An adaptive fixed-point quantitative fertilization control device and control method

Abstract

The present invention relates to the field of agricultural machinery technology, and specifically to an adaptive fixed-point quantitative fertilization control device and control method, comprising a signal acquisition unit, a fertilization control unit, and a quantitative fertilizer execution device, wherein the fertilization control unit determines the seed placement position based on the detection signal of the seed sensor and real-time positioning, and selects a predetermined fertilizer placement position based on the seed placement position; the fertilization control unit applies fertilizer to the predetermined fertilizer placement position by controlling the opening timing of the fertilization mechanism, and determines the actual fertilizer placement position based on the detection signal of the fertilizer sensor and real-time positioning, and then adjusts the timing of controlling the fertilization mechanism based on the deviation between the actual fertilizer placement position and the predetermined fertilizer placement position. The present invention places fertilizer at a position where seeds can efficiently absorb it, adaptively applies fertilizer at a fixed point and in a fixed quantity, achieves seed-fertilizer matching, and has controllable fertilizer application amount. Fertilization is not applied to areas without seeds, and fertilization is applied to seeds at a fixed point, effectively reducing fertilizer application amount and improving fertilizer utilization rate. Compared with the existing technology, the present invention has a good market prospect and development space.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to an adaptive fixed-point quantitative fertilization control device and a control method. Background Art

[0002] As one of the most important basic materials for agricultural production, fertilizer plays a vital role in increasing crop yields, ensuring food security, and ensuring the stable development of agriculture. However, due to improper fertilizer application methods, it has been overused, hindering the sustainable development of modern agriculture.

[0003] At present, most seed drills on the market mainly use strip-applying granular fertilizers while sowing, which cannot accurately place fertilizers near the seeds and in positions that are easy for the seeds to absorb. There are situations where there is fertilizer without seeds, or the fertilizer is not in a position where the seeds can absorb it efficiently, resulting in large amounts of fertilizers and low utilization rates. The quantitative and fixed-point fertilization devices disclosed in existing patents CN202111427361.0 and CN202111437047.0 all control the distance between the fertilization point and the sowing point by the distance between the fertilization mechanism and the sowing mechanism, as well as the movement speed of the fertilization mechanism. This method can only pre-adjust the relevant structures and parameters according to the needs of fertilization, and is only applicable to the case of sowing at equal intervals. If the sowing spacing changes, or if influencing factors such as vehicle speed change during the process, the actual fertilization position will deviate from the expected position, and the fertilization position cannot be adaptively adjusted according to the actual sowing position.

[0004] How to place fertilizers in positions where seeds can absorb them efficiently, adaptively apply fertilizers at fixed points and in fixed quantities to achieve seed-fertilizer matching, control the amount of fertilizer applied, not apply fertilizer where there are no seeds, apply fertilizer at fixed points on seeds, effectively reduce the amount of fertilizer applied and improve fertilizer utilization rate are the problems that need to be solved at present. Summary of the Invention

[0005] In order to solve the problem that existing fertilizing devices cannot perform adaptive fixed-point and quantitative fertilization, the present invention provides an adaptive fixed-point and quantitative fertilization control device and a control method.

[0006] The technical solution adopted by the present invention to solve the above technical problems is: an adaptive fixed-point quantitative fertilization control device, including a signal acquisition unit, a fertilization control unit and a quantitative fertilization execution device, the quantitative fertilization execution device including a fertilizing mechanism and a fertilizing motor for driving the fertilizing mechanism to open; the signal acquisition unit includes a fertilizer sensor for detecting a falling signal of fertilizer discharged from the fertilizing mechanism, a seed sensor for detecting a seed drop signal during sowing, and an RTK terminal for providing real-time positioning and vehicle speed information; the fertilization control unit determines the seed drop position according to the detection signal and real-time positioning of the seed sensor, and selects a predetermined fertilizer drop position according to the seed drop position; the fertilization control unit applies fertilizer to the predetermined fertilizer drop position by controlling the opening timing of the fertilizing mechanism, and determines the actual fertilizer drop position according to the detection signal and real-time positioning of the fertilizer sensor, and then adjusts the timing of controlling the fertilizing mechanism according to the deviation between the actual fertilizer drop position and the predetermined fertilizer drop position.

