Seeding method, device, computer equipment and storage medium of seed drill

Abstract

The present application relates to a sowing method, device, computer equipment and storage medium for a seeder. The method comprises: obtaining an error integral value of a sowing motor in a seeder; the error integral value characterizes the degree of error between a reference speed and an actual speed of the sowing motor; when the error integral value satisfies a speed adjustment condition, obtaining a preset compensation value, and adjusting the actual speed of the sowing motor according to the preset compensation value, so that the sowing spacing of the sowing machine is evenly distributed. The present method introduces a compensation value, and when the error between the reference speed and the actual speed satisfies the speed adjustment condition, the actual speed of the sowing motor is adjusted by the compensation value, so that the sowing spacing of the sowing machine can be evenly distributed, avoiding the situation in which there is no sowing at the head of the field and dense sowing at the tail of the field in traditional technology, and further improving the sowing effect of the seeder.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a sowing method, device, computer equipment and storage medium of a seeder. Background Art

[0002] With the development of seeding motor control technology, a large number of seeders for large-area seeding have emerged. These seeders usually use speed control and are driven by radar or satellite navigation and positioning systems.

[0003] In traditional technology, the speed control method has a slow response of the motor when starting at the head of the field. Because the tractor starts quickly and travels a long distance in a short time, the sowing motor response fails to keep up with the vehicle speed in time, resulting in a lack of seeds in this distance. At the same time, during parking at the end of the field, if the braking time is very short, the vehicle speed drops to zero immediately, but the signal brought by the radar or satellite positioning has a certain delay, and it still maintains the value of the previous moment for a certain period of time. As a result, the sowing motor of the seeder does not stop immediately with the vehicle speed but continues to rotate to sow seeds. Therefore, there is a phenomenon of less seeds at the head of the field and more seeds at the end of the field.

[0004] Therefore, the seed drill in the traditional technology has the problem of poor seeding effect. Summary of the invention

[0005] Based on this, it is necessary to provide a sowing method, device, computer equipment and storage medium for a seeder that can improve the sowing effect in response to the above technical problems.

[0006] In a first aspect, the present application provides a sowing method of a seeder, comprising:

[0007] Obtaining an error integral value of a sowing motor in a sowing machine; the error integral value represents the degree of error between a reference speed and an actual speed of the sowing motor;

[0008] When the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed.

[0009] In one embodiment, when the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed, including:

[0010] When the error integral value satisfies the speed adjustment condition, a compensation adjustment coefficient and a preset compensation value are obtained; the compensation adjustment coefficient is used to adjust the size of the preset compensation value;

[0011] According to the compensation adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is adjusted so that the sowing spacing of the sowing machine is evenly distributed.

[0012] In one embodiment, when the error integral value satisfies the speed adjustment condition, obtaining the compensation adjustment coefficient and the preset compensation value includes:

[0013] When the error integral value is greater than a preset integral threshold, the headland adjustment coefficient and the preset compensation value are obtained; the preset integral threshold is greater than zero;

[0014] Accordingly, according to the compensation adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is adjusted so that the sowing spacing of the sowing machine is evenly distributed, including:

[0015] The actual speed of the seeding motor is increased through the field adjustment coefficient and the preset compensation value so that the seeding spacing of the seeding machine in the field area is evenly distributed; the field adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the seeding motor to the reference speed.

[0016] In one embodiment, when the error integral value satisfies the speed adjustment condition, obtaining the compensation adjustment coefficient and the preset compensation value includes:

[0017] When the error integral value is less than zero, obtaining the ground tail adjustment coefficient and the preset compensation value;

[0018] Accordingly, according to the compensation adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is adjusted so that the sowing spacing of the sowing machine is evenly distributed, including:

[0019] The actual speed of the sowing motor is reduced by the field tail adjustment coefficient and the preset compensation value so that the sowing spacing of the sowing machine in the field tail area is evenly distributed until the sowing motor stops sowing; the field tail adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the actual speed.

[0020] In one embodiment, obtaining an error integral value of a sowing motor in a sowing machine includes:

[0021] Obtain the reference speed of the sowing motor in the sowing machine and the actual speed of the sowing motor;

[0022] The speed difference between the reference speed and the actual speed is integrated, and the integration result is used as the error integral value of the seeding motor.

