Corn strip planting method and system based on Beidou navigation to reduce soil compaction

Abstract

The present invention relates to a corn strip planting method and system based on Beidou navigation that can reduce soil compaction. The corn strip planting system includes an automatic navigation strip tillage and deep loosening system and an automatic navigation no-tillage sowing system; the automatic navigation strip tillage and deep loosening system includes a large tractor and five parallel single-unit combined strip deep loosening tillage machines; the automatic navigation no-tillage sowing system includes a small tractor and two parallel traction-type corn no-tillage sowing machines; the single-unit combined strip deep loosening tillage machines are used to form a straw-clearing sowing belt and a straw covering belt, and a grass-clearing shallow rotary wheel and a combined fastest descent line shovel wing deep loosening shovel are used to eliminate the surface compaction of black soil and the deep compaction of black soil respectively. With the help of Beidou automatic navigation technology, the path planning and tracking of agricultural machinery are carried out to guide the tractor tires to walk on the straw covering belt, which plays a role in alleviating the formation of compaction, and the path information is recorded and stored to guide the tire tracks during subsequent agricultural machinery operations, thereby reducing the formation of new compaction.

Description

Technical Field

[0001] The present invention relates to the field of agricultural technology, and in particular to a corn strip planting method and system based on Beidou navigation that can reduce soil compaction. Background Art

[0002] Unreasonable tillage practices have caused the fertile black soil in Northeast China to become "thinner, thinner, and harder." No-till corn sowing reduces soil disturbance and straw cover, thereby reducing wind and water erosion, increasing soil organic matter content, and facilitating the sustainable use of soil resources. However, long-term non-tillage or minimal tillage will produce a tire accumulation compaction effect. Severe soil compaction will increase soil bulk density, reduce soil porosity, and reduce the water stability of soil aggregates, which is not conducive to corn emergence and later growth, leading to a decrease in yield. Strip tillage technology can clean out the sowing strips under conditions of lower soil disturbance, improve the corn seedbed environment, and effectively reduce soil compaction and hardening when combined with deep loosening technology.

[0003] The integration of satellite-based automatic navigation technology with agricultural machinery has significantly improved the precision and efficiency of agricultural machinery operations. While the application of automatic navigation technology for agricultural machinery is relatively mature, it is often applied to a single type of agricultural machinery operating on the same plot of land. This leads to low utilization and poor sharing of navigation information when continuous, different agricultural machinery operations are carried out on the same plot.

[0004] The corn strip planting method based on Beidou navigation that can reduce soil compaction can not only improve the quality of corn no-till sowing, but also alleviate and eliminate soil compaction, which is beneficial to corn emergence and later growth. Summary of the Invention

[0005] In response to the above technical problems, the purpose of the present invention is to provide a corn strip planting method and system based on Beidou navigation that can reduce soil compaction, with "sowing drives soil, covering between sowing strips, and straw isolation and buffering". The method uses a single combined strip deep loosening tillage machine as the main operating machinery, forming a straw-clearing sowing belt and a straw covering belt after operation. The grass-pulling shallow rotary wheel and the combined fastest descent line shovel wing deep loosening shovel respectively eliminate the surface compaction of black soil and the deep compaction of black soil. With the help of Beidou automatic navigation technology, the path planning and tracking of agricultural machinery are carried out to guide the tractor tires to walk on the straw covering belt, which plays a role in alleviating the formation of compaction. The path information is recorded and stored to guide the tire trajectory during subsequent agricultural machinery operations, reducing the formation of new compaction. The combined fastest descent line shovel wing deep loosening shovel is designed to improve the effect of reducing the compaction and hardening of deep black soil and reduce operating resistance and energy consumption.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A corn strip planting system based on Beidou navigation that can reduce soil compaction includes an automatic navigation strip tillage and deep loosening system and an automatic navigation no-tillage sowing system.

[0008] The automatic navigation strip-tillage deep loosening system includes a large tractor 1 and five parallel single-unit combined strip-tillage deep loosening tillers 4 towed by the large tractor 1 through a three-point suspension frame 7.

[0009] The single-body combined strip deep tillage machine 4 includes a deep tillage frame, and a parallel four-link profiling mechanism 8, a soil crushing wheel 9, a notched soil retaining disc 10, a combined fastest descending line shovel wing deep tillage shovel 11, a grass-pulling shallow rotary wheel 12, a ground wheel 13 and a notched stubble cutting disc knife 14 installed on the deep tillage frame; wherein, the front end of the parallel four-link profiling mechanism 8 is fixedly connected to the three-point suspension frame 7; the notched stubble cutting disc knife 14 and the ground wheel 13 are installed at the front end of the deep tillage frame, and the notched stubble cutting disc knife 14 is used to cut and crush the relatively large Long corn stalks and root stubbles are prevented from being entangled, which makes it convenient for a pair of grass-clearing shallow rotary wheels 12 located behind the notched stubble-cutting disc knife 14 to clear the corn stalks; the two grass-clearing shallow rotary wheels 12 clear the stalks to both sides to form a straw-clearing sowing belt and a straw covering belt, and shallowly crush the surface soil; the combined fastest descent line shovel wing deep loosening shovel 11 and the two notched retaining discs 10 located on the left and right sides of the combined fastest descent line shovel wing deep loosening shovel 11 are arranged behind the grass-clearing shallow rotary wheels 12; the soil-breaking wheel 9 is installed at the rear end of the deep loosening tillage frame.

[0010] The combined brachistoline shovel-wing deep tillage shovel 11 includes a shovel tip 1101, a shovel handle 1102 and a combined brachistoline shovel wing 1103; wherein, the outer contour curve of the combined brachistoline shovel wing 1103 is a combined brachistoline derived and transformed based on the brachistoline theory, which is used to increase the deep tillage disturbance area and reduce the operating resistance.