[0007] As a further optimization solution of the above-mentioned adaptive fixed-point quantitative fertilization control device, the fertilization control unit controls the start timing of the fertilization mechanism according to the distance between the predetermined fertilizer placement position and the seed placement position and the vehicle speed information.

[0008] As a further optimization solution of the above-mentioned adaptive fixed-point quantitative fertilization control device, the fertilization control unit includes a controller for collecting detection signals and outputting control instructions according to the control strategy, and a display screen for manually inputting information parameters and providing information display.

[0009] As a further optimization scheme of the above-mentioned adaptive fixed-point quantitative fertilization control device, the quantitative fertilization execution device includes a fertilizer discharger for controlling the amount of fertilizer applied, and the fertilization mechanism is arranged below the fertilizer discharger for temporarily storing the fertilizer discharged by the fertilizer discharger.

[0010] As a further optimization solution of the above-mentioned adaptive fixed-point quantitative fertilization control device, a fertilizer lowering pipe is provided below the fertilizing mechanism, and a fertilizer sensor is arranged on the fertilizer lowering pipe.

[0011] As a further optimization solution of the above-mentioned adaptive fixed-point quantitative fertilization control device, a fertilizer box is connected above the fertilizer dispenser, and the fertilizer dispenser controls the amount of fertilizer discharged by driving the fertilizer wheel inside the fertilizer dispenser through a fertilizer motor.

[0012] As a further optimization scheme of the above-mentioned adaptive fixed-point quantitative fertilization control device, the fertilizing mechanism adopts a duckbill structure, and the fertilizer dispensing motor controls the opening of the duckbill structure through a transmission mechanism. The duckbill structure is connected to a spring that drives it to close after the force of the fertilizer dispensing motor is lost.

[0013] An adaptive fixed-point quantitative fertilization control method comprises the following steps:

[0014] S1. Setting parameters related to sowing and fertilization through the fertilization control unit, including sowing amount and fertilizer amount per mu;

[0015] S2, the fertilization control unit obtains real-time positioning and vehicle speed information from the RTK terminal and controls sowing according to the set parameters;

[0016] S3, using a seed sensor to detect the falling of seeds during sowing, and providing a signal to the fertilization control unit when the falling of seeds is detected. After receiving the signal, the fertilization control unit records the falling position information of the seeds according to real-time positioning;

[0017] S4, the fertilization control unit selects a predetermined fertilizer drop location according to the seed drop location, and controls the start timing of the fertilization mechanism through the fertilizer drop motor to fertilize the predetermined fertilizer drop location;

[0018] S5. Using a fertilizer sensor to detect the falling of fertilizer, when detecting the falling of fertilizer, a signal is sent to a fertilization control unit. After receiving the signal from the fertilizer sensor, the fertilization control unit records the actual fertilizer falling position information according to real-time positioning;

[0019] S6. The fertilization control unit compares the planned fertilizer drop position with the actual fertilizer drop position, determines whether the fertilizer drop position is ahead of schedule or delayed based on the control strategy, and adjusts the start timing of the control fertilization mechanism to ensure that the fertilizer is accurately dropped to the planned location;

[0020] S7. Repeat steps S3-S6.

