Step fertilization control method and system based on tillage and sowing integrated machine

Abstract

The present application provides a stepped fertilization control method and system based on a tillage, seeding and fertilizing integrated machine, relating to the technical field of fertilization control. The method includes: obtaining the stepped fertilization control module of the tillage, seeding and fertilizing integrated machine, and the previous operation module of the stepped fertilization control module; obtaining a previous working condition data set and a fertilization working condition data set; obtaining an unloaded state data set; optimizing the unloaded state data set based on a preset unloaded index to obtain an unloaded optimization result; controlling the transmission between the previous operation module of the stepped fertilization control module and the stepped fertilization control module according to the unloaded optimization result, solving the technical problem in the prior art that due to the transmission error between consecutive operation process nodes, the control effect is poor and the fertilization efficiency is low. By optimizing the transmission control of the stepped fertilization control module and the previous operation module, the technical effect of reducing the transmission error and then improving the fertilization efficiency is achieved.

Description

Technical Field

[0001] This application relates to the technical field of fertilization control, and particularly to a stepped fertilization control method and system based on a tillage, seeding and fertilizing integrated machine. Background Art

[0002] A tillage, seeding and fertilizing integrated machine is an existing device that can achieve functions such as subsoiling, soil crushing, stepped fertilization, land leveling, furrow opening and seeding, and compaction in one go, which can reduce the frequency of machine entry into the field, improve operation efficiency, and reduce carbon emissions. However, the tillage mode of the tillage, seeding and fertilizing integrated machine has a sequential process, and there is a transmission error between consecutive operation process nodes, which will lead to fertilization errors.

[0003] In summary, in the prior art, there are technical problems that due to the transmission error between consecutive operation process nodes, the control effect is not good and the fertilization efficiency is low. Summary of the Invention

[0004] This application provides a stepped fertilization control method and system based on a tillage, seeding and fertilizing integrated machine to solve the technical problems in the prior art that due to the transmission error between consecutive operation process nodes, the control effect is not good and the fertilization efficiency is low.

[0005] According to the first aspect of this application, a stepped fertilization control method based on a tillage, seeding and fertilizing integrated machine is provided, including: obtaining the stepped fertilization control module of the tillage, seeding and fertilizing integrated machine, and the previous operation module of the stepped fertilization control module, wherein the previous operation module of the stepped fertilization control module is communicatively connected to the stepped fertilization control module; collecting the working condition data of the previous operation module of the stepped fertilization control module to obtain a previous working condition data set, and collecting the working condition data of the stepped fertilization control module to obtain a fertilization working condition data set; performing time series splicing on the previous working condition data set and the fertilization working condition data set to obtain an idle state data set, where the idle state data set is the data of the tillage, seeding and fertilizing integrated machine in an idle running state from the previous node to the current fertilization node; optimizing the idle state data set based on a preset idle index to obtain an idle optimization result, where the idle optimization result is a transmission control optimization result; controlling the transmission between the previous operation module of the stepped fertilization control module and the stepped fertilization control module according to the idle optimization result.

[0006] According to the second aspect of the present application, a stepped fertilization control system based on a tillage, seeding and fertilization integrated machine is provided, including: a fertilization module acquisition unit, which is used to acquire the stepped fertilization control module of the tillage, seeding and fertilization integrated machine and the previous operation module of the stepped fertilization control module, wherein the previous operation module of the stepped fertilization control module is communicatively connected to the stepped fertilization control module; a working condition data acquisition unit, which is used to acquire the working condition data of the previous operation module of the stepped fertilization control module to obtain a previous working condition data set, and the working condition data of the stepped fertilization control module to obtain a fertilization working condition data set; an empty-load state data set acquisition unit, which is used to splice the previous working condition data set and the fertilization working condition data set in time series to obtain an empty-load state data set, wherein the empty-load state data set is the data of the tillage, seeding and fertilization integrated machine in an empty-load running state from the previous node to the current fertilization node; an empty-load optimization unit, which is used to optimize the empty-load state data set based on a preset empty-load index to obtain an empty-load optimization result, wherein the empty-load optimization result is a transmission control optimization result; a transmission control unit, which is used to control the transmission between the previous operation module of the stepped fertilization control module and the stepped fertilization control module according to the empty-load optimization result.