[0023] In one embodiment, obtaining a reference speed of a sowing motor in a sowing machine includes:

[0024] Get the forward speed of the seeder;

[0025] Determine the reference speed of the seeding motor based on the forward speed of the seeder, target plant spacing, number of holes in the seed tray and reduction ratio.

[0026] In a second aspect, the present application further provides a sowing device of a sowing machine, comprising:

[0027] The integral acquisition module is used to obtain the error integral value of the sowing motor in the sowing machine; the error integral value represents the error degree between the reference speed and the actual speed of the sowing motor;

[0028] The speed adjustment module is used to obtain a preset compensation value when the error integral value meets the speed adjustment condition, and adjust the actual speed of the sowing motor according to the preset compensation value so that the sowing spacing of the seeder is evenly distributed.

[0029] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0030] Obtaining an error integral value of a sowing motor in a sowing machine; the error integral value represents the degree of error between a reference speed and an actual speed of the sowing motor;

[0031] When the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0033] Obtaining an error integral value of a sowing motor in a sowing machine; the error integral value represents the degree of error between a reference speed and an actual speed of the sowing motor;

[0034] When the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed.

[0035] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0036] Obtaining an error integral value of a sowing motor in a sowing machine; the error integral value represents the degree of error between a reference speed and an actual speed of the sowing motor;

[0037] When the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed.

[0038] The sowing method, device, computer equipment and storage medium of the above-mentioned seeder obtain the error integral value of the sowing motor in the seeder; the error integral value represents the degree of error between the reference speed and the actual speed of the sowing motor; when the error integral value meets the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value, so that the sowing spacing of the sowing machine is evenly distributed. The present application introduces a compensation value, and when the error degree between the reference speed and the actual speed meets the speed adjustment condition, the actual speed of the sowing motor is adjusted by the compensation value, so that the sowing spacing of the sowing machine can be evenly distributed, avoiding the situation of no sowing at the head of the field and dense sowing at the tail of the field in traditional technology, and further improving the sowing effect of the seeder. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] FIG1 is an application environment diagram of a sowing method of a sowing machine provided in this embodiment;

[0041] FIG2 is a schematic diagram of a flow chart of a sowing method of a first sowing machine provided in this embodiment;

[0042] FIG3 is a schematic diagram of a sowing effect of a sowing machine provided in this embodiment;

[0043] FIG4 is a schematic diagram of a sowing control of a sowing machine provided in this embodiment;

[0044] FIG5 is a structural block diagram of a sowing device of a sowing machine provided in this embodiment;

[0045] FIG6 is a diagram showing the internal structure of a computer device provided in this embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] The sowing method of the seeding machine provided in the embodiment of the present application can be applied in the application environment as shown in Figure 1. The computer device obtains the error integral value of the seeding motor in the seeding machine; the error integral value represents the degree of error between the reference speed and the actual speed of the seeding motor; when the error integral value meets the speed adjustment condition, the preset compensation value is obtained, and the actual speed of the seeding motor is adjusted according to the preset compensation value, so that the seeding spacing of the seeding machine is evenly distributed. Among them, the computer device can be a terminal or a server. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers.

[0048] In an exemplary embodiment, as shown in FIG2 , a sowing method of a sowing machine is provided, and the method is applied to the computer in FIG1 as an example for explanation, and includes the following steps 201 to 202. Among them:

[0049] Step 201, obtaining an error integral value of a sowing motor in a sowing machine.

[0050] The error integral value represents the error degree between the reference speed and the actual speed of the sowing motor.

[0051] The seeder includes a drive motor and a sowing motor. The sowing motor is used for sowing in the soil, and the drive motor is used for driving the seeder forward.

[0052] Specifically, the driving motor in the seeder is started to drive the seeder forward, and the sowing motor is started in response, and the error integral value of the sowing motor is obtained at this time.

[0053] Step 202, when the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed.