[0021] As a further optimization scheme of the above-mentioned adaptive fixed-point quantitative fertilization control method, a fertilizer discharger is provided above the fertilizing mechanism, and the fertilization control unit controls the fertilizer discharger to discharge fertilizer in a quantitative manner according to the set parameters, and discharges the fertilizer into the fertilizing mechanism for temporary storage; after the fertilizing mechanism completes one fertilization action, the fertilizer discharger is controlled again to discharge fertilizer in a quantitative manner to the fertilizing mechanism; the fertilization control unit determines the advance amount for controlling the opening of the fertilizing mechanism according to the distance between the seed drop port and the fertilizer drop port and the vehicle speed information, and corrects the advance amount for controlling the opening of the fertilizing mechanism according to the deviation between the actual fertilizer drop position and the predetermined fertilizer drop position.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention adaptively adjusts the fertilizer placement position according to the seed placement position, which can achieve the effect of matching fertilizer and seeds, ensuring fertilizer only when there are seeds, and precise and accurate fertilization, thereby minimizing fertilizer waste and reducing fertilizer usage. It supports front-loading or rear-loading of a seeding and fertilizing all-in-one machine that meets the requirements, has no restrictions on the equipment type of the seeding and fertilizing all-in-one machine and whether the seed spacing is regular, and can perform adaptive positioning and quantitative fertilization while sowing, with strong adaptability. The quantitative fertilization execution device can control the amount of fertilizer used for each seed according to demand, and combines the seeder's own fertilizer ditching components to apply fertilizer at a position where the seeds can efficiently absorb it, thereby improving fertilizer utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the electronic control system of the present invention;

[0025] Figure 2 1. It is a structural diagram of a fertilizing device;

[0026] Figure 3 It is a schematic diagram of the workflow of the present invention;

[0027] Figure 4 This is a schematic diagram of the effect of an embodiment of the present invention;

[0028] In the figure, 1. Fertilizer guide pipe, 2. Fertilizer dispenser, 3. Fertilizer metering motor, 4. Fertilization mechanism, 5. Fertilizer feeding motor, 6. Fertilizer feeding pipe, 7. Fertilizer box, A. Seed landing position, B. Fertilizer landing position. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-4 The specific embodiments of the present invention are described in further detail.

[0030] like Figure 1 As shown, an adaptive fixed-point quantitative fertilization control device includes a signal acquisition unit, a fertilization control unit and a quantitative fertilization execution device, wherein the quantitative fertilization execution device includes a fertilizing mechanism and a fertilizing motor for driving the fertilizing mechanism to open; the signal acquisition unit includes a fertilizer sensor for detecting a falling signal of fertilizer discharged from the fertilizing mechanism, a seed sensor for detecting a seed drop signal during sowing, and an RTK terminal for providing real-time positioning and vehicle speed information; the fertilization control unit determines a seed drop position based on the detection signal and real-time positioning of the seed sensor, and selects a predetermined fertilizer drop position based on the seed drop position; the fertilization control unit applies fertilizer to the predetermined fertilizer drop position by controlling the opening timing of the fertilizing mechanism, and determines the actual fertilizer drop position based on the detection signal and real-time positioning of the fertilizer sensor, and then adjusts the timing of controlling the fertilizing mechanism based on the deviation between the actual fertilizer drop position and the predetermined fertilizer drop position. The timing is accurately controlled, and the position deviation can be continuously adjusted at all times to control the error within a minimum range, thereby ensuring the accuracy of fixed-point fertilization.

[0031] The fertilization control unit controls the timing of the fertilization mechanism's activation based on the distance between the predetermined fertilizer placement location and the seed placement location, as well as vehicle speed information. The fertilization control unit includes a controller for collecting detection signals and outputting control instructions based on the control strategy, and a display for manual input of information parameters and display of information. The controller and display allow real-time monitoring of fertilization progress and the ability to adjust the fertilizer application amount and spacing as needed, making operation quick and convenient.

[0032] The quantitative fertilizer delivery device includes a fertilizer dispenser for controlling the amount of fertilizer applied. A fertilizer delivery mechanism is located below the fertilizer dispenser and temporarily stores the fertilizer discharged by the dispenser. A fertilizer delivery pipe is located below the fertilizer delivery mechanism, and a fertilizer sensor is located on the pipe. A fertilizer tank is connected above the fertilizer dispenser. The fertilizer delivery motor drives a fertilizer shifting wheel within the dispenser to control the amount of fertilizer delivered. This single-point control ensures accurate fertilizer delivery and delivers excellent results.