[0007] According to one or more technical solutions adopted in the present application, the beneficial effects that can be achieved are as follows:

[0008] Acquire the stepped fertilization control module of the tillage, seeding and fertilization integrated machine and the previous operation module of the stepped fertilization control module. Among them, the previous operation module of the stepped fertilization control module is communicatively connected to the stepped fertilization control module. Collect the working condition data of the previous operation module of the stepped fertilization control module to obtain a previous working condition data set, and collect the working condition data of the stepped fertilization control module to obtain a fertilization working condition data set. Splice the previous working condition data set and the fertilization working condition data set in time series to obtain an empty-load state data set. The empty-load state data set is the data of the tillage, seeding and fertilization integrated machine in an empty-load running state from the previous node to the current fertilization node. Optimize the empty-load state data set based on a preset empty-load index to obtain an empty-load optimization result. The empty-load optimization result is a transmission control optimization result. Control the transmission between the previous operation module of the stepped fertilization control module and the stepped fertilization control module according to the empty-load optimization result. Thus, by optimizing the transmission control of the stepped fertilization control module and the previous operation module, the technical effect of reducing the transmission error and further improving the fertilization efficiency is achieved. Description of the Drawings

[0009] To more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. The drawings forming a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0010] Figure 1 It is a schematic flowchart of the stepped fertilization control method based on a tillage, seeding and fertilizing integrated machine provided by an embodiment of the present application;

[0011] Figure 2 It is a schematic structural diagram of the stepped fertilization control system based on a tillage, seeding and fertilizing integrated machine provided by an embodiment of the present application.

[0012] Explanation of reference numerals: fertilization module acquisition unit 11, working condition data acquisition unit 12, no-load state data set acquisition unit 13, no-load optimization unit 14, drive control unit 15. Detailed implementation manners

[0013] In order to make the purpose, technical solutions and advantages of the present application more obvious, the exemplary embodiments of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0014] The terms used in the specification are used to describe the embodiments and do not limit the present application. As used in the specification, the singular terms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. When used in the specification, the terms "include" and / or "comprise" specify the presence of steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other steps, operations, elements, components and / or their groups.

[0015] Unless otherwise defined, all terms (including technical and scientific terms) used in this specification should have the same meaning as commonly understood by those skilled in the art to which the present application belongs. Terms, such as those defined in a common dictionary, should not be interpreted in an idealized or overly formal sense, unless clearly defined herein. Throughout the specification, the same reference numerals represent the same elements.

[0016] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in the present application are all information and data authorized by the user or fully authorized by all parties.

[0017] Example 1

[0018] Figure 1 This is a diagram of the stepped fertilization control method provided by the embodiment of the present application for a tillage, seeding and fertilization integrated machine. The method includes:

[0019] Obtain the stepped fertilization control module of the tillage, seeding and fertilization integrated machine, and the previous operation module of the stepped fertilization control module, wherein the previous operation module of the stepped fertilization control module is communicatively connected to the stepped fertilization control module;

[0020] The tillage, seeding and fertilization integrated machine is an existing device that can realize functions such as subsoiling, soil crushing, stepped fertilization, leveling, ditch opening and seeding, and compaction in one go, which can reduce the frequency of machine entry into the field, improve operation efficiency, and reduce carbon emissions. However, the tillage mode of the tillage, seeding and fertilization integrated machine has a sequential process, and there is a transmission error between consecutive operation process nodes, which will lead to fertilization errors. Therefore, transmission control optimization is required.

[0021] Specifically, obtain the stepped fertilization control module of the tillage, seeding and fertilization integrated machine, and the previous operation module of the stepped fertilization control module, wherein the previous operation module of the stepped fertilization control module is communicatively connected to the stepped fertilization control module. The stepped fertilization control module refers to the module in the tillage, seeding and fertilization integrated machine for fertilization control, including a stepped fertilization control system and a stepped fertilization mechanism. During the operation of the tillage, seeding and fertilization integrated machine, first, the subsoiling and fertilizing shovel loosens the soil of the farmland for conservation tillage operation. The lower stepped fertilizer box of the fertilizer tank is driven by a DC motor, and the fertilizer discharge groove wheel rotates to output fertilizer, which is applied into the soil through the stepped fertilizer guiding pipe to achieve stepped fertilization. That is to say, other operations, such as subsoiling, need to be carried out before stepped fertilization. Then, the subsoiling and fertilizing shovel and the module for controlling the subsoiling and fertilizing shovel are the previous operation modules of the stepped fertilization control module. Generally speaking, the previous operation module and the stepped fertilization control module are two consecutive modules executed one after another.

