A method, device, equipment and medium for electrically driving a seed drill

Abstract

The application relates to a seeding method, device, equipment and medium of an electrically-driven strip seeder, the method comprising the following steps: if the current calibration value needs to be recalibrated, the current unit seeding amount corresponding to the unit angle of rotation of the seed shaft motor is calculated, and the current unit seeding amount is taken as the updated calibration value; based on the current speed of the electrically-driven strip seeder, the target time required by the electrically-driven strip seeder when driving in a unit area is calculated; the total seeding amount corresponding to a unit area in the current land is obtained, and based on the current unit seeding amount and the total seeding amount, the target angle of rotation required by the seed shaft motor when seeding the total seeding amount is calculated; and based on the target time and the target angle of rotation, the target rotating speed of the seed shaft motor is obtained. According to the application, the target rotating speed is adjusted to control the seeding speed, variable seeding can be realized, the automation degree and the accuracy of the seeding parameter adjustment of the seeder are improved, the current unit seeding amount can be automatically calculated, and therefore the accuracy and stability of the calibration result are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drill seeding, and in particular to a seeding method, device, equipment and medium for an electrically-driven drill. BACKGROUND

[0002] In existing agricultural mechanized operations, a drill is widely used as a seeding device, which is of great significance to improving agricultural production efficiency and crop yield. However, the traditional drill lacks the function of automatically calibrating the seeding amount in the control of the seeding amount. This defect not only increases the labor intensity of the user, but also seriously affects the accuracy and efficiency of seeding.

[0003] In the traditional technology, the drill in the calibration of the seeding amount relies on manual operation and complex calculation process. The user needs to determine the per mu seeding amount according to the local agronomic requirements, and then set the seeder according to the parameters given by the drill manufacturer. The calibration can be performed according to the following method: adjust the drill to the working state, make the seed shaft in the drill rotate at a uniform speed for a certain number of turns by manually arranging the wheels, collect the seeds discharged by the seed calibrator during the calibration of the seed calibrator under the seed arrangement part of the drill, weigh the total net weight of the discharged seeds, calculate the seeding amount per turn of the seed calibrator, and then calculate the actual seeding amount per mu of the seeder. Compare the actual seeding amount per mu with the target seeding amount, and adjust the seeder according to the comparison.

[0004] However, this method has many shortcomings. First, the calibration process is tedious and time-consuming, requiring a lot of manpower and resources. Second, since it completely relies on manual operation and calculation, the accuracy and stability of the calibration result are difficult to guarantee, and are easily affected by human factors. In addition, the seeding amount adjustment mechanism is often not easy to control accurately, resulting in a large deviation between the adjusted seeding amount and the target value. In order to verify the accuracy of the adjustment, it is often necessary to collect and weigh the seeds again, further increasing the workload and time cost. SUMMARY

[0005] In order to improve the accuracy and stability of the calibration result and improve the automation and accuracy of the seeder adjustment, the present application provides a seeding method, device, equipment and medium for an electrically-driven drill.

[0006] In a first aspect, the present application provides a seeding method for an electrically-driven drill, comprising:

[0007] If the current calibration value of the electrically-driven drill needs to be recalibrated, the current unit seeding amount corresponding to the unit angle of rotation of the seed shaft motor is calculated, the current unit seeding amount is taken as the updated calibration value, the seed shaft motor is used to drive the seed calibrator to rotate for seeding, and the calibration value is a parameter representing the unit seeding amount of the electrically-driven drill;

[0008] calculating a target time required by the electrically-driven drill rig to travel a unit area based on the current speed of the electrically-driven drill rig;

[0009] obtaining a total seeding amount corresponding to the unit area in the current field, and calculating a target angle at which the seed shaft motor needs to rotate to seed the total seeding amount based on the current unit seeding amount and the total seeding amount;

[0010] obtaining a target rotating speed of the seed shaft motor based on the target time and the target angle, so that the seed shaft motor operates at the target rotating speed.

[0011] The seed shaft motor can control the seeding speed according to the adjusted target rotating speed, and variable seeding can be realized according to the different total seeding amounts corresponding to the unit area, thereby improving the automation degree and accuracy of the seeding parameter adjustment of the seeding machine. When the current calibration value of the electrically-driven drill rig needs to be recalibrated, the current unit seeding amount can be automatically calculated, thereby improving the accuracy and stability of the calibration result.

[0012] Further, in the recalibration process, the seed shaft motor drives the seed metering device and the seed shaft gear to synchronously rotate for a fixed number of turns, and the calculation of the current unit seeding amount corresponding to the unit angle of the seed shaft motor rotation comprises:

[0013] obtaining a total effective tooth tip number corresponding to the fixed number of turns of rotation of the plurality of teeth of the seed shaft gear at the end of the recalibration, the unit angle being an angle required for each tooth of the seed shaft gear to rotate, the total effective tooth tip number being obtained by the seed shaft sensor, and the total effective tooth tip number being a total number of times that each tooth of the seed shaft gear passes through the seed shaft sensor;

[0014] obtaining a total seeding weight discharged by the seed metering device rotating for the fixed number of turns at the end of the recalibration;

[0015] calculating the current unit seeding amount based on the total effective tooth tip number and the total seeding weight.