[0033] Combine Figure 2 The fertilizing mechanism utilizes a duckbill structure. The fertilizer dispensing motor controls the opening of the duckbill through a transmission mechanism. A spring is attached to the duckbill, driving it to close upon loss of motor force. The duckbill is normally closed under the force of the spring. When triggered by the motor, it opens, releasing fertilizer through the fertilizer dispensing pipe and into the fertilizer ditch. After the motor is triggered, the spring automatically and quickly closes, resulting in a simple structure and easy operation.

[0034] The fertilization control unit controls the fertilizer discharger to discharge fertilizer in a quantitative manner according to the set parameters, and discharges the fertilizer into the fertilization mechanism for temporary storage; after the fertilization mechanism completes a fertilization action, it controls the fertilizer discharger to discharge fertilizer to the fertilization mechanism in a quantitative manner again; the fertilization control unit determines the advance amount for controlling the opening of the fertilization mechanism according to the distance between the seed drop port and the fertilizer drop port and the vehicle speed information, and corrects the advance amount for controlling the opening of the fertilization mechanism according to the deviation between the actual fertilizer drop position and the predetermined fertilizer drop position.

[0035] The research topic of the present invention is to place fertilizers in a position where seeds can absorb them efficiently, and to adaptively apply fertilizers at fixed points and in fixed quantities. Therefore, it is assumed that there is a sowing device that cooperates with the fertilizing mechanism of the present invention. Sowing is done first and then fertilizing is done on one side. The fertilizers are placed in a position where seeds can absorb them efficiently, so the fertilizer pipe is chosen to be set on the side and rear of the sowing device.

[0036] The present invention is installed and adjusted before use. The specific operations are as follows:

[0037] 1. Installation and adjustment of quantitative fertilizer execution device

[0038] Connect the quantitative fertilizer delivery execution device to the fertilizer box through the fertilizer guide pipe, so that the fertilizer can continuously flow from the fertilizer box to the fertilizer dispenser. Connect the fertilizer delivery pipe under the fertilizing mechanism and fix the device on the sowing and fertilizing machine to ensure that it is located above the fertilizer delivery pipe so that the fertilizer can quickly reach the ground and is located to the side and rear of the sowing device. At the same time, pay attention to the distance between the fertilizer delivery position and the sowing position, and appropriately adjust the position of the sowing device and the quantitative fertilizer delivery execution device to ensure that the fertilizer is easily absorbed by the seeds and will not hurt the seedlings.

[0039] 2. Control and signal acquisition

[0040] Controller: As the core control unit, it needs to be programmed to handle the RTK terminal module, control strategy, sensor signals, drive output, display screen data interaction, etc.

[0041] RTK terminal: Powered by the controller, the signal output terminal is connected to the controller. The high-precision positioning terminal is installed at an appropriate position on the seeding and fertilizing machine to ensure that the antenna is unobstructed in order to obtain accurate geographic location data and speed information.

[0042] Seed sensor: powered by the controller, the signal output end is connected to the controller, and is installed on the seeding path of the seed guide tube to monitor whether the seeds fall into the soil normally.

[0043] Fertilizer sensor: powered by the controller, the signal output end is connected to the controller, and is placed near the ground in the fertilizer pipe to detect the landing of fertilizer.

[0044] Display installation: Use the tractor system +24V / +12V power supply. The display should be placed in a position that is easy for the operator to observe, such as in the cab, to facilitate viewing real-time data and adjusting parameters.

[0045] Motor connection: Powered by the tractor system +24V / +12V power supply, the two motors are connected to the fertilizer wheel and fertilizing mechanism respectively, and communicate with the controller through the CAN bus. They can respond to the instructions issued by the controller to complete the action.