[0022] Collect the working condition data of the previous operation module of the stepped fertilization control module to obtain a previous working condition data set, and collect the working condition data of the stepped fertilization control module to obtain a fertilization working condition data set;

[0023] Specifically, the previous working condition data set and the fertilization working condition data set can be understood as the historical working condition data of the stepped fertilization control module and the previous operation module. The previous working condition data set may include the corresponding operation time and equipment operation parameters, such as motor speed, current, etc.; the fertilization working condition data set includes the corresponding fertilization time and equipment operation parameters.

[0024] Perform time-series splicing on the previous working condition dataset and the fertilization working condition dataset to obtain an unloaded state dataset, where the unloaded state dataset is the data of the tillage, seeding and fertilizing integrated machine in the unloaded operation state from the previous node to the current fertilization node;

[0025] Performing time-series splicing on the previous working condition dataset and the fertilization working condition dataset means that the stepwise fertilization control module and the previous operation module have a sequential execution relationship. Therefore, the previous working condition dataset and the fertilization working condition dataset are sequentially spliced in chronological order, and the spliced data forms an unloaded state dataset, where the unloaded state dataset is the data of the tillage, seeding and fertilizing integrated machine in the unloaded operation state from the previous node to the current fertilization node, and the unloaded operation state is the no-load operation state.

[0026] Optimize the unloaded state dataset based on a preset unloaded index to obtain an unloaded optimization result, where the unloaded optimization result is a transmission control optimization result;

[0027] In a preferred embodiment, it further includes:

[0028] Evaluate the unloaded state dataset to obtain an unloaded energy consumption index, an unloaded duration index, and an unloaded fault index; according to the unloaded energy consumption index, the unloaded duration index, and the unloaded fault index, obtain a transmission evaluation index between the previous operation module of the stepwise fertilization control module and the stepwise fertilization control module; perform optimization by minimizing the difference between the preset unloaded index and the transmission evaluation index.

[0029] Specifically, the preset unloaded index is a reference index for optimization. That is to say, the stepwise fertilization control module and the previous operation module are in a sequential execution process and have a cooperative operation relationship. Then, if there is an error in their transmission, it will lead to an error in fertilization, such as an incorrect fertilization position. Therefore, it is necessary to use the preset unloaded index as a reference, evaluate the transmission of the unloaded state dataset, reduce the transmission error between the stepwise fertilization control module and the previous operation module, and obtain the transmission control optimization result after error reduction as the unloaded optimization result. The specific method is described in detail below.

[0030] Specifically, first evaluate the no-load state data set to obtain no-load energy consumption indicators, no-load duration indicators, and no-load fault indicators. The no-load energy consumption indicator is used to represent the energy consumption of the step fertilization control module and the previous operation module during no-load operation in the transmission process, such as energy utilization efficiency. Specifically, the historical working condition data records and historical energy utilization rates of the step fertilization control module and the previous operation module during no-load operation in the transmission process can be retrieved, and the corresponding energy utilization rate can be obtained based on the corresponding no-load state data set as the no-load energy consumption indicator. The no-load duration indicator is used to represent the duration ability of the step fertilization control module and the previous operation module during no-load operation in the transmission process, that is, the length of time that can maintain no-load operation. It can also be obtained by retrieving the historical working condition data records and historical duration lengths for matching to obtain the no-load duration indicator. The no-load fault indicator represents the situation of faults occurring during no-load operation, such as fault frequency. Specifically, the historical fault records under the same working conditions can be retrieved from the no-load state data set, and the fault frequency can be obtained as the no-load fault indicator.

[0031] Furthermore, after standardizing the no-load energy consumption indicator, no-load duration indicator, and no-load fault indicator, weighted calculation is performed. Among them, standardization is a commonly used technical means for those skilled in the art and will not be elaborated here. The weights for weighted calculation can be set by those skilled in the art according to the actual situation. Thus, the weighted calculation result is used as the transmission evaluation indicator between the previous operation module of the step fertilization control module and the step fertilization control module. Further optimization is carried out by minimizing the difference between the preset no-load indicator and the transmission evaluation indicator. That is to say, after repeatedly iteratively adjusting the parameters in the no-load state data set, the corresponding transmission evaluation indicator is recalculated until the difference between the preset no-load indicator and the transmission evaluation indicator is minimized. Exemplarily, those skilled in the art can set the number of iterations for adjustment and obtain the parameters when the difference between the preset no-load indicator and the transmission evaluation indicator is minimized as the no-load optimization result. Thus, transmission optimization under no-load state is achieved, reducing the transmission error between the previous operation module of the step fertilization control module and the step fertilization control module, improving the cooperation degree of collaborative operation, and enhancing the technical effect of fertilization operation.