[0016] The beneficial effect of the above further scheme is that by corresponding the total seeding weight and the total effective tooth tip number detected by the seed shaft sensor, the current unit seeding amount corresponding to each rotation of the seed shaft motor can be calculated, so that the unit angle corresponding to the seed shaft motor is smaller, and the seeding error generated in the process of starting to accelerating to the rated rotating speed of the seed shaft motor can be diluted, thereby reducing the influence of the starting rotating speed of the seed shaft motor on the accuracy of the unit seeding amount calculation.

[0017] Further, before the calculation of the target time required by the electrically-driven drill rig to travel a unit area based on the current speed of the electrically-driven drill rig, the current speed is obtained based on a GPS module.

[0018] The beneficial effect of the above further scheme is that the GPS module can receive satellite signals in real time and calculate the accurate position and speed of the device based on these signals, thereby improving the accuracy of the current vehicle speed acquisition.

[0019] Further, before calculating the target time required by the electrically driven drill bar for driving a unit area, the method further comprises:

[0020] If the current state of the GPS module is an available state, the current vehicle speed is acquired based on the GPS module.

[0021] If the current state of the GPS module is an unavailable state, the rotation time required for one rotation of the ground wheel connected to the electrically driven drill bar is acquired, and the current vehicle speed is calculated based on the rotation time.

[0022] The beneficial effect of the above further scheme is that by checking the current state of the GPS module, the most suitable vehicle speed acquisition method can be flexibly selected. When the GPS module is in an available state, the high accuracy and real-time nature of GPS are utilized to acquire the vehicle speed; and when the GPS module is unavailable (such as signal shielding, device failure, etc.), the calculation method based on the rotation time of the ground wheel can be quickly switched to, thereby ensuring the continuity and accuracy of the vehicle speed data and enhancing the reliability and stability of the calculated current vehicle speed.

[0023] Further, the total seeding amount corresponding to the unit area in the current land plot is acquired by:

[0024] Based on the seeding prescription information, the identification information corresponding to different land plots is acquired, and each of the identification information is sent to a display terminal, so that the display terminal displays the identification information corresponding to different land plots. The seeding prescription information includes the seeding amount corresponding to different land plots.

[0025] Based on the seeding prescription information, the current seeding amount corresponding to the current land plot is acquired, and the current seeding amount is taken as the total seeding amount.

[0026] The beneficial effect of the above further scheme is that the total seeding amount of different land plots is reasonably and accurately set according to the seeding prescription information, thereby reasonably and accurately performing seeding and realizing variable rate seeding. Through the seeding prescription information, the seeding amount of each land plot can be flexibly adjusted to adapt to different land plot requirements, thereby enhancing the flexibility and adaptability of the operation.

[0027] Further, the current calibration value of the electrically driven drill bar is acquired by:

[0028] If the calibration of the calibration value has not been performed on the electrically-driven drill seeder, a default calibration value is taken as the current calibration value, the default calibration value being a preset unit seeding amount;

[0029] If the calibration of the calibration value has been performed on the electrically-driven drill seeder, a last calibration value of the current calibration value is taken as the current calibration value, the last calibration value being a unit seeding amount calculated in the last calibration.

[0030] The above further scheme has the beneficial effect that: by taking the default calibration value (i.e. the preset unit seeding amount) as the current calibration value, the calibration process can be simplified, and the electrically-driven drill seeder can be quickly put into use. Meanwhile, the default calibration value is set based on extensive data and experience, and can provide a relatively reasonable initial seeding amount, ensuring basic work effect. For the electrically-driven drill seeder that is not calibrated for the first time, the last calibration value (i.e. the unit seeding amount calculated in the last calibration) is taken as the current calibration value, which can make full use of historical data and actual operation experience, thereby improving the accuracy and reliability of the calibration.

[0031] Further, the total effective tooth tip times are detected by a capacitive proximity sensor, and the distance between the capacitive proximity sensor and the tooth tip of the tooth of the seed shaft gear disc is not greater than 5 mm.

[0032] The above further scheme has the beneficial effect that: the capacitive proximity sensor is used to detect the number of teeth turned by the seed shaft gear disc, which not only serves as a positioning module to determine the position of the seed sowing device, but also makes the current unit seeding amount the seeding amount of one tooth of the seed shaft gear disc, thereby improving the calibration accuracy of the unit seeding amount and reducing the cost. The possibility that the capacitive proximity sensor cannot identify the tooth tip signal is reduced.

[0033] In a second aspect, the present application provides a seeding device of an electrically-driven drill seeder, comprising:

[0034] A calculation calibration module is configured to calculate a current unit seeding amount corresponding to a unit angle of rotation of a seed shaft motor when the current calibration value of the electrically-driven drill seeder needs to be recalibrated, and take the current unit seeding amount as an updated calibration value, the seed shaft motor being configured to drive a seed sowing device to rotate for seeding, and the calibration value being a parameter representing the unit seeding amount of the electrically-driven drill seeder.

[0035] A first calculation module is configured to calculate a target time required by the electrically-driven drill seeder to travel a unit area based on a current speed of the electrically-driven drill seeder.

[0036] A second calculation module is configured to obtain a total seeding amount corresponding to the unit area in a current field, and calculate a target angle of rotation of the seed shaft motor required for seeding the total seeding amount based on the current unit seeding amount and the total seeding amount.

[0037] The first acquisition module is used to acquire the target rotational speed corresponding to the seed shaft motor based on the target time and the target angle, so that the seed shaft motor runs at the target rotational speed.

[0038] Thirdly, this application provides an electronic device, including a processor and a memory, wherein the processor is coupled to the memory;

[0039] The processor is configured to execute a computer program stored in the memory, causing the electronic device to perform the method as described in any of the first aspects.