[0054] The speed adjustment condition may be a condition for adjusting the speed of the sowing motor, and the speed adjustment condition may be that the error integral value is greater than a preset integral threshold, or that the error integral value is less than zero. The preset compensation value may be an error integral value for compensating for the incomplete response of the sowing motor in the field head area, so that the speed of the sowing motor is rapidly increased; or may be an error integral value for compensating for the incomplete response of the sowing motor in the field tail area, so that the speed of the sowing motor is rapidly reduced.

[0055] In one optional implementation, when the error integral value is greater than a preset integral threshold, a preset compensation value is obtained, and the integral control amount is increased and adjusted according to the preset compensation value to avoid the error integral value accumulating from 0, resulting in a slow increase in the actual speed of the sowing motor, and then the actual speed of the sowing motor is controlled to increase rapidly according to the adjusted integral control amount, so that the actual speed of the sowing motor corresponds to the forward speed of the sowing machine, and further the sowing spacing of the sowing machine is evenly distributed. Among them, the preset integral threshold is greater than zero.

[0056] Another optional implementation method is to obtain a preset compensation value when the error integral value is less than zero, and reduce the integral control amount according to the preset compensation value, and then control the actual speed of the seeding motor to quickly reduce it according to the adjusted integral control amount, so that the actual speed of the seeding motor corresponds to the forward speed of the seeding machine, and further make the seeding spacing of the seeding machine evenly distributed.

[0057] It should be noted that the preset compensation value may be N times the preset integral threshold. For example, the preset compensation value k may be i α is selected within the range of 0.3-0.5 times the preset integral threshold δ, and the preset compensation value can be adjusted according to the control effect. For example, assuming that when the error integral value of the seeding motor in the reference seeding machine reaches 20000, the seeding motor in the reference seeding machine starts to respond and rotate, then 0.3-0.5 times of 20000 is selected as the preset compensation value of the seeding motor in the actual use process, that is, the preset compensation value k of the seeding motor in the seeding machine i The interval range of α can be 6000-10000. At the same time, due to the preset integral coefficient k of the sowing motor in actual use i The value of is 10, so the interval range of the integral pre-compensation dynamic parameter α of the sowing motor in the seeder can be 600-1000.

[0058] For example, a schematic diagram of the sowing effect of a sowing machine is shown in FIG3. In the conventional technology, since the response of the sowing motor in the field head area does not keep up with the forward speed of the sowing machine, the phenomenon of missing seeds described in the seed-losing area on the right side of FIG3 will occur (the dotted circle in the figure represents the position where the sowing motor should have sown but did not sow), and the sowing motor will not start to rotate until the tractor has traveled a distance L, resulting in no seeds in the L section. In the field tail area, due to the instantaneous braking of the drive motor of the sowing machine, the forward speed signal of the sowing machine is still there, the sowing machine stops and the sowing motor is still rotating, which will cause the seeds at the field tail to pile up (the partial area corresponding to the field tail in the figure, the solid circle in the figure is the sowing pile effect). Only in the field middle area, the motor speed of the sowing motor can effectively track the forward speed of the sowing machine. At this time, the sowing spacing of the sowing machine is uniform and the front and rear distances are consistent (the partial area corresponding to the stable sowing area in the figure, the solid circle in the figure is the sowing effect corresponding to the sowing spacing). Therefore, this embodiment introduces a preset compensation value, and adjusts the actual speed of the sowing motor by the compensation value, so that the sowing motor can achieve the effect of uniform sowing in both the field head area and the ground area.

[0059] The sowing method of the above-mentioned seeder obtains the error integral value of the sowing motor in the seeder; the error integral value represents the degree of error between the reference speed and the actual speed of the sowing motor; when the error integral value meets the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value, so that the sowing spacing of the sowing machine is evenly distributed. The present application introduces a compensation value, and when the error degree between the reference speed and the actual speed meets the speed adjustment condition, the actual speed of the sowing motor is adjusted by the compensation value, so that the sowing spacing of the sowing machine can be evenly distributed, avoiding the situation of no sowing at the head of the field and dense sowing at the tail of the field in traditional technology, and further improving the sowing effect of the seeder.