[0032] Control the transmission between the previous operation module of the step fertilization control module and the step fertilization control module according to the no-load optimization result.

[0033] Finally, control the transmission between the previous operation module of the step fertilization control module and the step fertilization control module according to the no-load optimization result to achieve more accurate and efficient transmission control, further improving the working performance and fertilization efficiency of the tillage, seeding, and fertilization integrated machine.

[0034] In a preferred embodiment, it further includes:

[0035] Collect step nodes for the step fertilization control module to obtain multiple fertilization nodes; collect data according to the whole process of the multiple fertilization nodes to obtain a step whole-process working condition data set; perform time-series splicing on the step whole-process working condition data set to obtain multiple conversion state data sets; optimize the multiple conversion state data sets based on a preset conversion index to obtain a conversion optimization result, where the conversion optimization result is used to perform step conversion control on the step fertilization control module.

[0036] In a preferred embodiment, it further includes:

[0037] Based on the preset conversion index, introduce a loss function to identify the multiple conversion state data to obtain a conversion loss data set between every two adjacent fertilization nodes; fuse the conversion loss data sets between every two adjacent fertilization nodes and output them as a conversion loss space library; optimize the multiple conversion state data sets by minimizing the loss of the conversion loss space library to obtain a conversion optimization result.

[0038] In a preferred embodiment, it further includes:

[0039] Collect data according to the whole process of the multiple fertilization nodes to obtain a step whole-process working condition data set, where the step whole-process working condition data set includes the motor speed, motor current, and speed duty cycle of each fertilization node; and the time-series node when the motor starts at each fertilization node and the interval time-series duration between adjacent fertilization nodes.

[0040] Specifically, the main feature of step fertilization is to apply fertilizers into the soil in stages. Different from one-time fertilization, step fertilization divides the whole fertilization process into several stages and gradually applies an appropriate amount of fertilizers. Generally speaking, for example, step fertilization can be divided into multiple stages such as base fertilizer, seed fertilizer, and top dressing. Based on this, collect step nodes for the step fertilization control module in combination with the actual situation to obtain multiple fertilization nodes, and the multiple fertilization nodes are multiple fertilization stages. Collect historical working condition data according to the whole process of the multiple fertilization nodes, that is, collect the working condition data of the step fertilization control module at multiple fertilization nodes as the step whole-process working condition data set.

[0041] Step fertilization controls the fertilization amount by adjusting the rotational speed of a variable-frequency motor. Therefore, the step full-process working condition dataset includes the motor speed, motor current, and speed duty cycle at each fertilization node. The speed duty cycle is the ratio of the actual running time of the motor to the total time within a certain period, as well as the timing node when the motor starts at each fertilization node and the interval timing duration between adjacent fertilization nodes. Among them, the motor speed, motor current, and speed duty cycle are parameters representing the operating state of the motor and can be acquired through existing technologies. The timing node when the motor starts at each fertilization node can be simply understood as the time when each fertilization node starts fertilization, and the interval timing duration between adjacent fertilization nodes is the interval duration between two consecutive fertilization nodes, such as the interval duration between basal fertilizer and seed fertilizer.

[0042] Further, perform time-series splicing on the step full-process working condition dataset, that is, sequentially connect the motor speed, motor current, and speed duty cycle of each fertilization node according to the timing node when the motor starts at each fertilization node and the interval timing duration between adjacent fertilization nodes, and obtain the motor speed, motor current, and speed duty cycle when multiple fertilization nodes undergo conversion as multiple conversion state datasets. Further, optimize the multiple conversion state datasets based on a preset conversion index to obtain a conversion optimization result. Among them, the conversion optimization result is used to perform step conversion control on the step fertilization control module, thereby realizing the optimization of step fertilization node conversion and improving the fertilization efficiency.