[0040] Fourthly, this application provides a computer-readable storage medium including a computer program or instructions that, when executed on a computer, cause the computer to perform the method as described in any of the first aspects. Attached Figure Description

[0041] Figure 1 This is a schematic flowchart of the seeding method of the electrically driven strip seeder according to an embodiment of this application;

[0042] Figure 2 This is a structural block diagram of the electrically driven strip seeder according to an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of the mounting structure of the seed shaft toothed disc and the seed shaft sensor according to an embodiment of this application;

[0044] Figure 4 This is a structural block diagram of the seeding device of the electrically driven strip seeder according to an embodiment of this application;

[0045] Figure 5 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0046] The present application will be further described in detail below with reference to the accompanying drawings.

[0047] This application provides a seeding method for an electrically driven strip seeder. This method can be executed by a device, which can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet computer, desktop computer, etc., but is not limited to these.

[0048] like Figure 1 As shown, a seeding method for an electrically driven strip seeder uses an electronic device as the execution entity, which can be an MCU. The main process of the method is described as follows (steps S101 to S104):

[0049] Step S101: If the current calibration value of the electrically-driven drill needs to be recalibrated, calculate the corresponding current unit seeding amount when the seed shaft motor rotates by a unit angle, and take the current unit seeding amount as the updated calibration value, the seed shaft motor being used to drive the seed sowing device to rotate for sowing, and the calibration value being a parameter representing the unit seeding amount of the electrically-driven drill.

[0050] As shown in Figure 2 the embodiment, the electronic device is communicatively connected with a display terminal, which can display system running parameters such as “calibration seeding amount”, which is the calibration value of the unit seeding amount. When the batch of agricultural materials or the type of seeds changes, the current calibration value needs to be recalibrated, and the user can generate an instruction that the current calibration value needs to be recalibrated by clicking the “calibration” button of the display terminal. The display terminal can be connected with the CAN0 port of the electronic device through the CAN bus and communicate through the extended frame format protocol.

[0051] The electrically-driven drill includes a seed box for storing agricultural materials for sowing and a seed shaft motor. The bottom of the seed box is uniformly provided with a plurality of seed sowing ports, and a seed sowing device for controlling the seeding amount is installed at each seed sowing port. Each seed sowing device is coaxially installed on the same seed shaft, and the seed shaft is driven to rotate by the seed shaft motor, thereby driving the seed sowing device to sow seeds. The seed shaft motor can be a direct current motor, and the direct current motor and the seed shaft can be connected through a gear chain.

[0052] The seed shaft motor can be connected with the CAN1 interface of the electronic device through the CAN bus, and the start and stop state of the seed shaft motor can be controlled by the electronic device sending a CAN message.

[0053] Step S102: Based on the current speed of the electrically-driven drill, calculate the target time required by the electrically-driven drill when driving on a unit area.

[0054] In the embodiment, the unit area can be “mu”, and the target time is the time required by the electrically-driven drill to sow one mu of land at the current speed.

[0055] In the embodiment, the electronic device stores a first correspondence relationship between the current speed and the target time, which can be expressed as:

[0056]

[0057] Wherein, T1 represents the target time (the unit can be min), the parameter 666.67 represents the conversion coefficient of mu and square meter, and the parameter 3.0 represents the width of the electrically-driven drill (the unit can be m). V represents the current speed (the unit can be 0.1Km / h), and the parameter 100 / 60 represents the conversion coefficient of 0.1Km / h and m / min.

[0058] Step S103: Obtain the total seeding amount corresponding to the unit area in the current plot, and calculate the target angle at which the seed shaft motor needs to rotate when seeding the total seeding amount based on the current unit seeding amount and the total seeding amount.

[0059] The target angle is the number of revolutions that the seed shaft motor needs to rotate when seeding the total seeding amount. When the unit area is "mu", the total seeding amount corresponding to the unit area is "mu seeding amount". During operation, the number of unit angles that the seed shaft motor needs to rotate when seeding one mu of land can be calculated according to the current mu seeding amount, and the target angle can be obtained according to the number of unit angles.

[0060] The system operating parameters can also include the number of seeding rows corresponding to the unit area in the current plot, the width, the current unit seeding amount, and the total seeding amount corresponding to the unit area in the current plot.

[0061] Step S104: Obtain the target speed of the seed shaft motor based on the target time and the target angle, so that the seed shaft motor operates at the target speed.

[0062] In this embodiment, the electronic device also stores a second correspondence relationship between the target time, the target angle, and the target speed, which can be represented as:

[0063]

[0064] Wherein, rpm represents the target speed, R represents the target angle, and T1 represents the target time.

[0065] According to the second correspondence relationship, the target speed corresponding to the target time and the target angle can be calculated. The seed shaft motor can control the seed drop speed according to the adjustment of the current target speed, and can realize variable seeding according to the different total seeding amounts corresponding to the unit area, thereby improving the automation degree and accuracy of the seeding parameter adjustment of the seeding machine.

[0066] When the current calibration value of the electrically driven drill needs to be recalibrated, the current unit seeding amount can be automatically calculated, thereby improving the accuracy and stability of the calibration result.

[0067] The flash of the electronic device can save multiple system operating parameters, and the local file of the display terminal can also save multiple system operating parameters. Under normal circumstances, the display terminal will display each system operating parameter, and can respond to the user's operation of modifying the system operating parameter, and transmit each system operating parameter to the electronic device in real time.