[0060] It should be noted that, at the initial start-up of the seed drill, the preset compensation value is assigned to the integral control quantity calculation to avoid the integral control quantity from accumulating from 0. In this way, the integral control quantity can meet the motor rotation requirement in a short time. When it is detected that the speed of the seeding motor begins to be greater than 0, that is, the seeding motor starts to rotate, and the preset compensation value is not needed to participate in the calculation at this time, then the preset compensation value needs to be removed. However, if the preset compensation value is removed immediately, it will cause a sudden change in the integral control quantity, and then cause the actual speed of the seeding motor to fluctuate greatly instantaneously, which also affects the seeding effect. Therefore, in order to avoid instantaneous large fluctuations in the actual speed of the seeding motor, the preset compensation value cannot be suddenly removed. Therefore, in the technology of the above embodiment, a compensation adjustment coefficient can be further introduced to gradually eliminate the influence of the preset compensation value on the integral control quantity through the compensation adjustment coefficient.

[0061] In some embodiments, when the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and according to the preset compensation value, the actual speed of the sowing motor is adjusted so that the sowing spacing of the sowing machine is evenly distributed, including: when the error integral value satisfies the speed adjustment condition, a compensation adjustment coefficient and a preset compensation value are obtained; according to the compensation adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is adjusted so that the sowing spacing of the sowing machine is evenly distributed.

[0062] The compensation adjustment coefficient is used to adjust the size of the preset compensation value.

[0063] One optional implementation method is to obtain a field head adjustment coefficient and a preset compensation value when the error integral value is greater than a preset integral threshold; and adjust the actual speed of the sowing motor by using the field head adjustment coefficient and the preset compensation value to increase the sowing distance between the sowing plants in the field head area. The field head adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the reference speed.

[0064] Specifically, when the error integral value is greater than the preset integral threshold, the field head adjustment coefficient and the preset compensation value are obtained, and the product value between the field head adjustment coefficient and the preset compensation value is used as the field head adjustment value, and the integral control amount is increased and adjusted according to the field head adjustment value to avoid the error integral value accumulating from 0, resulting in a slow increase in the actual speed of the sowing motor, and then the actual speed of the sowing motor is controlled to increase rapidly according to the adjusted integral control amount, so that the sowing motor can respond quickly, so that its actual speed corresponds to the forward speed of the seeder, and further so that there are seeds in a close distance in the field head area, that is, the sowing spacing of the sowing machine is evenly distributed. The advantage of this setting is that the field head adjustment coefficient is introduced to avoid the preset compensation value from causing a sudden change in the integral control amount, so that the actual speed of the sowing motor gradually approaches the reference speed, and at the same time, when the actual speed is the same as the reference speed, the compensation effect produced by the preset compensation value gradually disappears.

[0065] For example, the headland adjustment factor can be , where F(v,h,n,i) represents the reference speed of the sowing motor, and ω represents the actual speed of the sowing motor. The field adjustment value can be , where k i α represents a preset compensation value.

[0066] Another optional implementation method is to obtain a field tail adjustment coefficient and a preset compensation value when the error integral value is less than zero; and reduce the actual speed of the sowing motor by using the field tail adjustment coefficient and the preset compensation value, so that the sowing spacing of the sowing machine in the field tail area is evenly distributed until the sowing motor stops sowing. The field tail adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the actual speed.

[0067] Specifically, when the error integral value is less than zero, the field tail adjustment coefficient and the preset compensation value are obtained, the product value between the field tail adjustment coefficient and the preset compensation value is used as the field tail adjustment value, and the integral control amount is reduced and adjusted according to the field tail adjustment value, and then the actual speed of the sowing motor is controlled to be rapidly reduced according to the adjusted integral control amount, so that the actual speed of the sowing motor corresponds to the forward speed of the sowing machine, and further the sowing spacing of the sowing machine is evenly distributed. The advantage of this setting is that the field tail adjustment coefficient is introduced to avoid the preset compensation value causing a sudden change in the integral control amount, so that the preset compensation value has a negative effect in the process of determining the integral control amount, and the actual speed of the sowing motor is rapidly reduced and gradually approaches the reference speed, reducing the amount of repeated sowing in the original place.

[0068] For example, the tail adjustment factor can be , where F(v,h,n,i) represents the reference speed of the sowing motor, and ω represents the actual speed of the sowing motor. The tail adjustment value can be , where k i α represents a preset compensation value.