[0043] Specifically, the method for optimizing the multiple conversion state datasets based on a preset conversion index is as follows: The preset conversion index refers to the fertilization target that needs to be achieved when converting between adjacent fertilization nodes, such as the fertilization amount that needs to be achieved when converting to the next fertilization node, and it specifically needs to be determined in combination with the actual situation. That is to say, when controlling the motor through multiple conversion state datasets to achieve fertilization, the fertilization amount after conversion may deviate. Specifically, a database can be established by retrieving the fertilization amounts corresponding to different motor speeds, motor currents, and speed duty cycles in the historical fertilization records. Based on the multiple conversion state data, the corresponding multiple fertilization amounts are obtained by matching in the database. The loss function is to calculate the difference between each of the multiple fertilization amounts and the corresponding preset conversion index, and the obtained result is the conversion loss dataset between every two adjacent fertilization nodes. Further, fuse the conversion loss datasets between every two adjacent fertilization nodes, that is, combine the conversion loss datasets between every two adjacent fertilization nodes as the conversion loss space library.

[0044] Further minimizing the loss of the conversion loss space library to optimize the multiple conversion state data sets is to calculate the sum of all the conversion loss data in the conversion loss space library, and then adjust the working condition data of multiple fertilization nodes through multiple iterations, including motor speed, motor current and speed duty cycle, etc., and based on the above method for obtaining the conversion loss data set, obtain the sum of all the conversion loss data after iterative adjustment, so that the sum of all the conversion loss data is minimized, thereby obtaining the motor speed, motor current and speed duty cycle of each fertilization node corresponding to the minimum sum of the conversion loss data as the conversion optimization result, and subsequently perform step conversion control on the step fertilization control module according to the conversion optimization result to improve fertilization efficiency.

[0045] In a preferred embodiment, it also includes:

[0046] Determine whether the multiple fertilization nodes are executed synchronously. When the multiple fertilization nodes are executed synchronously, monitor the multiple working condition data sets of the multiple fertilization nodes; set the synchronization timing length; perform synchronous adaptive optimization on the multiple working condition data sets according to the synchronization timing length to obtain a synchronous optimization result; and perform step-by-step synchronous control on the step fertilization control module according to the synchronous optimization result.

[0047] Specifically, it is determined whether the multiple fertilization nodes are executed synchronously, that is, multiple fertilization nodes may need to be executed simultaneously. The specific judgment needs to be made in combination with the actual situation. When the multiple fertilization nodes are executed synchronously, the multiple working condition data sets of the multiple fertilization nodes are monitored. The multiple working condition data sets include the motor speed, motor current, and speed duty cycle corresponding to the multiple fertilization nodes. Then the synchronization timing length is set. The synchronization timing length refers to the duration of the synchronous execution of multiple fertilization nodes, which needs to be set in combination with the actual situation. Further, the multiple working condition data sets are synchronously adaptively optimized according to the synchronization timing length, that is, based on the same method as the aforementioned acquisition of the conversion loss data set, the sum of the fertilization loss data under the multiple working condition data sets is calculated respectively, and the professional and technical personnel in this field determine the pre-installed fertilization amount corresponding to the multiple fertilization nodes respectively in combination with the actual situation, and then the difference between the fertilization amount under the multiple working condition data sets and the pre-installed fertilization amount is obtained as the fertilization loss data, and the parameters in the multiple working condition data sets are adjusted through multiple iterations until the sum of the fertilization loss data is minimized, and the corresponding adjusted working condition data is obtained as the result of synchronous optimization. Finally, the step-by-step synchronous control is performed on the step-by-step synchronous fertilization control module according to the synchronous optimization result to improve the efficiency of the step-by-step synchronous fertilization.

[0048] In a preferred embodiment, it also includes:

[0049] Collect the working conditions of the subsequent operation module of the step fertilization control module to obtain a subsequent working condition data set; perform fitness optimization on the subsequent working condition data set according to the no-load optimization result to obtain a fitness optimization result, where the fitness optimization result is used to control the transmission between the step fertilization control module and the subsequent operation module of the step fertilization control module.