[0068] When the electronic device is powered on, the electronic device acquires each system running parameter of the display terminal and compares the same with each system running parameter saved by the electronic device itself; when the system running parameters are inconsistent, it is judged whether the system running parameter set on the display terminal is beyond a reasonable range; for each system running parameter set on the display terminal, if the system running parameter is not beyond the reasonable range, the electronic device updates the system running parameter to be consistent with the system running parameter of the display terminal and saves the same; for each system running parameter set on the display terminal, if the system running parameter is beyond the reasonable range, the system running parameter is an illegal parameter value, and the electronic device does not update the system running parameter.

[0069] When the electronic device is powered on, the electronic device acquires and confirms the current system running parameter through the display terminal, and when the electronic device is damaged, the new electronic device is replaced and powered on, and the electronic device automatically updates the system running parameter to be consistent with the display terminal. By saving the system running parameter by the electronic device, when the display terminal is abnormal, the electronic device can still work normally.

[0070] In the updating calibration process, the seed shaft motor drives the seed metering device and the seed shaft gear to rotate synchronously for a fixed number of turns, and step S101 specifically includes the following processing: acquiring a total effective tooth tip number corresponding to the fixed number of turns of the plurality of teeth of the seed shaft gear at the end of the updating calibration, the unit angle being an angle required for each tooth of the seed shaft gear to rotate, the total effective tooth tip number being acquired by a seed shaft sensor, and the total effective tooth tip number being a total number of times that each tooth of the seed shaft gear passes through the seed shaft sensor; acquiring a total seed weight discharged by the seed metering device when rotating the fixed number of turns at the end of the updating calibration; and calculating the current unit seeding amount based on the total effective tooth tip number and the total seed weight.

[0071] When the seed metering device rotates, seeds can be discharged from the seed tank and fall to the ground through the seed metering tube. The seed shaft gear is coaxially installed at one end of the seed shaft and is used to detect the number of turns of the seed shaft. As shown in Figure 2 The total effective tooth tip number can be detected by a seed shaft sensor, the seed shaft sensor being electrically connected to the electronic device. The seed shaft sensor can be a capacitive proximity sensor or other types of proximity sensors. When each tooth of the seed shaft gear passes through the seed shaft sensor, the seed shaft sensor detects a complete effective signal, i.e., records an effective tooth tip number. The capacitive proximity sensor can be fixed on the electrically driven drill.

[0072] In the updating calibration process, the seed shaft motor needs to drive the seed shaft to rotate a fixed number of turns. For example, the fixed number of turns can be 5 turns. The seed shaft gear can include 6 protruding teeth. When the seed shaft sensor detects 6 valid signals, it indicates that the seed shaft has rotated one turn. After the user clicks the "calibration" button on the display terminal, the seed shaft motor can run at 20 revolutions per minute for 15 seconds, i.e., the seed shaft motor drives the seed shaft to rotate 5 turns and drop seeds. The seed shaft sensor will detect 30 valid tooth signals at the end of the updating calibration, which is the total number of valid tooth signals.

[0073] Before the user clicks the "calibration" button, a weighing tray needs to be placed under the seed meter to hold the seeds dropped by the seed meter during calibration. The seed meter is connected to the seeding unit of the electrically driven drill below the seed meter. During calibration, the seed tube connected to the seed meter is pulled out. After the seed tube is pulled out, the seeds dropped in the seed meter will fall into the weighing tray placed below. After weighing the weighing tray, the total weight of the seeds dropped at the end of the updating calibration can be obtained. If the seed tube is not pulled out, the seeds will fall directly onto the ground after coming out of the seed meter, thereby reducing the convenience of seed collection and the convenience of seed weighing.

[0074] In this embodiment, the unit angle of the seed shaft motor corresponds to the angle corresponding to one tooth of the seed shaft gear. After the seed dropping is completed, the total weight of the seeds dropped during the updating calibration is weighed. By dividing the total weight of the seeds dropped by the total number of valid tooth signals detected by the seed shaft sensor, the seeding amount corresponding to one tooth of the seed shaft gear can be calculated. The angle corresponding to one tooth of the seed shaft gear is 360° / 6 = 60°, i.e., the seeding amount corresponding to one tooth of the seed shaft gear is taken as the unit seeding amount corresponding to 60° of the seed shaft motor.

[0075] By corresponding the total weight of the seeds dropped to the total number of valid tooth signals detected by the seed shaft sensor, the current unit seeding amount corresponding to one tooth of the seed shaft motor can be calculated. The electronic device can also transmit the current unit seeding amount to the display terminal to enable the display terminal to display the current unit seeding amount.

[0076] In this embodiment, by installing a seed shaft gear including a plurality of teeth on the seed shaft, the seeding amount corresponding to one tooth of the seed shaft gear is taken as the current unit seeding amount, the total weight of the seeds dropped during the updating calibration is taken as the numerator, and the total number of valid tooth signals of the seed shaft gear is taken as the denominator. The unit angle corresponding to the seed shaft motor is smaller, the seed dropping error generated during the process of starting and accelerating the seed shaft motor to the rated speed can be diluted, and the influence of the starting speed of the seed shaft motor on the calculation accuracy of the unit seeding amount can be ignored. Therefore, the influence of the starting speed of the seed shaft motor on the calculation accuracy of the unit seeding amount is reduced.