[0069] For example, a schematic diagram of sowing control of a sowing machine is shown in FIG4 . The key to controlling the sowing motor lies in the controller, and the output control quantity of the controller is expressed as shown in the following formula (1-1):

[0070] (1-1)

[0071] Among them, f represents the output control quantity of the sowing motor controller, f kp Characterizes the proportional control quantity of the sowing motor controller, f ki Characterizes the integral control quantity of the sowing motor controller, f kd Characterizes the differential control quantity of the sowing motor controller, k p Characterize the proportionality factor, k i Characterizes the integration coefficient, k d represents the differential coefficient, F(v,h,n,i) represents the reference speed of the sowing motor, and ω represents the actual speed of the sowing motor.

[0072] The proportional control and differential control parts of the sowing motor are transient links in practical applications. When the sowing machine starts, the reference speed of the sowing motor is low, while the actual speed of the sowing motor is 0, and the difference between the two is small. At this time, it is necessary to rely on integral control to accumulate the speed difference and enhance the output control amount. In this embodiment, a timer can also be configured in the controller, and the controller is placed in the timer function. The timer interrupt time is set to t, that is, the integral control amount is accumulated once every t time. When the zth interval time arrives, the actual speed of the sowing motor detected is greater than 0. At this time, the accumulated integral control amount is as shown in the following formula (1-2):

[0073] (1-2)

[0074] Among them, f ki Characterizes the integral control quantity of the sowing motor controller, k i represents the integral coefficient, F(v,h,n,i) represents the reference speed of the sowing motor, ω represents the actual speed of the sowing motor, m represents the mth time, z represents the zth interval time, and ω(m) is the actual motor speed of the sowing motor detected at the mth interval time.

[0075] In conventional control, the motor speed value in the first interval is 0, that is, ω(1)=0, and the sowing motor does not rotate at this time. Furthermore, the error accumulation of the integral control quantity starts from F(v,hni)-0, and it takes z intervals to accumulate before the sowing motor starts to rotate. At this moment, the output control quantity is shown in the following formula (1-3):

[0076] (1-3)

[0077] Among them, f(z) represents the output control quantity of the sowing motor controller at the zth interval time, f kp (z) represents the proportional control quantity of the sowing motor controller at the zth interval time, f ki (z) represents the integral control quantity of the sowing motor controller at the zth interval, f kd (z) represents the differential control quantity of the sowing motor controller at the zth interval, k p Characterize the proportionality factor, k i Characterizes the integration coefficient, k d represents the differential coefficient, F(v,h,n,i) represents the reference speed of the sowing motor, ω(m) is the actual motor speed of the sowing motor detected at the mth interval time, and ω(z) is the actual motor speed of the sowing motor detected at the zth interval time.

[0078] This embodiment introduces a compensation adjustment coefficient and a preset compensation value. Therefore, the integral control amount of the adjusted sowing motor in the head area is expressed as shown in the following formula (1-4); the integral control amount in the tail area is expressed as shown in the following formula (1-5).

[0079] (1-4)

[0080] (1-5)

[0081] Among them, f(z) represents the output control quantity of the sowing motor controller at the zth interval time, k i represents the integral coefficient, F(v,h,n,i) represents the reference speed of the sowing motor, ω(m) is the actual motor speed of the sowing motor detected at the mth interval, k i α represents a preset compensation value.

[0082] This embodiment can gradually eliminate the influence of the preset compensation value on the integral control amount by introducing the compensation adjustment coefficient, and then gradually control the actual speed of the seeding motor to be close to the reference speed, and finally ensure the uniform distribution of seeding spacing.

[0083] In some embodiments, obtaining an error integral value of a sowing motor in a sowing machine includes: obtaining a reference speed of the sowing motor in the sowing machine and an actual speed of the sowing motor; integrating the speed difference between the reference speed and the actual speed, and using the integration result as the error integral value of the sowing motor.

[0084] Specifically, the actual speed of the sowing motor in the seeder is obtained, and the reference speed of the sowing motor is determined at the same time, the speed difference between the reference speed and the actual speed is determined, and the speed difference is integrated to obtain an integral result, and the integral result is used as the error integral value of the sowing motor.