[0050] Specifically, obtain the subsequent operation module of the step fertilization control module. The subsequent operation module is the agricultural operation module after step fertilization. Exemplarily, after step fertilization, the rotary tiller is used for soil crushing and leveling, so soil crushing and leveling is the subsequent operation module. Then, through existing technologies, such as setting corresponding sensors to collect the working conditions of the subsequent operation module of the step fertilization control module, a subsequent working condition data set is obtained. The subsequent working condition data set includes the equipment operation parameters of the subsequent operation module. Further, perform fitness optimization on the subsequent working condition data set according to the no-load optimization result. That is to say, the no-load optimization result is the optimization result of the previous operation module and the step fertilization control module. The previous operation module, the step fertilization control module, and the subsequent operation module are three sequentially executed modules. Therefore, it is necessary to perform optimization control on the subsequent operation module based on the no-load optimization result.

[0051] Specifically, the subsequent working condition data set can be evaluated, and the corresponding subsequent working condition energy consumption index, duration index, and fault index are obtained and then weighted and calculated to obtain the transmission evaluation index between the step fertilization control module and the subsequent operation module. It should be noted that the method for obtaining the transmission evaluation index between the step fertilization control module and the subsequent operation module is the same as the method for obtaining the transmission evaluation index between the previous operation module and the step fertilization control module, which will not be elaborated here. At the same time, based on practical experience, set the preset transmission index between the step fertilization control module and the subsequent operation module, and perform optimization by minimizing the difference between the preset transmission index and the transmission evaluation index of the previous operation module and the step fertilization control module. Obtain the working condition parameters corresponding to the subsequent operation module when the difference is the smallest as the fitness optimization result, and control the transmission between the step fertilization control module and the subsequent operation module of the step fertilization control module based on the fitness optimization result, achieving the technical effects of reducing transmission error and improving fertilization efficiency.

[0052] Based on the above analysis, one or more technical solutions provided by the present application can achieve the following beneficial effects:

[0053] Obtain the stepped fertilization control module of the tillage, seeding and fertilization integrated machine, as well as the previous operation module of the stepped fertilization control module. Among them, the previous operation module of the stepped fertilization control module is communicatively connected to the stepped fertilization control module, collect the working condition data of the previous operation module of the stepped fertilization control module to obtain the previous working condition data set, and collect the working condition data of the stepped fertilization control module to obtain the fertilization working condition data set. Perform time-series splicing on the previous working condition data set and the fertilization working condition data set to obtain an idling state data set. The idling state data set is the data of the tillage, seeding and fertilization integrated machine in the idling operation state from the previous node to the current fertilization node. Optimize the idling state data set based on a preset idling index to obtain an idling optimization result. The idling optimization result is a transmission control optimization result. Control the transmission between the previous operation module of the stepped fertilization control module and the stepped fertilization control module according to the idling optimization result. Thus, by optimizing the transmission control of the stepped fertilization control module and the previous operation module, the technical effect of reducing the transmission error and then improving the fertilization efficiency is achieved.

[0054] Embodiment 2

[0055] Based on the same inventive concept as the stepped fertilization control method based on the tillage, seeding and fertilization integrated machine in the foregoing embodiment, as Figure 2 shown, the present application also provides a stepped fertilization control system based on a tillage, seeding and fertilization integrated machine. The system includes:

[0056] A fertilization module acquisition unit 11, which is used to obtain the stepped fertilization control module of the tillage, seeding and fertilization integrated machine, as well as the previous operation module of the stepped fertilization control module. Among them, the previous operation module of the stepped fertilization control module is communicatively connected to the stepped fertilization control module;

[0057] A working condition data acquisition unit 12, which is used to collect the working condition data of the previous operation module of the stepped fertilization control module to obtain a previous working condition data set, and collect the working condition data of the stepped fertilization control module to obtain a fertilization working condition data set;

[0058] An idling state data set acquisition unit 13, which is used to perform time-series splicing on the previous working condition data set and the fertilization working condition data set to obtain an idling state data set. The idling state data set is the data of the tillage, seeding and fertilization integrated machine in the idling operation state from the previous node to the current fertilization node;

[0059] An idling optimization unit 14, which is used to optimize the idling state data set based on a preset idling index to obtain an idling optimization result. The idling optimization result is a transmission control optimization result;

[0060] A transmission control unit 15, which is used to control the transmission between the previous operation module of the stepped fertilization control module and the stepped fertilization control module according to the no-load optimization result.