[0011] The outer contour curve of the combined brachistodes 1103 is obtained by the following steps:

[0012] In the plane rectangular coordinate system xOy, without considering friction, the curve with the shortest sliding time is when a particle moves from the starting point O to the end point A that is not vertically below it; the trajectory swept by a point on the circle with a radius of r rolling along the straight line OA is the brachistocentre between points O and A. The analytical equation of the brachistocentre is:

[0013]

[0014] In formula 1, (x, y) is the coordinate of the particle, in meters; θ is the rotation angle of the particle when it rolls, in degrees; and r is the radius of the circle, in meters.

[0015] When the brachistocentre theory is applied to engineering, the effect of friction needs to be considered. The energy analysis of the particle considering friction is as follows:

[0016]

[0017] Then we get:

[0018]

[0019] The time T for a particle to move from point O to point A is:

[0020]

[0021] In formulas 2 to 4, d represents the differential symbol; (x, y) is the coordinates of the particle, in meters; m is the mass of the particle, in kg; v is the velocity of the particle, in meters per second; g is the acceleration due to gravity, in meters per second. 2 ; is the friction angle, in degrees; s is the distance traveled by the particle, in meters; μ is the coefficient of kinetic friction; x A is the horizontal coordinate of point A, in meters; y' represents the derivative of the vertical coordinate y of the particle.

[0022] Rotate the plane rectangular coordinate system xOy clockwise by angle The coordinate system XOY considering friction is obtained. The coordinate system conversion formula is: The motion time T1 of the particle after the coordinate system transformation is:

[0023]

[0024] In formula 5, (X, Y) is the coordinate of the particle after the coordinate system is transformed, and the unit is m; X A is the horizontal coordinate of point A after the coordinate system is converted, in meters; g is the acceleration due to gravity, in meters per second 2 ; is the friction angle, in degrees; Y' represents the derivative of the particle's ordinate Y after the coordinate system is transformed.

[0025] The curve OP segment enters the x<0 region, and the velocity of the particle at point P is less than the free fall velocity. Therefore, the curve OPA' is not the optimal path from point O to point A'. The scaling and translation transformation of the analytical equation of the brachistocentric descent line is:

[0026]

[0027] In Formula 6, (X, Y) is the coordinate of the particle after the coordinate system is transformed, in meters; R is the parameter radius after the coordinate system is transformed, in meters; θ is the rotation angle of the particle when it rolls, in degrees; and b is the equation transformation amount, in meters.

[0028] The particle does free fall in segment OC to point C, and then moves along curve segment CA to point A. At this time, the particle's motion time T2 is:

[0029]

[0030] When the position of point C changes, the change in motion time T2 δT2 is:

[0031]

[0032] In formula 7 and formula 8, (x C ,y C ) is the coordinate of point C, in meters; g is the acceleration due to gravity, in meters per second 2 ;x A is the horizontal coordinate of point A, in m; (x, y) is the coordinate of the particle, in m; μ is the coefficient of kinetic friction; y' represents the derivative of the vertical coordinate y of the particle; δy C Represents the ordinate y of point C C The amount of change.

[0033] In order to increase the relative motion speed between soil particles and the deep tillage blade and reduce the operating resistance, T2 should be minimized, that is, δT2 = 0; at this time, point C is the extreme point, the curve segment CA is tangent to the y-axis, and the OC-CA combined curve is the combined brachistodes when friction is considered.

[0034] The position coordinates of point C satisfy:

[0035]

[0036] Then we get:

[0037]

[0038] In formula 9 and formula 10, (X C , Y C ) is the coordinate of point C, in m; θ C is the rotation angle of point C, in rad; μ is the coefficient of kinetic friction, is the friction angle, in degrees; R is the parameter radius after coordinate system conversion, in meters; b is the equation transformation amount, in meters.

[0039] Taking R=45mm, μ=0.6, -π / 2≤X≤π / 2 and substituting them into Formula 9 and Formula 10, the combined brachistodes OC-CA is obtained, which is the outer contour curve of the combined brachistodes 1103.

[0040] The automatic navigation no-tillage seeding system includes a small tractor 5 and two parallel traction-type corn no-tillage seeders 6 towed by the small tractor 5 .

[0041] The traction type corn no-tillage seeder 6 comprises a no-tillage seeder frame, and a fertilizer box 16, a ground wheel transmission mechanism 17, a soil covering and pressing wheel 18, a rubber depth limiting wheel 19, a double disc furrow opener 20, a stubble disc knife 21, a grass wheel 22 and a fertilizer furrowing disc 23 installed on the no-tillage seeder frame; wherein, the front end of the no-tillage seeder frame is provided with a traction connection point 15 for connecting with a small tractor 5; the fertilizer furrowing disc 23 is arranged on the no-tillage seeder frame. The lower front end is used to open a fertilizer ditch; the fertilizer box 16 is arranged on the upper part of the fertilizer ditching disc 23, and the fertilizer discharge pipe is fixedly connected to the outer side of the fertilizer ditching disc 23; the grass-moving wheel 22 and the stubble cutting disc 21 are arranged behind the fertilizer ditching disc 23; the double-disc furrow opener 20 is arranged behind the stubble cutting disc 21; the rubber depth-limiting wheel 19 is arranged on the outer side of the double-disc furrow opener 20; the soil-covering and pressing wheel 18 is installed at the rear end of the no-till seeder frame.

[0042] The wheelbase of the large tractor 1 is 180 cm; the wheelbase of the small tractor 5 is 120 cm; and the row spacings of the single-unit combined strip deep tillage tiller 4 and the traction-type corn no-tillage planter 6 are both 60 cm.

[0043] The automatic navigation strip tillage and deep loosening system performs pre-sowing treatment on the untreated no-till surface, and forms five straw covering belts and five straw clearing and sowing belts in one linear operation, wherein the width of the straw covering belt is 40 cm and the width of the straw clearing and sowing belt is 20 cm.

