Automatic corn seeding control method

Abstract

The invention relates to the technical field of corn seeding control, in particular to an automatic corn seeding control method, a seeding machine capable of walking linearly and in a turning manner is used for implementing the method, and a seed metering device capable of being controlled to ascend or descend is mounted on the seeding machine; the seeding machine is in communication connection with a navigation system capable of determining the real-time position of the seeding machine; the seeding machine is used for walking and seeding in a plurality of square plots; a plurality of rows of sowing areas are pre-divided in each small area; a seed clearing area is pre-divided between adjacent cell blocks. Firstly, the seeder is controlled to sow through the preset route, and in the walking process of the seeder, the height of the seed-metering device is adjusted according to the real-time position of the seeder, so that seed waste is avoided; besides, the sowing machine is controlled to clean seeds by utilizing the alternate sowing time of the sowing machine in different cells, so that gene mixing in different breeding cells is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of corn sowing control, and more specifically to a corn automatic sowing control method. Background Art

[0002] In corn hybrid seed production and plot breeding experiments, the existing sowing equipment has low efficiency and unstable sowing quality. During the sowing process, there is a lack of reliable control method for the height of the seed meter, seeds are wasted in non-sowing areas, and in the sowing area, there is a risk of genetic mixing between different breeding plots. Summary of the invention

[0003] The invention provides a corn automatic sowing control method to solve the technical problems in the prior art.

[0004] In a first aspect, the present invention provides a control method for automatic corn sowing, which is performed by using a seeder capable of walking in a straight line and turning, the seeder being equipped with a seed meter that can be controlled to rise or fall; the seeder is communicatively connected to a navigation system capable of determining the real-time position of the seeder; the seeder is used to walk and sow in a plurality of square cell areas; a plurality of rows of sowing areas are pre-demarcated in each cell area; and a seed clearing area is pre-demarcated between adjacent cell blocks; the control method comprises:

[0005] Step S1, determining that one of the plurality of cell areas is a cell area to be sown;

[0006] Step S2: according to the to-be-sown cell area, determine the plot boundary of the cell area and the sowing route that can cover all the sowing areas in the cell area;

[0007] Step S3, controlling the seeder to move according to the sowing route;

[0008] Step S31, controlling the seeder to move along a straight line in one row of the sowing area, while the seed meter performs sowing operation;

[0009] Step S32: when the seeder leaves the sowing area of ​​the row, determining whether the route traveled by the seeder completely coincides with the preset sowing route;

[0010] If the judgment is yes, jump to step S5;

[0011] If the result is negative, the seeder is controlled to turn around along the sowing route and enter the next row sowing area, and continue to move in a straight line to sow;

[0012] Step S4, when the seeder moves in the sowing area, determining the height of the seed meter and the moving speed of the seeder according to the real-time position of the seeder and the boundary of the plot;

[0013] Step S5, controlling the seeder to enter a seed clearing area preset between adjacent cell areas;

[0014] Step S6, control the seeder to travel along the preset seed clearing route in the seed clearing area and perform seed clearing, and when the seeder reaches the end of the preset route, control the seeder to enter the next area to be sown, and repeat the above steps.

[0015] Optionally, in step S4, the calculation formula for the height of the seed meter is:

[0016]

[0017]

[0018] In the formula, H represents the preset maximum height of the seed meter, d represents the vertical distance of the real-time position of the seed meter in the current seeding area compared to the starting point of the plot boundary; D0 represents the preset safety distance, σ(z) is a smooth activation function; S is the gradient of the smooth function;

[0019] The method for determining the walking speed of the seed drill is:

[0020] If d<D0, the seeder moves at a preset first speed;

[0021] If d≥D0, the seeder moves at a preset second speed;

[0022] Among them, the first speed>the second speed.

[0023] Optionally, during the sowing operation, sowing is performed according to a preset sowing depth.

[0024] Optionally, when the seeder performs seed clearing operation in step S6, the seed meter is raised to a preset maximum height, the seed wheel is raised to the highest point and stops rotating, and the seed clearing motor runs and reverses F times to perform seed clearing.

[0025] Optionally, the width of the seed clearing area is 1 meter.

[0026] Optionally, after the real-time position of the seeder is determined to have entered the seed clearing area in step S6, the height of the seed meter is maintained at a preset maximum height.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention first controls the seeder to sow by a preset route, and during the walking process of the seeder, adjusts the height of the seed meter and the speed of the seeder according to the real-time position of the seeder to avoid seed waste. In addition, the present invention uses the alternating time of sowing between different cells and the seed clearing area preset between adjacent cells to control the seeder to clear the seeds, so as to avoid gene mixing between different breeding cells. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A schematic diagram showing the division of cell areas in the control method proposed in an embodiment of the present invention is shown;

[0031] Figure 2 A specific judgment flow chart of the control method proposed in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] The embodiment of the present application provides a method for controlling automatic corn sowing, which includes the following steps: using a seeder capable of walking in a straight line and turning, the seeder in this embodiment uses two front wheels as power wheels and rear wheels as steering wheels; and the speed difference between the front two wheels is used to calculate the tilting posture of the vehicle, thereby controlling the rotation angle of the rear wheels to maintain smooth driving. The seeder is equipped with a seeding device that can be controlled to rise or fall. When the seeder is sowing, the preset sowing depth is matched with the seeding wheel limiter to achieve accurate sowing depth.

