

[0102] During operation, the speed of the equipment affects the filling efficiency of the material troughs in the wheel grooves, thus impacting the estimation of the desired rotational speed. To reduce the impact of speed on the output, in one embodiment, the actual filling efficiency of the material troughs is incorporated into the process of obtaining the desired rotational speed of the discharge motor at the next moment. (Refer to...) Figure 5 Step S17 above may include the following sub-steps.

[0103] S171, based on the weight difference and the actual speed of the discharge motor at the current moment, calculates the actual filling efficiency of the trough at the current moment.

[0104] S172, based on the actual filling efficiency and operating parameters, calculates the expected speed of the discharge motor at the next moment.

[0105] The rotational speed of the wheel has a significant impact on the filling effect of the trough, meaning the rotational speed of the discharge motor has a significant impact on the filling effect. Furthermore, to obtain a more accurate actual filling efficiency, the influence of the actual rotational speed of the discharge motor is considered in the calculation of the actual filling efficiency. Specifically, step S171 above can be further implemented as follows: combining the weight difference, the actual rotational speed of the discharge motor at the current moment, the volume of the trough, and the material density, the actual filling efficiency of the trough at the current moment is calculated using the filling efficiency calculation formula.

[0106] The formula for calculating filling efficiency includes:

[0107]

[0108] in, Characterizes the actual filling efficiency of the feed trough. Represents the length of time at the current moment. Characterizing the weight difference, Characterizing material density, Characterizes the actual rotational speed of the feeding motor. Characterizes the volume of the material tank.

[0109] After obtaining the actual filling efficiency of the hopper at the current moment, in order to more accurately obtain the expected speed of the discharge motor at the next moment, the influence of vehicle speed is considered in the calculation of the expected speed. Specifically, the above step S172 can be further implemented as follows: obtain the actual speed of the operating equipment at the current moment, and based on the actual speed, the actual filling efficiency, and various preset parameters in the operating parameters, use the expected speed calculation formula to obtain the expected speed of the discharge motor at the next moment;

[0110] The formula for calculating the desired rotational speed includes:

[0111]

[0112] in, Characterizing the desired rotational speed, Characterizes the working width of the equipment. Characterizing the actual speed of the operating equipment, It represents the material requirements of a unit of work field. Characterizes the actual filling efficiency of the feed trough. Characterizes the volume of the material tank. Characterizes the density of a material.

[0113] Through the above steps S11-S17 and their sub-steps, even if the user inputs an incorrect trough volume, the controller can correct it based on the real-time discharge volume (weight difference between adjacent times) and calculate the actual filling efficiency of the discharge trough to compensate for the trough volume.

[0114] The discharge volume control method provided in this invention compares the weight of a second weighing device for a standard component mounted on the same vibration source (support) as the material box with the weight of a first weighing sensor of the material box to obtain the real-time actual weight of the material box. This method avoids the influence of compound acceleration on weight to a certain extent and helps improve the accuracy of the discharge volume. Simultaneously, it estimates the expected rotational speed (expected discharge volume) of the discharge motor at the next moment in real time, and uses the difference between the expected rotational speed and the actual rotational speed (actual discharge volume) to perform feedback closed-loop control of the discharge motor's rotational speed, achieving real-time and precise control of the discharge volume as it changes with the vehicle speed.

[0115] Furthermore, in practical applications, the system automatically considers the overall density parameters of the material through real-time weight and actual filling efficiency calculations, eliminating the need to set parameters such as material (seed or fertilizer) type, saturation, and moisture content. The discharge accuracy during the discharging process can also be adjusted in real-time by setting different interval periods (duration t). Additionally, the discharge accuracy during the discharging process can be adjusted in real-time by setting different time periods (i.e., duration t, sensitivity).

[0116] Based on the above-described method for controlling the discharge volume, in one embodiment, this invention also provides a discharge volume control device 190, which can be applied to... Figure 1 Controller 110. (Refer to...) Figure 6 The discharge control device 190 may include a calculation module 200, a data acquisition module 210, and a feedback adjustment module 220.

[0117] The calculation module 200 is used to calculate the initial expected speed of the working equipment based on preset working parameters and the operating status of the working equipment when the working equipment is started, and control the discharge motor to rotate at the initial expected speed.

[0118] The data acquisition module 210 is used to acquire the actual rotation speed of the discharge motor and the actual weight of the material box at any time after the working equipment is started.

[0119] The feedback adjustment module 220 is used to adjust the speed of the discharge motor at the current moment based on the difference between the expected speed and the actual speed of the discharge motor at the current moment.

[0120] The calculation module 200 is also used to obtain the weight difference between the actual weight of the hopper at the current moment and the actual weight of the hopper at the previous moment, and to calculate the expected speed of the discharge motor at the next moment based on the weight difference and the actual speed of the discharge motor at the current moment.