[0044] The automatic navigation strip tillage and deep loosening system and the automatic navigation no-tillage sowing system are both equipped with a Beidou navigation system terminal 2 and a Beidou navigation satellite antenna 3, which are used to plan the machine operation path and record and store the machine operation trajectory; wherein, the Beidou navigation satellite antenna 3 obtains the position information of the machine in real time and records and stores it in GPGGA format; the Beidou navigation system terminal 2 processes the GPGGA format position information through Python language, generates the machine operation trajectory and stores it.

[0045] The working width of the shovel tip 1101 is 60 mm, and the soil lifting angle α is 30°; the height difference h between adjacent height adjustment holes of the shovel handle 1102 is 100 mm, and the deep loosening depth is 25 cm to 40 cm; the deep loosening width of the combined fastest descent line shovel wing 1103 is 150 mm.

[0046] The grass-moving shallow rotating wheel 12 includes a toothed disc 1201, a fixing sleeve 1202 and bladed teeth 1203, and is buried 5 to 7 cm deep in the soil; the toothed disc 1201 is integrally stamped into an arc surface, and twelve bladed teeth 1203 are evenly distributed along its circumference.

[0047] A corn strip planting method using the corn strip planting system and based on Beidou navigation to reduce soil compaction includes the following steps:

[0048] S1. In the first year, the automatic navigation strip-tillage and subsoiling system performs strip-tillage and subsoiling operations on untreated straw-covered plots according to the operation path planned by the onboard Beidou navigation system terminal 2 and Beidou navigation satellite antenna 3. A single linear operation forms five straw-covered strips and five straw-cleared and sown strips. During the strip-tillage and subsoiling operation, the Beidou navigation system terminal 2 and Beidou navigation satellite antenna 3 record and store the operation trajectory of the automatic navigation strip-tillage and subsoiling system.

[0049] S2, the automatic navigation no-tillage sowing system performs corn no-tillage sowing on the land after the strip-tillage and deep loosening operation according to the operation track of the automatic navigation strip-tillage and deep loosening system read by the Beidou navigation system terminal 2 and the Beidou navigation satellite antenna 3, so that the tires of the small tractor 5 always run on the straw cover belt formed after the strip-tillage and deep loosening operation, so as to alleviate the compaction effect of the tractor tires on the soil and ensure that the seeds are accurately sown in the center of the straw-cleared sowing belt;

[0050] S3. Agricultural machinery used in subsequent plant protection and harvesting operations also refers to the operating trajectory of the automatic navigation strip tillage and deep loosening system, ensuring that the tires of the agricultural machinery always move on the straw cover belt formed after the strip tillage and deep loosening operation to reduce the formation of new compacted areas.

[0051] S4. In the next year, the automatic navigation strip tillage and subsoiling system performs strip tillage and subsoiling operations on the land according to the stored operation trajectory of the previous year, and forms a new straw clearing and sowing belt on the straw mulching belt of the previous year, and the straw clearing and sowing belt of the previous year forms a new straw mulching belt; during the strip tillage and subsoiling operation, the Beidou navigation system terminal 2 and the Beidou navigation satellite antenna 3 record and store the operation trajectory of the automatic navigation strip tillage and subsoiling system;

[0052] S5. Repeat steps S2 to S4 to eliminate the compacted soil under the straw mulching belt every other year, and increase the organic matter content of the soil in the clear straw sowing belt by straw mulching.

[0053] Among them, the width of the straw covering belt is 40cm, and the width of the straw clearing and sowing belt is 20cm.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] 1) Navigation throughout the entire corn strip planting process, utilizing Beidou automatic navigation technology for strip tillage and seeding operations. The recording and storage of navigation paths allows for a traceable path between different agricultural machinery operations, guiding the planning of subsequent operation paths and reducing the formation of new compacted areas.

[0056] 2) Leveraging Beidou automated navigation technology, the straw mulching belt and the clearing and sowing belt alternate with each planting year, guiding agricultural machinery tires to consistently navigate within the straw mulching belt. Soil compaction under the previous year's straw mulching belt can be eliminated through strip tillage and deep loosening, while soil fertility can be enhanced by straw mulching in the clearing and sowing belt.

[0057] 3) In response to the black soil compaction problem in Northeast China, a combination of alleviating and eliminating compaction was adopted to improve the black soil compaction condition. Straw mulch strips alleviated the compaction effect of tires on the soil, and deep loosening with strip tillage eliminated the compaction that had already formed, thereby creating better growing conditions for corn.

[0058] 4) Three-dimensional layering to eliminate black soil compaction, based on the single-unit combined strip deep tillage machine, with the help of the grass-pulling shallow rotary wheel to eliminate the black soil surface compaction, with the help of the combined fastest descent line shovel wing deep loosening shovel to eliminate the black soil deep compaction.

[0059] 5) Design a combined fastest descent line shovel-wing deep loosening shovel to increase the deep loosening disturbance area and improve the effect of reducing the compaction and hardening of deep black soil; by reducing the relative movement time between soil particles and the shovel wings, reduce operating resistance and energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 Schematic diagram of the principle of the corn strip planting method based on Beidou navigation to reduce soil compaction of the present invention;

[0061] Figure 2 An axonometric diagram of the automatic navigation strip deep tillage and loosening system machine components of the present invention;

[0062] Figure 3 This is an axonometric view of a single-unit combined strip deep tillage machine in the automatic navigation strip deep tillage system of the present invention (the notched retaining disc 10 on the far left is omitted);

[0063] Figure 4a and Figure 4b The isometric view and top view of the combined fastest descent line shovel wing subsoiler of the present invention;

[0064] Figure 5 The geometric meaning of the brachistodes line;

[0065] Figure 6 is the brachistochrone line before and after the rotation of the coordinate system;

[0066] Figure 7 is the combined brachistochrone line;

[0067] Figure 8 It is a front view of the grass-moving shallow rotary wheel of the present invention;