[0077] In the embodiment, the capacitive proximity sensor is used as the shaft sensor, which can not only serve as a positioning module to determine the position of the seed sowing device, but also make the current unit sowing amount equal to the seed drop amount of the seed shaft gear per tooth rotation, thereby improving the calibration accuracy of the unit sowing amount and reducing the cost.

[0078] Figure 3 The seed shaft gear is the seed shaft gear, and the sensor is the capacitive proximity sensor. Figure 3 As shown in the figure, in the embodiment, when the tooth top of any tooth on the seed shaft gear rotates below the probe of the capacitive proximity sensor, the distance between the capacitive proximity sensor and the tooth top of the tooth on the seed shaft gear is not greater than 5 mm, so that the capacitive proximity sensor can accurately detect the proximity signal corresponding to the tooth top of each tooth on the seed shaft gear.

[0079] Since the seed shaft for mounting the seed shaft gear is long and thin (about 3 meters), the seed shaft may be slightly deformed due to various factors during long-term use, so that the coaxiality of the seed shaft gear mounted thereon cannot be guaranteed during rotation. After the deformation of the seed shaft, the gap between the tooth top of each tooth on the seed shaft gear and the capacitive proximity sensor below will be different according to the deformation of the seed shaft. If the installation gap is too large, the tooth top signal of part of the seed shaft gear will not be recognized due to the deformation of the seed shaft after the deformation of the seed shaft.

[0080] In the embodiment, the electronic device also stores a third corresponding relationship between the total sowing amount per unit area, the current unit sowing amount, the number of teeth contained in the seed shaft gear and the target angle. The target angle in step S103 can be calculated through the third corresponding relationship. The third corresponding relationship can be expressed as:

[0081]

[0082] Wherein, R represents the target angle (i.e. the required number of turns), Ta represents the total sowing amount per mu (unit Kg / mu), n represents the current unit sowing amount (unit 10g / tooth), parameter 6 represents the number of teeth of the seed shaft gear per turn, and parameter 1000 represents the conversion factor of Kg and g.

[0083] In the embodiment, the current calibration value needs to be determined before step S101. The current calibration value of the electrically driven strip seeder is obtained, including: if the calibration value of the electrically driven strip seeder has not been calibrated, the default calibration value is taken as the current calibration value, and the default calibration value is a preset unit sowing amount; if the calibration value of the electrically driven strip seeder has been calibrated, the last calibration value of the current calibration value is taken as the current calibration value, and the last calibration value is the unit sowing amount calculated at the last calibration.

[0084] By taking the default calibration value (i.e. the preset unit seeding amount) as the current calibration value, the calibration process can be simplified, and the electrically-driven drill seeder can be quickly put into use. At the same time, the default calibration value is set based on extensive data and experience, and can provide a relatively reasonable initial seeding amount to ensure basic operation effect. For the electrically-driven drill seeder that is not calibrated for the first time, i.e. the electrically-driven drill seeder has been calibrated for the calibration value, the last calibration value (i.e. the unit seeding amount calculated by the last calibration) is taken as the current calibration value, which can make full use of historical data and actual operation experience, thereby improving the accuracy and reliability of the calibration.

[0085] The default calibration value and the unit seeding amount calculated by the last calibration can be saved in the external flash of the electronic device, so as to prevent the loss of the default calibration value and the unit seeding amount calculated by the last calibration due to power failure. After each system power-on, the electronic device can read the default calibration value and the unit seeding amount calculated by the last calibration saved before the last power-off from the external flash. Exemplarily, the default calibration value can be 3.15 kg / acre.

[0086] In the embodiment, the execution period of the data saving task such as the default calibration value and the unit seeding amount calculated by the last calibration can be 1.8S. When it is detected that the power voltage is lower than the working voltage, the working data and system running parameters can be saved in time.

[0087] As an optional implementation manner of the embodiment, before step S102, the method further includes: acquiring the current vehicle speed based on the GPS module.

[0088] The GPS module will periodically (e.g. every second or every few seconds) send data packets containing information such as position, speed and time, and the electronic device can receive these data packets to parse out the current vehicle speed of the electrically-driven drill seeder.

[0089] As another optional implementation manner of the embodiment, before step S102, the method further includes: if the current state of the GPS module is an available state, acquiring the current vehicle speed based on the GPS module; and if the current state of the GPS module is an unavailable state, acquiring the rotation time required for the ground wheel connected to the electrically-driven drill seeder to rotate one round, and calculating the current vehicle speed based on the rotation time.

[0090] The ground wheel refers to a wheel or device in contact with the ground, used to support mechanical equipment or farm tools and enable them to move on the ground. In agricultural machinery such as the electrically-driven drill seeder, the ground wheel is installed at the trailing position. The electronic device is electrically connected with a vehicle speed sensor, which can detect the rotation signal of the ground wheel. When the vehicle speed sensor detects the tooth tip signals corresponding to two ground wheels, it indicates that the ground wheel has rotated one round, so that the pulse signal generated by the rotation of the ground wheel can be obtained by the vehicle speed sensor.

[0091] The pulse signal detected by the vehicle speed sensor is counted based on a 1ms timer, the time interval between the two pulse signals detected by the vehicle speed sensor before and after one rotation of the ground wheel is recorded, the rotation time is obtained according to the time interval, and the real-time speed of the ground wheel can be obtained by dividing the distance traveled by one rotation of the ground wheel by the rotation time. The real-time speed of the ground wheel can be used as the current speed of the electrically driven drill planter. The current speed V can be Kmh, and one significant digit is retained.