[0121] The calculation module 200 calculates the expected speed of the discharge motor at the next moment, which is used to adjust the speed of the discharge motor at the next moment in order to control the discharge amount at the next moment.

[0122] In the aforementioned discharge control device 190, through the coordinated action of the calculation module 200, the data acquisition module 210, and the feedback adjustment module 220, the expected rotational speed at the next moment is estimated based on the actual discharge amount (weight difference) at the current moment. Thus, the motor speed is adjusted according to the expected rotational speed and the actual rotational speed fed back, realizing open-loop control to correct the discharge amount of the working equipment in real time. This can greatly improve the problem of uneven discharge amount (i.e., seeding amount or fertilizer amount) caused by changes in speed, terrain, etc., and more accurately control the discharge amount of the working equipment.

[0123] Specific limitations regarding the discharge quantity control device 190 can be found in the limitations of the discharge quantity control method described above, and will not be repeated here. Each module in the discharge quantity control device 190 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the electronic device, or stored in the memory of the electronic device as software, so that the processor can call and execute the corresponding operations of each module.

[0124] In one embodiment, an electronic device 230 is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown, the electronic device 230 includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor of the electronic device 230 provides computing and control capabilities. The memory of the electronic device 230 includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device 230 is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, near-field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements the discharge quantity control method provided in the above embodiment.

[0125] Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the electronic device 230 to which the present invention is applied. The specific electronic device 230 may include, but is not limited to, the following: Figure 7 The diagram shows more or fewer components, or combinations of certain components, or different component arrangements.

[0126] In one embodiment, the discharge quantity control device 190 provided by the present invention can be implemented as a computer program, which can be configured as follows: Figure 7The electronic device 230 shown operates on this device. The memory of the electronic device 230 can store the various program modules that make up the discharge quantity control device 190, for example, Figure 6 The diagram shows a calculation module 200, a data acquisition module 210, and a feedback adjustment module 220. The computer program, comprised of these modules, causes the processor to execute the steps of the discharge rate control method described in this specification.

[0127] For example, Figure 7 The electronic device 230 shown can be accessed via, for example... Figure 6 The calculation module 200 in the discharge quantity control device 190 shown executes step S11. The electronic device 230 can execute step S13 through the data acquisition module 210. The electronic device 230 can execute step S15 through the feedback adjustment module 220. The electronic device 230 can execute step S17 through the calculation module 200.

[0128] In one embodiment, an electronic device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: when the working device is started, based on preset working parameters and the operating state of the working device, calculates the initial expected rotational speed of the working device and controls the discharge motor to rotate at the initial expected rotational speed; at any moment after the working device is started, obtains the actual rotational speed of the discharge motor at the current moment and obtains the actual weight of the hopper at the current moment; adjusts the rotational speed of the discharge motor at the current moment according to the difference between the initial expected rotational speed and the actual rotational speed; obtains the weight difference between the actual weight of the hopper at the current moment and the actual weight of the hopper at the previous moment, and calculates the expected rotational speed of the discharge motor at the next moment according to the weight difference and the actual rotational speed of the discharge motor at the current moment.

[0129] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: when the working equipment starts, based on preset working parameters and the operating state of the working equipment, the initial desired rotational speed of the working equipment is calculated, and the discharge motor is controlled to rotate at the initial desired rotational speed; at any moment after the working equipment starts, the actual rotational speed of the discharge motor at the current moment and the actual weight of the material box at the current moment are obtained; the rotational speed of the discharge motor at the current moment is adjusted according to the difference between the initial desired rotational speed and the actual rotational speed; the weight difference is obtained according to the actual weight of the material box at the current moment and the actual weight of the material box at the previous moment; and the desired rotational speed of the discharge motor at the next moment is calculated according to the weight difference and the actual rotational speed of the discharge motor at the current moment.

[0130] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0131] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0132] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0133] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the output amount, characterized in that, A controller for a working device, the working device further including a discharge motor, a material hopper, and a grooved wheel, wherein the controller is communicatively connected to the discharge motor, the discharge motor is connected to the grooved wheel, the grooved wheel is located at the outlet of the material hopper, and the grooved wheel has multiple identical material grooves circumferentially formed on it, the grooved wheel being used to receive, measure, and discharge the material discharged from the material hopper, the method comprising: When the working equipment is started, the initial expected speed of the working equipment is calculated based on the preset working parameters and the operating status of the working equipment, and the material discharge motor is controlled to rotate at the initial expected speed. At any moment after the working equipment is started, obtain the actual rotational speed of the discharge motor and the actual weight of the material box at the current moment; Adjust the speed of the discharge motor at the current moment based on the difference between the expected speed and the actual speed of the discharge motor at the current moment; The weight difference is obtained by comparing the actual weight of the hopper at the current moment with the actual weight of the hopper at the previous moment. Based on the weight difference, the actual rotational speed of the discharge motor at the current moment, the volume of the trough, and the material density, the actual filling efficiency of the trough at the current moment is calculated using the filling efficiency calculation formula. The formula for calculating the filling efficiency includes: in, Characterizes the actual filling efficiency of the feed trough. Represents the length of time at the current moment. Characterizing the weight difference, Characterizing material density, Characterizes the actual rotational speed of the feeding motor. Characterizes the volume of the material tank; Based on the actual filling efficiency and the operating parameters, calculate the expected rotational speed of the discharge motor at the next moment; The desired rotational speed of the discharge motor at the next moment is used to adjust the rotational speed of the discharge motor at the next moment in order to control the discharge amount at the next moment.