[0068] Figure 9It is an axonometric diagram of the automatic navigation no-tillage seeding system machine components of the present invention;

[0069] Figure 10 It is a front view of a traction-type corn no-tillage seeder in the automatic navigation no-tillage seeding system of the present invention;

[0070] Figure 11 This is an example diagram of the Beidou navigation operation trajectory acquisition method in the present invention;

[0071] Figure 12 Schematic diagram of strip tillage and deep loosening operation in the nth year of the present invention, where n is a positive integer;

[0072] Figure 13 Schematic diagram of strip tillage and deep loosening operation in the n+1th year of the present invention, where n is a positive integer;

[0073] Figure 14 Schematic diagram of corn no-tillage sowing operation in the nth year of the present invention, where n is a positive integer;

[0074] Figure 15 This is a schematic diagram of the no-tillage sowing operation of corn in the n+1th year of the present invention, where n is a positive integer.

[0075] The accompanying drawings are as follows:

[0076] 1 large tractor 2 Beidou navigation system terminal

[0077] 3 Beidou navigation satellite antennas 4 single-unit combined strip deep tillage machine

[0078] 5 small tractors 6 traction type corn no-till planter

[0079] 7 Three-point suspension 8 Parallel four-link profiling mechanism

[0080] 9 Crushing wheel 10 Notched retaining disc

[0081] 11 combination fastest descending line shovel wing deep loosening shovel 1101 shovel tip

[0082] 1102 shovel handle 1103 combination fastest descent line shovel wing

[0083] 12 grass-moving shallow-rotating wheel 1201 toothed disc

[0084] 1202 fixed sleeve 1203 with blade gear

[0085] 13 ground wheel 14 notch cutting disc knife

[0086] 15 traction connection points 16 fertilizer box

[0087] 17 ground wheel transmission mechanism 18 soil covering and pressing wheel

[0088] 19 rubber depth limit wheel 20 double disc furrow opener

[0089] 21 stubble cutting disc knife 22 grass wheel

[0090] 23 Fertilizer Ditching Disc DETAILED DESCRIPTION

[0091] The present invention will be further described below with reference to the accompanying drawings and examples.

[0092] The present invention provides a corn strip planting method based on Beidou navigation that can reduce soil compaction, which is implemented using a corn strip planting system. The corn strip planting system includes an automatic navigation strip tillage and deep loosening system and an automatic navigation no-tillage sowing system.

[0093] like Figure 2 As shown, the automatic navigation strip deep tillage system includes a large tractor 1 and five parallel single-unit combined strip deep tillage machines 4 towed by the large tractor 1 through a three-point suspension frame 7.

[0094] like Figure 3 As shown, the single-body combined strip deep tillage machine 4 includes a deep tillage frame, and a parallel four-link profiling mechanism 8, a soil crushing wheel 9, a notched soil retaining disc 10, a combined fastest descent line shovel wing type deep tillage shovel 11, a grass-pulling shallow rotary wheel 12, a ground wheel 13 and a notched stubble cutting disc knife 14 installed on the deep tillage frame; wherein, the front end of the parallel four-link profiling mechanism 8 is fixedly connected to the three-point suspension frame 7, and the adaptation of the working unit to the complex surface environment is achieved through the form of single-body profiling, which is conducive to improving the working quality; the notched stubble cutting disc knife 14 and the ground wheel 13 are installed at the front end of the deep tillage frame, and the notched stubble cutting disc knife 14 is used to cut and crush longer corn stalks and stubble to prevent the stalks from being entangled, so as to facilitate the pair of grass-pulling shallow rotary wheels 12 located behind the notched stubble cutting disc knife 14 to pull the grass. Automatically clean corn stalks; two grass-clearing shallow rotary wheels 12 push the straw to both sides to form a straw-clearing sowing belt and a straw covering belt, and shallowly crush the surface soil, which is beneficial to eliminating the compaction and hardening of the soil surface; the combined fastest descent line shovel wing deep loosening shovel 11 and two notched retaining discs 10 located on the left and right sides of the combined fastest descent line shovel wing deep loosening shovel 11 are arranged behind the grass-clearing shallow rotary wheel 12; the combined fastest descent line shovel wing deep loosening shovel 11 is used to adjust the deep loosening depth through the height adjustment hole to eliminate the deep compaction and hardening of the soil; the notched retaining disc 10 can reduce the movement of soil after deep loosening, which is beneficial to leveling the surface; the crushing wheel 9 is installed at the rear end of the deep loosening tillage frame, and the user crushes larger soil blocks and levels the surface after deep loosening, which is beneficial to improving the quality of the seed bed.

[0095] like Figure 4a and Figure 4bAs shown, the combined brachistoline shovel wing deep loosening shovel 11 includes a shovel tip 1101, a shovel handle 1102 and a combined brachistoline shovel wing 1103; wherein, the shovel tip 1101 is a key structure for breaking the compaction of deep black soil, and its operating width is 60 mm. In order to improve the soil breaking ability, its soil lifting angle α is designed to be 30°; the shovel handle 1102 is used for fixing and height adjustment, the height difference h between adjacent height adjustment holes is 100 mm, and the deep loosening depth is 25 cm to 40 cm; the outer contour curve of the combined brachistoline shovel wing 1103 is a combined brachistoline derived from the brachistoline theory, which is used to increase the deep loosening disturbance area and reduce the working resistance, and the deep loosening width is 150 mm.

[0096] The outer contour curve of the combined brachistodes 1103 is obtained by the following steps:

[0097] Figure 5 The geometric meaning of the brachistodes curve is that in the plane rectangular coordinate system xOy, without considering the friction, the particle moves from the starting point O to the end point A which is not vertically below it, and the curve with the shortest sliding time. Figure 5 As shown in the figure, a circle with a radius of r rolls along the straight line OA. The trajectory swept by a point on the circle is the brachistocentre between points O and A. The analytical equation of the brachistocentre is:

[0098]

[0099] In formula 1, (x, y) is the coordinate of the particle, in meters; θ is the rotation angle of the particle when it rolls, in degrees; and r is the radius of the circle, in meters.