[0061] Furthermore, the system further includes a stepped conversion control unit, and the stepped conversion control unit includes:

[0062] Collect stepped nodes of the stepped fertilization control module to obtain a plurality of fertilization nodes;

[0063] Collect data according to the whole process of the plurality of fertilization nodes to obtain a stepped full-process working condition data set;

[0064] Perform time-series splicing on the stepped full-process working condition data set to obtain a plurality of conversion state data sets;

[0065] Optimize the plurality of conversion state data sets based on a preset conversion index to obtain a conversion optimization result, wherein the conversion optimization result is used to perform stepped conversion control on the stepped fertilization control module.

[0066] Furthermore, the stepped conversion control unit further includes:

[0067] Based on the preset conversion index, introduce a loss function to identify the plurality of conversion state data to obtain a conversion loss data set between every two adjacent fertilization nodes;

[0068] Fuse the conversion loss data sets between every two adjacent fertilization nodes and output them as a conversion loss space library;

[0069] Optimize the plurality of conversion state data sets by minimizing the loss of the conversion loss space library to obtain a conversion optimization result.

[0070] Furthermore, the stepped conversion control unit further includes:

[0071] Collect data according to the whole process of the plurality of fertilization nodes to obtain a stepped full-process working condition data set, wherein the stepped full-process working condition data set includes the motor speed, motor current and speed duty ratio of each fertilization node;

[0072] And the time-sequence node when the motor of each fertilization node starts and the interval time-sequence duration between adjacent fertilization nodes.

[0073] Furthermore, the system further includes a subsequent transmission control unit, and the subsequent transmission control unit includes:

[0074] Obtain the subsequent operation module of the stepped fertilization control module;

[0075] Collect the operating conditions of the subsequent operation module of the stepped fertilization control module to obtain a subsequent operating condition data set;

[0076] Perform fitness optimization on the subsequent operating condition data set according to the no-load optimization result to obtain a fitness optimization result, where the fitness optimization result is used to control the transmission between the stepped fertilization control module and the subsequent operation module of the stepped fertilization control module.

[0077] Furthermore, the no-load optimization unit 14 further includes:

[0078] Evaluate the no-load state data set to obtain no-load energy consumption indicators, no-load duration indicators, and no-load fault indicators;

[0079] According to the no-load energy consumption indicator, no-load duration indicator, and no-load fault indicator, obtain a transmission evaluation indicator between the previous operation module of the stepped fertilization control module and the stepped fertilization control module;

[0080] Perform optimization by minimizing the difference between the preset no-load indicator and the transmission evaluation indicator.

[0081] Furthermore, the system further includes a synchronization control unit, and the synchronization control unit includes:

[0082] Judge whether the multiple fertilization nodes are executed synchronously. When the multiple fertilization nodes are executed synchronously, monitor the multiple operating condition data sets of the multiple fertilization nodes;

[0083] Set the synchronization time sequence length;

[0084] Perform synchronous adaptability optimization on the multiple operating condition data sets according to the synchronization time sequence length to obtain a synchronous optimization result;

[0085] Perform stepped synchronous control on the stepped fertilization control module according to the synchronous optimization result.

[0086] The specific example of the stepped fertilization control method based on the tillage, seeding and fertilization integrated machine in the foregoing Embodiment 1 is equally applicable to the stepped fertilization control system based on the tillage, seeding and fertilization integrated machine in this embodiment. Through the foregoing detailed description of the stepped fertilization control method based on the tillage, seeding and fertilization integrated machine, those skilled in the art can clearly know the stepped fertilization control system based on the tillage, seeding and fertilization integrated machine in this embodiment. Therefore, for the sake of simplicity of the specification, it will not be described in detail herein.

[0087] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted, as long as the desired results of the technical solutions disclosed in this application can be achieved. There is no limitation herein.