2. The method for controlling the output volume according to claim 1, characterized in that, The operating equipment also includes standard parts, as well as a first weighing device and a second weighing device that are communicatively connected to the controller. The first weighing device is located below the material box, and the second weighing device is located below the standard parts. The step of obtaining the actual weight of the bin at the current moment includes: The measured weight of the hopper at the current moment is obtained through the first weighing device, and the measured weight of the standard part at the current moment is obtained through the second weighing device. Based on the measured weight and actual weight of the standard part at the current moment, the weight influence factor at the current moment is obtained; The actual weight of the hopper at the current moment is obtained based on the measured weight of the hopper at the current moment and the weight influence factor.

3. The method for controlling the output volume according to claim 1, characterized in that, The step of calculating the expected rotational speed of the discharge motor at the next moment based on the actual filling efficiency and the operating parameters includes: The actual speed of the operating equipment at the current moment is obtained. Based on the actual speed, the actual filling efficiency, and various preset parameters in the operating parameters, the expected speed of the discharge motor at the next moment is obtained using the expected speed calculation formula. The formula for calculating the desired rotational speed includes: in, Characterizing the desired rotational speed, Characterizes the working width of the equipment. Characterizing the actual speed of the operating equipment, It represents the material requirements of a unit of work field. Characterizes the actual filling efficiency of the feed trough. Characterizes the volume of the material tank. Characterizes the density of a material.

4. The method for controlling the output volume according to claim 1, characterized in that, The step of calculating the initial expected rotational speed of the working equipment based on preset operating parameters and the operating status of the working equipment includes: The initial speed of the working equipment is obtained. Based on the initial speed and various preset parameters in the working parameters, the initial expected speed is obtained using the initial speed calculation formula. The initial rotational speed calculation formula includes: in, Characterizing the initial desired rotational speed, Characterizes the working width of the equipment. Characterizing the initial speed of the operating equipment, It represents the material requirements of a unit of work field. Characterize the expected filling efficiency of the feed trough. Characterizes the volume of the material tank. Characterizes the density of a material.

5. The method for controlling the output volume according to claim 2, characterized in that, The step of obtaining the weight influence factor at the current moment based on the measured weight and actual weight of the standard part at the current moment includes: Calculate the ratio of the actual weight of the standard part to the measured weight of the standard part at the current moment, and use the ratio as the weight influence factor at the current moment.

6. A discharge quantity control device, characterized in that, For executing the discharge rate control method as described in any one of claims 1 to 5, the discharge rate control device is applied to the controller of the operating equipment, the operating equipment further includes a discharge motor, a material hopper, and a grooved wheel, the controller is communicatively connected to the discharge motor, the discharge motor is connected to the grooved wheel, the grooved wheel is located at the outlet of the material hopper, and the grooved wheel is used to receive, measure, and discharge the material discharged from the material hopper, the discharge rate control device includes a calculation module, a data acquisition module, and a feedback adjustment module: The calculation module is used to calculate the initial expected speed of the working equipment based on preset working parameters and the operating status of the working equipment when the working equipment is started, and control the discharge motor to rotate at the initial expected speed. The data acquisition module is used to acquire the actual rotation speed of the discharge motor and the actual weight of the material box at any time after the working equipment is started. The feedback adjustment module is used to adjust the speed of the discharge motor at the current moment based on the difference between the expected speed and the actual speed of the discharge motor at the current moment. The calculation module is also used to obtain the weight difference based on the actual weight of the hopper at the current moment and the actual weight of the hopper at the previous moment, and to calculate the expected speed of the discharge motor at the next moment based on the weight difference and the actual speed of the discharge motor at the current moment. The desired rotational speed of the discharge motor at the next moment is used to adjust the rotational speed of the discharge motor at the next moment in order to control the discharge amount at the next moment.

7. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program that can be executed by the processor to implement the discharge quantity control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the discharge quantity control method as described in any one of claims 1 to 5.

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