[0100] When the brachistocentre theory is applied to engineering, the effect of friction needs to be considered. The energy analysis of the particle considering friction is as follows:

[0101]

[0102] Then we get:

[0103]

[0104] The time T for a particle to move from point O to point A is:

[0105]

[0106] In formulas 2 to 4, d represents the differential symbol; (x, y) is the coordinates of the particle, in meters; m is the mass of the particle, in kg; v is the velocity of the particle, in meters per second; g is the acceleration due to gravity, in meters per second. 2 ; is the friction angle, in degrees; s is the distance traveled by the particle, in meters; μ is the coefficient of kinetic friction; x Ais the abscissa of point A, in meters; y' represents the derivative of the ordinate y of the particle;

[0107] like Figure 6 As shown, rotate the plane rectangular coordinate system xOy clockwise by angle The coordinate system XOY considering friction is obtained. The coordinate system conversion formula is: The motion time T1 of the particle after the coordinate system transformation is:

[0108]

[0109] In formula 5, (X, Y) is the coordinate of the particle after the coordinate system is transformed, and the unit is m; X A is the horizontal coordinate of point A after the coordinate system is converted, in meters; g is the acceleration due to gravity, in meters per second 2 ; is the friction angle, in degrees; Y' represents the derivative of the particle's ordinate Y after the coordinate system is transformed;

[0110] Depend on Figure 6 It can be seen that the curve OP segment enters the x<0 region, and the velocity of the particle at point P is less than the free fall velocity. Therefore, the curve OPA' is not the optimal path from point O to point A'. The scaling and translation transformation of the analytical equation of the brachistochrone line is:

[0111]

[0112] In formula 6, (X, Y) is the coordinate of the particle after the coordinate system is transformed, in meters; R is the parameter radius after the coordinate system is transformed, in meters; θ is the rotation angle of the particle when it rolls, in degrees; b is the equation transformation amount, in meters;

[0113] like Figure 7 As shown in the figure, the particle does free fall in segment OC to point C, and then moves along curve segment CA to point A. At this time, the movement time T2 of the particle is:

[0114]

[0115] When the position of point C changes, the change in motion time T2 δT2 is:

[0116]

[0117] In formula 7 and formula 8, (x C ,y C ) is the coordinate of point C, in meters; g is the acceleration due to gravity, in meters per second 2 ;x A is the horizontal coordinate of point A, in m; (x, y) is the coordinate of the particle, in m; μ is the coefficient of kinetic friction; y' represents the derivative of the vertical coordinate y of the particle; δyC Represents the ordinate y of point C C The amount of change;

[0118] To increase the relative velocity between soil particles and the blades of the deep sowing blade and reduce operational resistance, T2 should be minimized, that is, δT2 = 0. At this point, point C is the extreme point, and curve segment CA is tangent to the y-axis. The OC-CA combined curve is the combined brachistodes curve when friction is considered.

[0119] The position coordinates of point C satisfy:

[0120]

[0121] Then we get:

[0122]

[0123] In formula 9 and formula 10, (X C , Y C ) is the coordinate of point C, in m; θ C is the rotation angle of point C, in rad; μ is the coefficient of kinetic friction, is the friction angle, in degrees; R is the parameter radius after the coordinate system is transformed, in meters; b is the equation transformation amount, in meters;

[0124] Taking R = 45mm, μ = 0.6, -π / 2≤X≤π / 2 and substituting them into Formula 9 and Formula 10, we get Figure 7 The combined brachistodes curve (OC-CA) shown is the outer contour curve of the combined brachistodes blade 1103. Considering soil particles as point masses, brachistodes theory indicates that when soil particles and the subsoiler blade are in relative motion, the relative motion time can be reduced, thereby reducing operating resistance and energy consumption. Using the combined brachistodes curve as the outer contour curve, a 3D model of the blade was created in SolidWorks, and discrete element simulation tests were conducted. The test results show that compared to conventional chisel subsoilers, the combined brachistodes blade reduces operating resistance while also increasing the cultivated area and effectively reducing black soil compaction.

[0125] like Figure 8 As shown, the grass-clearing shallow rotary wheel 12 includes a toothed disc 1201, a fixing sleeve 1202 and bladed teeth 1203, which are inserted into the soil to a depth of 5 to 7 cm and play the role of clearing straw and eliminating surface soil compaction; the toothed disc 1201 is integrally stamped into an arc surface, and the twelve bladed teeth 1203 are evenly distributed along its circumference. The blades are designed to cut off longer straws and improve the quality of straw cleaning.

[0126] like Figure 9As shown, the automatic navigation no-tillage seeding system includes a small tractor 5 and two parallel traction-type corn no-tillage seeders 6 towed by the small tractor 5.

[0127] like Figure 10 As shown, the traction type corn no-tillage seeder 6 comprises a no-tillage seeder frame, and a fertilizer box 16, a ground wheel transmission mechanism 17, a soil covering and pressing wheel 18, a rubber depth limiting wheel 19, a double disc furrow opener 20, a stubble disc knife 21, a grass-clearing wheel 22 and a fertilizer furrowing disc 23 installed on the no-tillage seeder frame; wherein, the front end of the no-tillage seeder frame is provided with a traction connection point 15 for being connected to a small tractor 5; the fertilizer furrowing disc 23 is arranged at the lower front end of the no-tillage seeder frame for opening a fertilizer furrow; the fertilizer box 16 is arranged at the fertilizer opening On the upper part of the furrow disc 23, the fertilizer discharge pipe is fixedly connected to the outer side of the fertilizing furrowing disc 23; the grass-moving wheel 22 and the stubble-cutting disc knife 21 are arranged behind the fertilizing furrowing disc 23, and are used to cut off the missed straw and further clean it; the double-disc furrow opener 20 is arranged behind the stubble-cutting disc knife 21, and is used to open the seed furrow; the rubber depth-limiting wheel 19 is arranged on the outer side of the double-disc furrow opener 20, and is used to control the sowing depth; the soil-covering and pressing wheel 18 is installed at the rear end of the no-till seeder frame, and is used to cover the soil and press it, which is beneficial to seed germination and later growth.