[0092] The current speed is detected by default through the GPS module. The display screen can send corresponding messages to provide the speed detected by the GPS module through CAN0. When the GPS module is unavailable, it can be automatically switched to detecting the current speed through the vehicle speed sensor of the ground wheel. In the mode of detecting the current speed through the vehicle speed sensor, the electronic device can detect the frequency of the change of the vehicle speed sensor signal at a period of 1ms, and calculate the current speed.

[0093] The antenna of the GPS module is arranged on the display terminal. The display terminal has a positioning calculation function, and can calculate the current speed and the current position, and send the calculated information to the electronic device.

[0094] The electronic device can also be electrically connected with a seed sensor and a seed tank remaining amount sensor. The seed sensor is used to detect whether seeds are falling during operation, and is used for leak stoppage alarm detection. The seed tank remaining amount sensor is used to detect the remaining amount of seeds in the seed tank, and alarms the user when the remaining amount of seeds is insufficient. The alarm prompt includes sound, light, text and other modes. When the electrically driven drill planter has a functional failure, the user can also be prompted in the form of sound, light, text and other modes.

[0095] As an optional embodiment in the embodiment, the user can input the total seeding amount corresponding to a unit area through the display terminal.

[0096] As another optional embodiment in the embodiment, the step S103 specifically includes the following processing: based on the seeding prescription information, the identification information corresponding to different plots is obtained, and each identification information is sent to the display terminal, so that the display terminal displays the identification information corresponding to different plots. The seeding prescription information includes the seeding amount corresponding to different plots; based on the seeding prescription information, the current seeding amount corresponding to the current plot is obtained, and the current seeding amount is used as the total seeding amount.

[0097] The seeding input amount of different plots is set according to the factors such as the nutrients, illumination and water storage capacity of the soil of different plots, and the seeding prescription information is generated.

[0098] The seeding prescription information source can be selected as a ''cloud platform'' or a ''U disk''. When the seeding prescription information source is selected as the ''cloud platform'', the electronic device needs to be connected to a WIFI network. After the user clicks ''apply prescription'' on the display terminal, variable operation can be performed. The identification information includes display color and annotation content. After the prescription is applied, the map displayed on the display terminal (including the home page and the operation map interface) will display different colors according to the different current seeding amounts of different plots. When the electrically driven drill is operating in different plots, the annotation content can be the prescription application amount on the displayed map, for example, ''prescription application amount: 60 kg / acre''. According to the seeding prescription information, the total seeding amount of different plots is reasonably and accurately set, so that the seeding is reasonably and accurately performed, and variable seeding is realized.

[0099] Through the seeding prescription information, the seeding amount of each plot can be flexibly adjusted to adapt to the needs of different plots, thereby enhancing the flexibility and adaptability of the operation. The traditional manual adjustment of the seeding amount is easily affected by human factors, such as operation errors, lack of concentration, etc. Through the automatic collection of the total seeding amount of different plots by the seeding prescription information, the occurrence of human errors can be greatly reduced, and the accuracy and reliability of the operation are improved. The identification information and the seeding amount corresponding to the plot are sent to the display terminal for display, so that the user can intuitively understand the seeding needs of each plot. Not only the convenience of operation is improved, but also the user's sense of control over the entire operation process is enhanced, thereby improving the user experience.

[0100] In the embodiment, the electronic device can also support OTA function, and the OTA function can be used to remotely upgrade the electronic device. The TBOX is responsible for the data download function of OTA upgrade. When the TBOX successfully downloads and prepares the upgrade package, an upgrade request is sent to the electronic device. After the electronic device receives the request, the OTA upgrade task is woken up and starts to execute. In the upgrading process, in order to ensure data consistency and system stability, the OTA upgrade task can suspend (pause) other unnecessary threads or processes on the electronic device. The upgrade program installs the new firmware or software update package on the controller to replace the old version. After the upgrade is completed, the OTA upgrade task will restore the previously suspended threads or processes, or perform a soft reset (i.e., restart the device without complete power-off) to ensure that all system components run on the new version of software.

[0101] Based on the same technical concept, the application also provides a seeding device of an electrically driven drill, as shown in Figure 4 The seeding device 200 of the electrically driven drill mainly includes:

[0102] The computing calibration module 201 is configured to, when a current calibration value of the electrically-driven drill needs to be recalibrated, calculate a current unit seeding amount corresponding to a unit angle of rotation of a seed shaft motor, the seed shaft motor being configured to drive a seed sowing device to rotate to sow seeds, and the calibration value being a parameter representing a unit seeding amount of the electrically-driven drill; and take the current unit seeding amount as an updated calibration value.

[0103] The first computing module 202 is configured to calculate a target time required by the electrically-driven drill to travel a unit area based on a current vehicle speed of the electrically-driven drill.

[0104] The second computing module 203 is configured to obtain a total seeding amount corresponding to the unit area in a current field, and calculate a target angle of rotation of the seed shaft motor required to sow the total seeding amount based on the current unit seeding amount and the total seeding amount.

[0105] The first obtaining module 204 is configured to obtain a target rotating speed of the seed shaft motor corresponding to the target angle of rotation based on the target time and the target angle of rotation, so that the seed shaft motor operates at the target rotating speed.