[0046] After the installation is completed, you can carry out adaptive fixed-point quantitative fertilization, combined with Figure 3 , the control method includes the following steps,

[0047] When using it for the first time, you need to calibrate the longitudinal distance difference between the seed drop port and the fertilizer drop port through the display screen. The "longitudinal" refers to the direction in which the seeder moves forward.

[0048] S1. Setting the relevant parameters of sowing and fertilization through the fertilization control unit, including the sowing amount per mu and the predetermined fertilizer amount;

[0049] S2, the fertilization control unit obtains real-time positioning and vehicle speed information from the RTK terminal and controls sowing according to the set parameters;

[0050] S3, using a seed sensor to detect the falling of seeds during sowing, and providing a signal to the fertilization control unit when the falling of seeds is detected. After receiving the signal, the fertilization control unit records the falling position information of the seeds according to real-time positioning;

[0051] S4, the fertilization control unit selects a predetermined fertilizer drop location according to the seed drop location, and controls the start timing of the fertilization mechanism through the fertilizer drop motor to fertilize the predetermined fertilizer drop location;

[0052] S5. Using a fertilizer sensor to detect the falling of fertilizer, when detecting the falling of fertilizer, a signal is sent to a fertilization control unit. After receiving the signal from the fertilizer sensor, the fertilization control unit records the actual fertilizer falling position information according to real-time positioning;

[0053] S6. The fertilization control unit compares the planned fertilizer drop position with the actual fertilizer drop position, determines whether the fertilizer drop position is ahead of schedule or delayed based on the control strategy, and adjusts the start timing of the control fertilization mechanism to ensure that the fertilizer is accurately dropped to the planned location;

[0054] S7. Repeat steps S3-S6.

[0055] After running for a period of time, various set values ​​such as seed, longitudinal distance between fertilizer outlets, fertilizer amount and other parameters can be adjusted according to actual effect feedback to achieve the best fertilization effect.

[0056] like Figure 4 As shown, Figure 4 It is a schematic diagram of the effect of an embodiment of the present invention; point A is the seed landing position, and point B is the fertilizer landing position. It can be seen in the figure that the fertilizer landing position is located on the side of the seed landing position, and the fertilizer is in a position where the seeds can efficiently absorb it. The above-mentioned device and control method can be used to realize fixed-point and quantitative fertilization, achieve seed and fertilizer matching, and control the amount of fertilizer. No fertilizer is applied where there is no seed, and fertilization is applied to the seeds at a fixed point.

[0057] The adaptive fixed-point quantitative fertilization control device and control method described in the embodiment of the present invention are adapted to a sunflower sowing and fertilizing integrated machine. The specific embodiment details are referred to above and will not be repeated here.

[0058] The present invention is reasonable and feasible, with an ingenious design. It puts fertilizer at a position where seeds can absorb it efficiently, and can adaptively apply fertilizer at a fixed point and in a fixed quantity to achieve seed-fertilizer matching. The amount of fertilizer applied is controllable, and no fertilizer is applied where there are no seeds. It applies fertilizer at a fixed point to seeds, effectively reducing the amount of fertilizer applied and improving the utilization rate of fertilizer. It effectively solves the technical problems of existing integrated seeding and fertilizing machines, such as the inability to adaptively apply fertilizer at a fixed point and in a fixed quantity, the low level of intelligence, the great limitations in application, and the inability to be applicable to a variety of crops. Compared with the existing technology, it has a good market prospect and development space.

[0059] The preferred specific implementation modes and embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes and embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the concept of the present invention.