[0128] The wheelbase of the large tractor 1 is 180 cm; the wheelbase of the small tractor 5 is 120 cm; and the row spacings of the single-unit combined strip deep tillage tiller 4 and the traction-type corn no-tillage planter 6 are both 60 cm.

[0129] Furthermore, the automatic navigation strip tillage and deep loosening system performs pre-sowing treatment on the untreated no-till surface, and forms five straw covering belts and five straw clearing and sowing belts in one straight line operation, wherein the width of the straw covering belt is 40 cm and the width of the straw clearing and sowing belt is 20 cm.

[0130] Furthermore, the automatic navigation strip tillage deep loosening system and the automatic navigation no-tillage sowing system are both equipped with a Beidou navigation system terminal 2 and a Beidou navigation satellite antenna 3, which are used to plan the machine operation path and record and store the machine operation trajectory; wherein, Figure 9 As shown, the Beidou navigation satellite antenna 3 can obtain the location information of the equipment (i.e., each coordinate point) in real time and record and store it in GPGGA format; the Beidou navigation system terminal 2 processes the location information in GPGGA format through Python language, generates and stores the equipment operation trajectory.

[0131] like Figure 1 As shown, the corn strip planting method includes the following steps:

[0132] S1. In the first year, the automatic navigation strip-tillage and subsoiling system performs strip-tillage and subsoiling operations on untreated straw-covered plots according to the operation path planned by the onboard Beidou navigation system terminal 2 and Beidou navigation satellite antenna 3. A single linear operation forms five straw-covered strips and five straw-clearing and sowing strips, where the straw-covering strips are 40 cm wide and the straw-clearing and sowing strips are 20 cm wide. During the strip-tillage and subsoiling operations, the Beidou navigation system terminal 2 and Beidou navigation satellite antenna 3 record and store the operation trajectory of the automatic navigation strip-tillage and subsoiling system.

[0133] S2, the automatic navigation no-tillage sowing system performs corn no-tillage sowing on the land after the strip-tillage and deep loosening operation according to the operation track of the automatic navigation strip-tillage and deep loosening system read by the Beidou navigation system terminal 2 and the Beidou navigation satellite antenna 3, so that the tires of the small tractor 5 always run on the straw cover belt formed after the strip-tillage and deep loosening operation, so as to alleviate the compaction effect of the tractor tires on the soil and ensure that the seeds are accurately sown in the center of the straw-cleared sowing belt;

[0134] S3. Agricultural machinery used in subsequent plant protection and harvesting operations also refers to the operating trajectory of the automatic navigation strip tillage and deep loosening system, ensuring that the tires of the agricultural machinery always move on the straw cover belt formed after the strip tillage and deep loosening operation to reduce the formation of new compacted areas.

[0135] S4. In the next year, the automatic navigation strip tillage and subsoiling system performs strip tillage and subsoiling operations on the land according to the stored operation trajectory of the previous year, and forms a new straw clearing and sowing belt on the straw mulching belt of the previous year, and the straw clearing and sowing belt of the previous year forms a new straw mulching belt; during the strip tillage and subsoiling operation, the Beidou navigation system terminal 2 and the Beidou navigation satellite antenna 3 record and store the operation trajectory of the automatic navigation strip tillage and subsoiling system;

[0136] S5. Repeat steps S2 to S4 to eliminate the compacted soil under the straw mulching belt every other year, and increase the organic matter content of the soil in the clear straw sowing belt by straw mulching.

[0137] Figure 12 This is a schematic diagram of a strip-tillage subsoiling operation in year n (n is a positive integer), on an untreated straw-mulched plot. A large tractor 1 and a modular strip-tillage subsoiling machine 4 can form five cleared straw sowing strips in a single operation. The cleared straw sowing strips are 20 cm wide, the straw mulching strips are 40 cm wide, and the corn row spacing is 60 cm.

[0138] Since the working plot is a land covered with untreated straw, the tires of the large tractor 1 run on the covered straw, thereby alleviating the compaction effect of the tires on the soil and clearing the straw-clearing sowing belts 1-5.

[0139] Figure 14This is a schematic diagram of the no-tillage corn sowing operation in the nth year (n is a positive integer). A small tractor 5 and a traction-type no-tillage corn seeder 6 sow the land after the strip tillage and deep loosening operation, sowing two rows of corn in one operation.

[0140] Before performing no-till corn sowing operations, the Beidou navigation system plans the sowing operation path based on the operation path recorded and stored during the strip tillage and deep loosening operations, so that the tires of the small tractor 5 travel on the straw covering belt to alleviate the compaction effect of the tires on the soil, and can accurately sow on the straw-cleared sowing belt.

[0141] Figure 13 This is a schematic diagram of the strip tillage and deep loosening operation in the n+1th year (n is a positive integer). The operation path for the n+1th year is planned based on the operation path stored in the record of the nth year, so that the straw-covered belt in the previous year becomes the straw-clearing and sowing belt, and the straw-clearing and sowing belt in the previous year becomes the straw-covered belt.

[0142] The specific correspondence is shown in the following table.

[0143]

[0144] The soil compaction under the straw mulching belt in the nth year can be eliminated by strip tillage and deep loosening in the n+1th year, and the soil fertility of the straw clearing sowing belt in the nth year can be cultivated by straw mulching in the n+1th year.