[0085] It should be noted that the error integral value in this embodiment can also be the integral control amount (ie, f in Formula 1-3 ki (z) represents the integral control quantity of the sowing motor controller at the zth interval time).

[0086] In some embodiments, obtaining a reference rotational speed of a sowing motor in a seeder includes: obtaining a forward speed of the seeder; and determining a reference rotational speed of the sowing motor according to the forward speed of the seeder, a target plant spacing, a seed tray hole number, and a reduction ratio.

[0087] Specifically, the forward speed of the seeder is obtained, and the reference speed of the seeder motor is determined according to the forward speed of the seeder, the target plant spacing, the number of holes in the seed tray, and the reduction ratio using the following formula (1-6).

[0088] (1-6)

[0089] Among them, ω* represents the reference speed of the seeding motor, v represents the forward speed of the seeding machine, h represents the target plant spacing, n represents the number of seed tray holes, and i represents the reduction ratio.

[0090] This embodiment can make the determined error integral value more accurate.

[0091] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0092] Based on the same inventive concept, the embodiment of the present application also provides a sowing device for a sowing machine for implementing the sowing method of the sowing machine involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the sowing device for one or more sowing machines provided below can refer to the limitations on the sowing method of the sowing machine above, and will not be repeated here.

[0093] In an exemplary embodiment, as shown in FIG5 , a sowing device of a sowing machine is provided, comprising: an integral acquisition module 10 and a rotation speed adjustment module 11, wherein:

[0094] The integral acquisition module 10 is used to obtain the error integral value of the sowing motor in the sowing machine; the error integral value represents the error degree between the reference speed and the actual speed of the sowing motor;

[0095] The speed adjustment module 11 is used to obtain a preset compensation value when the error integral value meets the speed adjustment condition, and adjust the actual speed of the sowing motor according to the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed.

[0096] In one embodiment, the speed adjustment module 11 in Figure 5 is also used to obtain the compensation adjustment coefficient and the preset compensation value when the error integral value meets the speed adjustment condition; the compensation adjustment coefficient is used to adjust the size of the preset compensation value; according to the compensation adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is adjusted so that the sowing spacing of the seeder is evenly distributed.

[0097] In one embodiment, the speed adjustment module 11 in Figure 5 is also used to obtain the field head adjustment coefficient and the preset compensation value when the error integral value is greater than the preset integral threshold; the preset integral threshold is greater than zero; accordingly, according to the compensation adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is adjusted to make the sowing spacing of the sowing machine evenly distributed, including: through the field head adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is increased to make the sowing spacing of the sowing machine in the field head area evenly distributed; the field head adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the reference speed.

[0098] In one embodiment, the speed adjustment module 11 in Figure 5 is also used to obtain the field tail adjustment coefficient and the preset compensation value when the error integral value is less than zero; accordingly, the actual speed of the sowing motor is adjusted according to the compensation adjustment coefficient and the preset compensation value so that the sowing spacing of the sowing machine is evenly distributed, including: through the field tail adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is reduced so that the sowing spacing of the sowing machine in the field tail area is evenly distributed until the sowing motor stops sowing; the field tail adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the actual speed.

[0099] In one embodiment, the integral acquisition module 10 in Figure 5 is also used to obtain the reference speed of the sowing motor in the sowing machine and the actual speed of the sowing motor; integrate the speed difference between the reference speed and the actual speed, and use the integration result as the error integral value of the sowing motor.

[0100] In one embodiment, the integral acquisition module 10 in FIG. 5 is also used to obtain the forward speed of the seeder; and determine the reference speed of the seeder motor according to the forward speed of the seeder, the target plant spacing, the number of holes in the seed tray and the reduction ratio.

[0101] Each module in the seeding device of the above-mentioned seeding machine can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0102] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG6. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store error integral value data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a sowing method of a sowing machine is implemented.