[0106] Optionally, in the updating calibration process, the seed shaft motor drives the seed sowing device and a seed shaft gear to synchronously rotate a fixed number of turns, and the computing calibration module 201 comprises:

[0107] The first obtaining sub-module is configured to obtain a total number of effective tooth tips of the plurality of teeth of the seed shaft gear corresponding to the fixed number of turns at the end of the updating calibration, the unit angle being an angle required to rotate each tooth of the seed shaft gear, and the total number of effective tooth tips being obtained by a seed shaft sensor, the total number of effective tooth tips being a total number of times that each tooth of the seed shaft gear passes through the seed shaft sensor.

[0108] The second obtaining sub-module is configured to obtain a total weight of seeds sowed by the seed sowing device rotating the fixed number of turns at the end of the updating calibration.

[0109] The first computing sub-module is configured to calculate the current unit seeding amount based on the total number of effective tooth tips and the total weight of seeds.

[0110] Optionally, before the first computing module 202, the apparatus further comprises:

[0111] The first obtaining module is configured to obtain the current vehicle speed based on a GPS module.

[0112] Optionally, before the first computing module 202, the apparatus further comprises:

[0113] The second obtaining module is configured to obtain the current vehicle speed based on the GPS module when a current state of the GPS module is an available state.

[0114] The third obtaining module is configured to, when the current state of the GPS module is an unavailable state, obtain a rotation time required for a ground wheel connected to the electrically-driven drill to rotate one round, and calculate the current vehicle speed based on the rotation time.

[0115] Optionally, the obtaining of the total seeding amount corresponding to the unit area in the current field comprises:

[0116] The third obtaining sub-module is configured to obtain, based on the seeding prescription information, identification information corresponding to different fields, and send each of the identification information to a display terminal, so that the display terminal displays the identification information corresponding to different fields, the seeding prescription information comprising seeding amounts corresponding to different fields.

[0117] The fourth obtaining sub-module is configured to obtain, based on the seeding prescription information, a current seeding amount corresponding to the current field, and take the current seeding amount as the total seeding amount.

[0118] Optionally, the obtaining of the current calibration value of the electrically-driven drill comprises:

[0119] The first sub-module is configured to, when the electrically-driven drill has not been calibrated, take a default calibration value as the current calibration value, the default calibration value being a preset unit seeding amount.

[0120] The second sub-module is configured to, when the electrically-driven drill has been calibrated, take a last calibration value of the current calibration value as the current calibration value, the last calibration value being a unit seeding amount calculated at the last calibration.

[0121] Optionally, the total effective tip number is detected by a capacitive proximity sensor, and a distance between the capacitive proximity sensor and a tip of a tooth of the seed shaft gear is not greater than 5 mm.

[0122] In one example, the modules in any of the above apparatuses can be one or more integrated circuits configured to implement one or more of the above methods, such as one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0123] For example, when modules in a device can be implemented via a processing element scheduler, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling programs. Alternatively, these modules can be integrated together as a system-on-a-chip (SOC).

[0124] In this application, various objects such as messages / information / devices / network elements / systems / apparatus / actions / operations / processes / concepts may be named. It is understood that these specific names do not constitute a limitation on the relevant objects. The names may be changed depending on the scenario, context, or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from their functions and technical effects embodied / performed in the technical solution.

[0125] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0126] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0127] Based on the same technical concept, this application also provides an electronic device, such as... Figure 5 As shown, the electronic device 300 includes a processor 301 and a memory 302, and may further include one or more of an information input / output (I / O) interface 303, a communication component 304, and a communication bus 305.

[0128] The processor 301 is configured to control overall operations of the electronic device 300 to complete all or part of the steps of the electrically-driven drill seeder seeding method described above. The memory 302 is configured to store various types of data to support operations of the electronic device 300. The data can include, for example, instructions for any application or method operating on the electronic device 300, and application-related data. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as one or more of a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or an optical disk.

[0129] The I / O interface 303 provides an interface between the processor 301 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 304 is configured to test wired or wireless communication between the electronic device 300 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include a Wi-Fi component, a Bluetooth component, and an NFC component.

[0130] The communication bus 305 can include a path for transmitting information between the above-mentioned components. The communication bus 305 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus 305 can be divided into an address bus, a data bus, a control bus, and the like.

[0131] The electronic device 300 can be implemented with one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the seeding method of the electrically-driven drill seeder given in the above-described embodiments.

[0132] The electronic device 300 can include, but is not limited to, a mobile terminal such as a digital broadcasting receiver, a PDA (Personal Digital Assistant), a PMP (Portable Multimedia Player), and the like, and a fixed terminal such as a digital TV, a desktop computer, and the like, and can also be a server or the like.

[0133] Based on the same technical idea, the present application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the seeding method of the electrically-driven drill seeder described above.

[0134] The computer-readable storage medium can include a U disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like, which are various media capable of storing program codes.

[0135] The terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles, or devices.

[0136] In addition, the terms "first", "second", and the like are used only for the purpose of description, and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, and the like, unless otherwise specifically limited.

[0137] In the description of the specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the description herein of certain examples does not necessarily exclude these features, structures, materials or characteristics from being used in other examples. Neither can certain features, structures, materials or characteristics be excluded from the examples described herein in order to create non-claimed examples.