Claims

1. An adaptive fixed-point quantitative fertilization control device, characterized by: The invention comprises a signal acquisition unit, a fertilizer control unit and a quantitative fertilizer application execution device, wherein the quantitative fertilizer application execution device comprises a fertilizer mechanism and a fertilizer application motor for driving the fertilizer mechanism to open; the signal acquisition unit comprises a fertilizer sensor for detecting a fertilizer falling signal discharged from the fertilizer mechanism, a seed sensor for detecting a seed dropping signal during sowing, and an RTK terminal for providing real-time positioning and vehicle speed information; the fertilizer control unit determines a seed dropping position according to the detection signal and real-time positioning of the seed sensor, and selects a predetermined fertilizer dropping position according to the seed dropping position; the fertilizer control unit applies fertilizer to the predetermined fertilizer dropping position by controlling the opening timing of the fertilizer mechanism, and determines the actual fertilizer dropping position according to the detection signal and real-time positioning of the fertilizer sensor, and then adjusts the timing of controlling the fertilizer mechanism according to the deviation between the actual fertilizer dropping position and the predetermined fertilizer dropping position; the fertilizer control unit adjusts the timing of controlling the fertilizer mechanism according to the distance between the predetermined fertilizer dropping position and the seed dropping position and vehicle speed information to control the opening timing of the fertilizing mechanism; a fertilizer discharger is provided above the fertilizing mechanism, and the fertilizer control unit controls the fertilizer discharger to discharge fertilizer in a quantitative manner according to set parameters, and discharges the fertilizer into the fertilizing mechanism for temporary storage; after the fertilizing mechanism completes one fertilizing action, it controls the fertilizer discharger to discharge fertilizer in a quantitative manner to the fertilizing mechanism again; the fertilizer control unit determines the advance amount of controlling the opening of the fertilizing mechanism according to the distance between the seed dropping port and the fertilizer dropping port and the vehicle speed information, and controls the advance amount of controlling the opening of the fertilizing mechanism according to the deviation correction between the actual fertilizer dropping position and the predetermined fertilizer dropping position; the quantitative fertilizer delivery execution device includes a fertilizer discharger for controlling the amount of fertilizer applied, and the fertilizer mechanism is arranged below the fertilizer discharger for temporarily storing the fertilizer discharged by the fertilizer discharger; a fertilizer delivery pipe is provided below the fertilizing mechanism, and a fertilizer sensor is arranged on the fertilizer delivery pipe; a fertilizer box is connected above the fertilizer discharger, and the fertilizer discharger drives the fertilizer wheel inside it to control the amount of fertilizer delivered by a fertilizer delivery motor; The self-adaptive fixed-point quantitative fertilization control device applies the following control method, which includes the following steps: S1. Setting parameters related to sowing and fertilization through the fertilization control unit, including sowing amount and fertilizer amount per mu; S2, the fertilization control unit obtains real-time positioning and vehicle speed information from the RTK terminal and controls sowing according to the set parameters; S3, using a seed sensor to detect the falling of seeds during sowing, and providing a signal to the fertilization control unit when the falling of seeds is detected. After receiving the signal, the fertilization control unit records the falling position information of the seeds according to real-time positioning; S4, the fertilization control unit selects a predetermined fertilizer drop location according to the seed drop location, and controls the start timing of the fertilization mechanism through the fertilizer drop motor to fertilize the predetermined fertilizer drop location; S5. Using a fertilizer sensor to detect the falling of fertilizer, when detecting the falling of fertilizer, a signal is sent to a fertilization control unit. After receiving the signal from the fertilizer sensor, the fertilization control unit records the actual fertilizer falling position information according to real-time positioning; S6. The fertilization control unit compares the planned fertilizer drop position with the actual fertilizer drop position, determines whether the fertilizer drop position is ahead of schedule or delayed based on the control strategy, and adjusts the start timing of the control fertilization mechanism to ensure that the fertilizer is accurately dropped to the planned location; S7. Repeat steps S3-S6.

2. The adaptive fixed-point quantitative fertilization control device according to claim 1, characterized in that: The fertilization control unit includes a controller for collecting detection signals and outputting control instructions according to a control strategy, and a display screen for manually inputting information parameters and providing information display.

3. The adaptive fixed-point quantitative fertilization control device according to claim 1, characterized in that: The fertilizing mechanism adopts a duckbill structure. The fertilizer dispensing motor controls the duckbill structure to open through a transmission mechanism. The duckbill structure is connected to a spring that drives it to close when the force of the fertilizer dispensing motor is lost.

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