[0088] Note that the above is only a preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments only. Without departing from the concept of the present application, more other equivalent embodiments can be included, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A step fertilization control method based on a tillage and sowing machine, characterized in that: The method comprises: Acquire a step fertilization control module of the all-in-one tillage and sowing machine, and a previous operation module of the step fertilization control module, wherein the previous operation module of the step fertilization control module is communicatively connected with the step fertilization control module; Collecting the working condition data of the previous operation module of the step fertilization control module to obtain a previous working condition data set, and collecting the working condition data of the step fertilization control module to obtain a fertilization working condition data set; The previous working condition data set and the fertilization working condition data set are spliced ​​in time series to obtain a no-load state data set, wherein the no-load state data set is data of the ploughing and sowing machine being in a no-load running state from the previous node to the current fertilization node; Optimizing the no-load state data set based on a preset no-load index to obtain a no-load optimization result, wherein the no-load optimization result is a transmission control optimization result; Controlling the transmission between the previous operation module of the step fertilization control module and the step fertilization control module according to the no-load optimization result; Wherein, the method further comprises: Performing step node collection on the step fertilization control module to obtain multiple fertilization nodes; Collect data according to the full process of the multiple fertilization nodes to obtain a step-by-step full process working condition data set; Performing time-series splicing on the step-by-step full-process working condition data set to obtain multiple conversion state data sets; Optimizing the multiple conversion state data sets based on preset conversion indicators to obtain conversion optimization results, wherein the conversion optimization results are used to perform step conversion control on the step fertilization control module; Wherein, the method further comprises: Determine whether the multiple fertilization nodes are executed synchronously, and when the multiple fertilization nodes are executed synchronously, monitor multiple working condition data sets of the multiple fertilization nodes; Set the synchronization timing length; Performing synchronous adaptive optimization on the multiple operating condition data sets according to the synchronous timing length to obtain a synchronous optimization result; Performing step-by-step synchronous control on the step-by-step fertilization control module according to the synchronous optimization result; The step of optimizing the no-load state data set based on a preset no-load index includes: Evaluate the no-load state data set to obtain a no-load energy consumption index, a no-load duration index, and a no-load fault index; According to the no-load energy consumption index, the no-load duration index and the no-load fault index, a transmission evaluation index between a previous operation module of the step fertilization control module and the step fertilization control module is obtained; The optimization is performed by minimizing the difference between the preset no-load index and the transmission evaluation index.

2. The method according to claim 1, characterized in that Optimizing the multiple conversion state data sets based on preset conversion indicators includes: Based on the preset conversion index, a loss function is introduced to identify the multiple conversion state data to obtain a conversion loss data set between every two adjacent fertilization nodes; The conversion loss data sets between every two adjacent fertilization nodes are fused and the output is a conversion loss space library; The loss of the conversion loss space library is minimized to optimize the multiple conversion state data sets to obtain a conversion optimization result.

3. The method according to claim 1, characterized in that Performing data collection according to the full process of the multiple fertilization nodes to obtain a step-by-step full process working condition data set, wherein the step-by-step full process working condition data set includes a motor speed, a motor current, and a speed duty cycle of each fertilization node; As well as the timing nodes for starting the motor of each fertilization node and the interval timing duration between adjacent fertilization nodes.

4. The method according to claim 1, characterized in that After obtaining the no-load optimization result, it also includes: Acquire the next operation module of the step fertilization control module; Performing working condition collection on a subsequent operation module of the step fertilization control module to obtain a subsequent working condition data set; The fitness optimization is performed on the post-operating condition data set according to the no-load optimization result to obtain a fitness optimization result, wherein the fitness optimization result is used to control the transmission between the step fertilization control module and a subsequent operation module of the step fertilization control module.

5. The step fertilization control system based on the integrated tillage and sowing machine is characterized by: The system is used to execute the step fertilization control method based on the tillage and sowing integrated machine according to any one of claims 1 to 4, and comprises: A fertilization module acquisition unit, the fertilization module acquisition unit is used to acquire a step fertilization control module of the tillage and sowing machine, and a previous operation module of the step fertilization control module, wherein the previous operation module of the step fertilization control module is communicatively connected with the step fertilization control module; A working condition data acquisition unit, the working condition data acquisition unit is used to collect working condition data of a previous operation module of the step fertilization control module to obtain a previous working condition data set, and to collect working condition data of the step fertilization control module to obtain a fertilization working condition data set; A no-load state data set acquisition unit, the no-load state data set acquisition unit is used to perform time-series splicing on the previous working condition data set and the fertilization working condition data set to acquire a no-load state data set, wherein the no-load state data set is data of the ploughing and sowing machine being in a no-load running state from the previous node to the current fertilization node; A no-load optimization unit, the no-load optimization unit is used to optimize the no-load state data set based on a preset no-load index to obtain a no-load optimization result, wherein the no-load optimization result is a transmission control optimization result; A transmission control unit, wherein the transmission control unit is used to control the transmission between the previous operation module of the step fertilization control module and the step fertilization control module according to the no-load optimization result.

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