[0138] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be interpreted as limiting the present application, and ordinary skilled people in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A method of electrically driving a seed drill, characterized in that, The method comprises the following steps: If the current calibration value of the electrically-driven drill needs to be recalibrated, a current unit seeding amount when the seed shaft motor rotates a unit angle is calculated, the current unit seeding amount is taken as an updated calibration value, the seed shaft motor is used to drive the seed metering device to rotate for seeding, and the calibration value is a parameter representing the unit seeding amount of the electrically-driven drill; Based on the current speed of the electrically-driven drill, a target time required by the electrically-driven drill for driving on a unit area is calculated; A total seeding amount corresponding to the unit area in the current field is obtained, and based on the current unit seeding amount and the total seeding amount, a target angle at which the seed shaft motor needs to rotate for seeding the total seeding amount is calculated; Based on the target time and the target angle, a target rotating speed corresponding to the seed shaft motor is obtained, so that the seed shaft motor operates at the target rotating speed; In the recalibration process, the seed shaft motor drives the seed metering device and the seed shaft gear to rotate synchronously for a fixed number of turns, and the current unit seeding amount when the seed shaft motor rotates a unit angle is calculated, which comprises the following steps: A total effective tooth top number corresponding to the fixed number of turns of rotation of the plurality of teeth of the seed shaft gear at the end of the recalibration is obtained, the unit angle is an angle required for rotating each tooth of the seed shaft gear, and the total effective tooth top number is obtained by collecting the seed shaft sensor, and the total effective tooth top number is the total number of times that each tooth of the seed shaft gear passes through the seed shaft sensor; A total seed drop weight discharged by the seed metering device rotating the fixed number of turns at the end of the recalibration is obtained; Based on the total effective tooth top number and the total seed drop weight, the current unit seeding amount is calculated.

2. A method of electrically driving a seed drill according to claim 1, characterized in that, Before the step of calculating the target time required by the electrically-driven drill for driving on a unit area based on the current speed of the electrically-driven drill, the method further comprises the following step:

3. A method of electrically driving a seed drill according to claim 1, wherein Based on a GPS module, the current speed is obtained. Before the step of calculating the target time required by the electrically-driven drill for driving on a unit area based on the current speed of the electrically-driven drill, the method further comprises the following steps: If the current state of the GPS module is an available state, the current speed is obtained based on the GPS module; 4. The method of claim 1, wherein, If the current state of the GPS module is an unavailable state, a rotating time required by a ground wheel connected to the electrically-driven drill for rotating one turn is obtained, and the current speed is calculated based on the rotating time. The step of obtaining the total seeding amount corresponding to the unit area in the current field comprises the following steps: Based on seeding prescription information, identification information corresponding to different fields is obtained, and each identification information is sent to a display terminal, so that the display terminal displays the identification information corresponding to different fields, and the seeding prescription information comprises seeding amounts corresponding to different fields; 5. The method of claim 1, wherein, Based on the seeding prescription information, a current seeding amount corresponding to the current field is obtained, and the current seeding amount is taken as the total seeding amount. The step of obtaining the current calibration value of the electrically-driven drill comprises the following steps: If the electrically-driven drill has not been calibrated for a calibration value, a default calibration value is taken as the current calibration value, and the default calibration value is a preset unit seeding amount. If the current calibration value of the electrically-driven drill is calibrated, the last calibration value of the current calibration value is taken as the current calibration value, and the last calibration value is the unit seeding amount calculated at the last calibration.

6. A method of electrically driving a seed drill according to any one of claims 1 to 3, characterized in that, The total effective tooth tip times are detected by a capacitive proximity sensor, and the distance between the capacitive proximity sensor and the tooth tip of the tooth disc of the seed shaft is not greater than 5 mm.

7. An electrically driven seeding device for a drill, characterized in that The method comprises the following steps: The calibration module is configured to calculate a current unit seeding amount corresponding to a unit angle of rotation of a seed shaft motor when a current calibration value of an electrically-driven drill needs to be recalibrated, and take the current unit seeding amount as an updated calibration value, wherein the seed shaft motor is configured to drive a seed dispenser to rotate for seeding, and the calibration value is a parameter representing a unit seeding amount of the electrically-driven drill. The first calculation module is configured to calculate a target time required by the electrically-driven drill to travel a unit area based on a current vehicle speed of the electrically-driven drill. The second calculation module is configured to obtain a total seeding amount corresponding to the unit area in a current field, and calculate a target angle of rotation of the seed shaft motor required for seeding the total seeding amount based on the current unit seeding amount and the total seeding amount. The first acquisition module is configured to obtain a target rotation speed of the seed shaft motor based on the target time and the target angle of rotation, so that the seed shaft motor operates at the target rotation speed. In the recalibration process, the seed shaft motor drives the seed dispenser and the seed shaft disc to rotate synchronously for a fixed number of turns, and the calibration module comprises: The first acquisition sub-module is configured to obtain a total effective tooth tip time corresponding to the fixed number of turns of a plurality of teeth of the seed shaft disc at the end of the recalibration, wherein the unit angle is an angle required for rotating each tooth of the seed shaft disc, and the total effective tooth tip time is obtained by a seed shaft sensor, and the total effective tooth tip time is a total number of times that each tooth of the seed shaft disc passes through the seed shaft sensor. The second acquisition sub-module is configured to obtain a total seed weight discharged by the seed dispenser rotating for the fixed number of turns at the end of the recalibration. The first calculation sub-module is configured to calculate the current unit seeding amount based on the total effective tooth tip time and the total seed weight.

8. An electronic device, comprising: The electronic device comprises a processor and a memory, and the processor is coupled to the memory. The processor is configured to execute a computer program stored in the memory, so that the electronic device performs the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer program or instructions make the computer perform the method of any one of claims 1 to 6 when the computer program or instructions are run on the computer.

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