[0103] Those skilled in the art will understand that the structure shown in FIG. 6 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0104] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0105] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0106] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0107] It should be noted that the data involved in this application (including but not limited to data used for analysis, stored data, displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0108] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0109] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A sowing method of a seeder, characterized in that: The method comprises: Obtaining an error integral value of a sowing motor in a sowing machine; the error integral value represents the degree of error between a reference speed and an actual speed of the sowing motor; When the error integral value satisfies the speed adjustment condition, a preset compensation value is obtained, and the actual speed of the sowing motor is adjusted according to the preset compensation value, so that the sowing spacing of the sowing machine is evenly distributed; wherein the speed adjustment condition is that the error integral value is greater than a preset integral threshold, or the error integral value is less than zero, specifically including: When the error integral value is greater than a preset integral threshold, a field head adjustment coefficient and a preset compensation value are obtained; the actual speed of the sowing motor is increased by the field head adjustment coefficient and the preset compensation value, so that the sowing spacing of the sowing machine in the field head area is evenly distributed; the preset integral threshold is greater than zero; the field head adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the reference speed; When the error integral value is less than zero, obtain the field tail adjustment coefficient and the preset compensation value; reduce the actual speed of the sowing motor by using the field tail adjustment coefficient and the preset compensation value so that the sowing spacing of the sowing machine in the field tail area is evenly distributed until the sowing motor stops sowing; the field tail adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the actual speed.

2. The method according to claim 1, characterized in that The actual speed of the sowing motor is increased by using the field head adjustment coefficient and the preset compensation value, so that the sowing spacing of the sowing machine in the field head area is evenly distributed, including: The product value between the headland adjustment coefficient and the preset compensation value is used as the headland adjustment value; The actual rotation speed of the sowing motor is increased according to the field head adjustment value so that the sowing spacing of the sowing machine in the field head area is evenly distributed.

3. The method according to claim 1, characterized in that: The actual speed of the sowing motor is reduced by using the field tail adjustment coefficient and the preset compensation value, so that the sowing spacing of the sowing machine in the field tail area is evenly distributed until the sowing motor stops sowing, including: The product value between the ground tail adjustment coefficient and the preset compensation value is used as the ground tail adjustment value; The actual rotation speed of the sowing motor is reduced according to the field tail adjustment value so that the sowing spacing of the sowing machine in the field tail area is evenly distributed.

4. The method according to claim 1, characterized in that The step of obtaining the error integral value of the sowing motor in the sowing machine comprises: Obtain the reference speed of the sowing motor in the sowing machine and the actual speed of the sowing motor; The speed difference between the reference speed and the actual speed is integrated, and the integration result is used as the error integral value of the sowing motor.

5. The method according to claim 4, characterized in that The step of obtaining a reference rotation speed of a sowing motor in a sowing machine comprises: Get the forward speed of the seeder; The reference rotation speed of the sowing motor is determined according to the forward speed of the sowing machine, the target plant spacing, the number of holes in the seed tray and the reduction ratio.

6. A sowing device of a sowing machine, characterized in that: The device comprises: An integral acquisition module is used to obtain an error integral value of a sowing motor in a sowing machine; the error integral value represents the error degree between a reference speed and an actual speed of the sowing motor; A speed adjustment module is used to obtain a preset compensation value when the error integral value satisfies the speed adjustment condition, and adjust the actual speed of the sowing motor according to the preset compensation value, so that the sowing spacing of the sowing machine is evenly distributed; wherein the speed adjustment condition is that the error integral value is greater than a preset integral threshold, or the error integral value is less than zero, specifically comprising: when the error integral value is greater than the preset integral threshold, obtaining a field head adjustment coefficient and a preset compensation value; by using the field head adjustment coefficient and the preset compensation value, the actual speed of the sowing motor is increased, so that the sowing machine The sowing spacing in the field head area is evenly distributed; the preset integral threshold is greater than zero; the field head adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the reference speed; when the error integral value is less than zero, the field tail adjustment coefficient and the preset compensation value are obtained; the actual speed of the sowing motor is reduced by the field tail adjustment coefficient and the preset compensation value, so that the sowing spacing of the sowing machine in the field tail area is evenly distributed until the sowing motor stops sowing; the field tail adjustment coefficient is the ratio of the speed difference between the reference speed and the actual speed of the sowing motor to the actual speed.

7. The device according to claim 6, characterized in that The integral acquisition module is also used to obtain a reference speed of the sowing motor in the sowing machine and an actual speed of the sowing motor; integrate the speed difference between the reference speed and the actual speed, and use the integration result as the error integral value of the sowing motor.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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