[0145] Figure 15 This is a schematic diagram of the no-tillage corn sowing operation in year n+1 (n is a positive integer). Under the control of the Beidou navigation system, the tractor tires should be driven on the straw cover belt to alleviate the compaction effect of the tires on the soil.

Claims

1. A corn strip planting system based on Beidou navigation that can reduce soil compaction, characterized in that: The corn strip planting system includes an automatic navigation strip tillage deep loosening system and an automatic navigation no-tillage sowing system; The automatic navigation strip-tillage deep loosening system comprises a large tractor (1), and five parallel single-unit combined strip-tillage deep loosening tillage machines (4) towed by the large tractor (1) via a three-point suspension frame (7); The single-unit combined strip deep tillage machine (4) comprises a deep tillage frame, and a parallel four-link profiling mechanism (8), a soil breaking wheel (9), a notched soil retaining disc (10), a combined fastest descending line shovel wing deep tillage shovel (11), a grass-pulling shallow rotating wheel (12), a ground wheel (13) and a notched stubble cutting disc (14) installed on the deep tillage frame; wherein the front end of the parallel four-link profiling mechanism (8) is fixed on a three-point suspension frame (7); the notched stubble cutting disc (14) and the ground wheel (13) are installed at the front end of the deep tillage frame, and the notched stubble cutting disc (14) is used to Cut and crush the long corn stalks and stubbles to prevent the stalks from being entangled, so that a pair of grass-pulling shallow rotary wheels (12) located behind the notched stubble-cutting disc knife (14) can be used to pry and clean the corn stalks; the two grass-pulling shallow rotary wheels (12) pry the stalks to both sides to form a straw-clearing sowing belt and a straw-covering belt, and shallowly crush the surface soil; the combined fastest-drop-line shovel-wing deep loosening shovel (11) and the two notched soil retaining discs (10) located on the left and right sides of the combined fastest-drop-line shovel-wing deep loosening shovel (11) are arranged behind the grass-pulling shallow rotary wheels (12); the soil-breaking wheel (9) is installed at the rear end of the deep loosening tillage frame; The combined brachistoline shovel wing deep loosening shovel (11) comprises a shovel tip (1101), a shovel handle (1102) and a combined brachistoline shovel wing (1103); wherein the outer contour curve of the combined brachistoline shovel wing (1103) is a combined brachistoline derived from the brachistoline theory, and is used to increase the deep loosening disturbance area and reduce the operation resistance; The outer contour curve of the combined brachistodes shovel wing (1103) is obtained by the following steps: In the plane rectangular coordinate system xOy, without considering friction, the curve with the shortest sliding time is when a particle moves from the starting point O to the end point A that is not vertically below it; the trajectory swept by a point on the circle with a radius of r rolling along the straight line OA is the brachistocentre between points O and A. The analytical equation of the brachistocentre is: In formula 1, (x, y) is the coordinate of the particle, in meters; θ is the rotation angle of the particle when it rolls, in degrees; r is the radius of the circle, in meters; When the brachistocentre theory is applied to engineering, the effect of friction needs to be considered. The energy analysis of the particle considering friction is as follows: Then we get: The time T for a particle to move from point O to point A is: In formulas 2 to 4, d represents the differential symbol; (x, y) is the coordinates of the particle, in meters; m is the mass of the particle, in kg; v is the velocity of the particle, in meters per second; g is the acceleration due to gravity, in meters per second. 2 ; is the friction angle, in degrees; s is the distance traveled by the particle, in meters; μ is the coefficient of kinetic friction; x A is the abscissa of point A, in meters; y' represents the derivative of the ordinate y of the particle; Rotate the plane rectangular coordinate system xOy clockwise by angle The coordinate system XOY considering friction is obtained; the coordinate system conversion formula is The motion time T1 of the particle after the coordinate system transformation is: In formula 5, (X, Y) is the coordinate of the particle after the coordinate system is transformed, and the unit is m; X A is the horizontal coordinate of point A after the coordinate system is converted, in meters; g is the acceleration due to gravity, in meters per second 2 ; is the friction angle, in degrees; Y' represents the derivative of the particle's ordinate Y after the coordinate system is transformed; The curve OP segment enters the x<0 region, and the velocity of the particle at point P is less than the free fall velocity. Therefore, the curve OPA' is not the optimal path from point O to point A'. The scaling and translation transformation of the analytical equation of the brachistochrone line is: In formula 6, (X, Y) is the coordinate of the particle after the coordinate system is transformed, in meters; R is the parameter radius after the coordinate system is transformed, in meters; θ is the rotation angle of the particle when it rolls, in degrees; b is the equation transformation amount, in meters; The particle does free fall in segment OC to point C, and then moves along curve segment CA to point A. At this time, the particle's motion time T2 is: When the position of point C changes, the change in motion time T2 δT2 is: In formula 7 and formula 8, (x C ,y C ) is the coordinate of point C, in meters; g is the acceleration due to gravity, in meters per second 2 ;x A is the abscissa of point A, in m; (x, y) is the coordinate of the particle, in m; μ is the coefficient of kinetic friction; y' represents the derivative of the ordinate y of the particle; δy C Represents the ordinate y of point C C The amount of change; To increase the relative motion speed between soil particles and the deep loosening blade and reduce operating resistance, T2 should be minimized, that is, δT2 = 0. At this time, point C is the extreme point, and the curve segment CA is tangent to the y-axis. The OC-CA combined curve is the combined brachistodes curve when friction is considered. The position coordinates of point C satisfy: Then we get: In formula 9 and formula 10, (X C , Y C ) is the coordinate of point C, in m; θ C is the rotation angle of point C, in rad; μ is the coefficient of kinetic friction, is the friction angle, in degrees; R is the parameter radius after the coordinate system is transformed, in meters; b is the equation transformation amount, in meters; Taking R = 45 mm, μ = 0.6, -π / 2 ≤ X ≤ π / 2 and substituting them into Formula 9 and Formula 10, we can obtain the combined brachistodes OC-CA, which is the outer contour curve of the combined brachistodes wing (1103); The automatic navigation no-tillage sowing system comprises a small tractor (5) and two parallel traction-type corn no-tillage sowing machines (6) towed by the small tractor (5); The traction-type corn no-tillage planter (6) comprises a no-tillage planter frame, and a fertilizer box (16) mounted on the no-tillage planter frame, a ground wheel transmission mechanism (17), a soil covering and pressing wheel (18), a rubber depth-limiting wheel (19), a double-disc furrow opener (20), a stubble disc knife (21), a weed-pulling wheel (22) and a fertilizer furrowing disc (23); wherein the front end of the no-tillage planter frame is provided with a traction connection point (15) for connecting to a small tractor (5); the fertilizer furrowing disc (23) is arranged on the no-tillage planter frame. The front lower part of the frame is used to open a fertilizer ditch; the fertilizer box (16) is arranged on the upper part of the fertilizer ditching disc (23), and the fertilizer discharge pipe is fixedly connected to the outer side of the fertilizer ditching disc (23); the grass-moving wheel (22) and the stubble-cutting disc knife (21) are arranged behind the fertilizer ditching disc (23); the double-disc furrow opener (20) is arranged behind the stubble-cutting disc knife (21); the rubber depth-limiting wheel (19) is arranged outside the double-disc furrow opener (20); and the soil-covering and pressing wheel (18) is installed at the rear end of the no-till seeding machine frame.

2. The corn strip planting system according to claim 1, characterized in that: The wheelbase of the large tractor (1) is 180 cm; the wheelbase of the small tractor (5) is 120 cm; and the row spacings of the single-unit combined strip deep tillage machine (4) and the traction-type corn no-tillage planter (6) are both 60 cm.

3. The corn strip planting system according to claim 1, characterized in that: The automatic navigation strip tillage and deep loosening system performs pre-sowing treatment on the untreated no-till surface, and forms five straw covering belts and five straw clearing and sowing belts in one linear operation, wherein the width of the straw covering belt is 40 cm and the width of the straw clearing and sowing belt is 20 cm.

4. The corn strip planting system according to claim 1, characterized in that: The automatic navigation strip tillage and deep loosening system and the automatic navigation no-tillage sowing system are both equipped with a Beidou navigation system terminal (2) and a Beidou navigation satellite antenna (3), which are used to plan the operation path of the machine and record and store the operation trajectory of the machine; wherein the Beidou navigation satellite antenna (3) obtains the position information of the machine in real time and records and stores it in the GPGGA format; the Beidou navigation system terminal (2) processes the position information in the GPGGA format using the Python language, generates the machine operation trajectory and stores it.

5. The corn strip planting system according to claim 1, characterized in that: The working width of the shovel tip (1101) is 60 mm, and the soil lifting angle α is 30°; the height difference h between adjacent height adjustment holes of the shovel handle (1102) is 100 mm, and the deep loosening depth is 25 cm to 40 cm; the deep loosening width of the combined fastest descent line shovel wing (1103) is 150 mm.

6. The corn strip planting system according to claim 1, characterized in that: The grass-moving shallow rotating wheel (12) comprises a toothed disc (1201), a fixing sleeve (1202) and bladed teeth (1203), and is embedded in the soil to a depth of 5 to 7 cm; wherein the toothed disc (1201) is integrally stamped into an arc surface, and twelve bladed teeth (1203) are evenly distributed along its circumference.

7. A corn strip planting method based on Beidou navigation and capable of reducing soil compaction using the corn strip planting system according to any one of claims 1 to 6, characterized in that: The corn strip planting method comprises the following steps: S1. In the first year, the automatic navigation strip tillage and deep loosening system performs strip tillage and deep loosening operations on the untreated straw-covered plot according to the operation path planned by the Beidou navigation system terminal (2) and the Beidou navigation satellite antenna (3). One straight line operation forms five straw-covered belts and five straw-cleared sowing belts. During the strip tillage and deep loosening operation, the Beidou navigation system terminal (2) and the Beidou navigation satellite antenna (3) record and store the operation trajectory of the automatic navigation strip tillage and deep loosening system. S2, the automatic navigation no-tillage sowing system performs corn no-tillage sowing on the land after the strip-tillage and deep loosening operation according to the operation track of the automatic navigation strip-tillage and deep loosening system read by the Beidou navigation system terminal (2) and the Beidou navigation satellite antenna (3), so that the tires of the small tractor (5) always run on the straw covering belt formed after the strip-tillage and deep loosening operation, so as to alleviate the compaction effect of the tractor tires on the soil and ensure that the seeds are accurately sown in the center of the straw-clearing sowing belt; S3. Agricultural machinery used in subsequent plant protection and harvesting operations also refers to the operating trajectory of the automatic navigation strip tillage and deep loosening system, ensuring that the tires of the agricultural machinery always move on the straw cover belt formed after the strip tillage and deep loosening operation to reduce the formation of new compacted areas. S4. In the next year, the automatic navigation strip tillage and deep loosening system performs strip tillage and deep loosening operations on the plot according to the stored operation track of the previous year, and forms a new straw clearing and sowing belt on the straw covering belt of the previous year, and the straw clearing and sowing belt of the previous year forms a new straw covering belt; during the strip tillage and deep loosening operation, the Beidou navigation system terminal (2) and the Beidou navigation satellite antenna (3) record and store the operation track of the automatic navigation strip tillage and deep loosening system; S5. Repeat steps S2 to S4 to eliminate the compacted soil under the straw mulching belt every other year, and increase the organic matter content of the soil in the clear straw sowing belt by straw mulching.

8. The corn strip planting method according to claim 7, characterized in that: The width of the straw covering belt is 40cm, and the width of the straw clearing and sowing belt is 20cm.

Images