[0034] The planter is communicatively connected to a navigation system capable of determining the real-time position of the planter; Figure 1 As shown, the seeder is used to walk and sow in a plurality of square cell areas; a plurality of rows of sowing areas are pre-demarcated in each cell area; the control method includes:

[0035] Step S1, determining that one of the plurality of cell areas is a cell area to be sown;

[0036] Step S2: according to the to-be-sown cell area, determine the plot boundary of the cell area and the sowing route that can cover all the sowing areas in the cell area;

[0037] Step S3, controlling the seeder to move according to the sowing route;

[0038] Step S31, controlling the seeder to move along a straight line in one row of the sowing area, while the seed meter performs sowing operation;

[0039] Step S32: when the planter reaches the sowing area that leaves the row, it is determined whether the route that the planter has traveled covers all the sowing areas.

[0040] If the judgment is yes, jump to step S5;

[0041] If the result is negative, the seeder is controlled to turn around along the sowing route and enter the next row of sowing area, and continue to move in a straight line to sow.

[0042] Step S4, during the movement of the seeder, determining the height of the seed meter according to the real-time position of the seeder and the boundary of the plot;

[0043] When the vehicle reaches the sowing area of ​​the plot, the seed meter will automatically drop according to the system instructions, and the depth and angle of the drop are preset to ensure accurate sowing. When the vehicle reaches the boundary of the plot or the non-sowing area, the system automatically lifts the seed meter to avoid seed waste.

[0044] When the seeding device is lifted to the preset maximum height of the limit, the seeding wheel usually stops supplying seeds or stops rotating. When the sensor detects that the seeding device performs an ascending action, the seeding wheel stops supplying seeds and stops rotating. When the sensor detects that the seeding device performs a descending action, the seeding wheel starts supplying seeds and starts rotating.

[0045] In step S4, the calculation formula for the height of the seed meter is:

[0046]

[0047]

[0048] In the formula, H represents the preset maximum height of the seed meter, d represents the vertical distance of the real-time position of the seed meter in the current seeding area compared to the starting point of the plot boundary; D0 represents the preset safety distance, σ(z) is a smooth activation function (such as Sigmoid function) used to control the smoothness of lifting or falling; S is the gradient of the smooth function, which is used to control the transition speed of lifting and falling;

[0049] The working principle of the above formula is: when the seed meter is in the sowing area: the real-time position of the seed meter is inside the sowing area, which means that d is less than D0. At this time, the value of the smoothing function σ is close to 0, so the height h of the seed meter is also close to 0, and the seed meter is close to the ground for sowing.

[0050] When d approaches D0, the seed meter gradually approaches the end point of the plot boundary in the walking direction of the current sowing area, and the value of the smoothing function gradually increases. At this time, the height h of the seed meter gradually increases until the seed meter is fully lifted to the maximum height H.

[0051] The smoothing function σ is used to control the smooth transition of the height to avoid the sudden lifting or falling of the seed meter. Specifically, when d is close to D0, the height of the seed meter will smoothly transition from 0 (sowing state) to H (lifting state).

[0052] In summary, when d>D0, the seeder enters the safe distance, and the height of the seeder needs to be raised according to the preset formula, and the height of the seeder h≈H.

[0053] When d≤D0, the height h of the seed meter approaches 0 and the seed meter falls.

[0054] The method for determining the travel speed of the seeder is as follows: if d<D0, the seeder travels at a preset first speed; if d≥D0, the seeder travels at a preset second speed. Wherein, the first speed>the second speed, after the seeder enters the preset safety distance, the seeder slows down to provide more sufficient time for the lifting of the seed meter, so as to avoid the seed meter going beyond the sowing area and still not reaching the preset maximum height, resulting in seed waste.

[0055] Step S5: If the traveled path of the seeder completely coincides with the preset sowing route, control the seeder to enter the seed clearing area;

[0056] Step S6, control the seeder to travel along the preset route in the seed clearing area and perform seed clearing, and when the seeder reaches the end of the preset route, control the seeder to enter the next area to be sown, and repeat the above steps.

[0057] When the seeder performs seed clearing operation in step S6, the seed meter is raised to a preset maximum height, the seed wheel is raised to the highest point and stops rotating, and the seed clearing motor is operated and reversed F times to perform seed clearing.

[0058] Under different working processes, the working modes of the seed clearing motor of the seed meter and the seed wheel are as follows:

[0059] Sowing state: When the seed meter is in the low position (sowing state), the seed wheel starts to rotate and continuously sows seeds into the soil. At this time, the seed cleaning motor is in the off state. During the lifting process, the seed wheel should stop rotating while the seed meter is lifted to prevent the seeds from continuing to be discharged. The seed cleaning motor starts after the seed meter is lifted to the seed cleaning height to clean up the residual seeds. After the seed cleaning is completed, the seed meter can be lowered to the new sowing height after the seed cleaning motor completes the cleaning, and it is ready to enter the next sowing area. At this time, the seed wheel will start to rotate again for a new sowing operation.

[0060] The number of flipping times for each plot varies according to different seed models and sizes. This needs to be input into the control panel in advance. After the seed meter enters the seed clearing area after sowing a plot, the seed meter automatically rises and maintains the maximum preset height H. The seed clearing area is usually a 1-meter gap reserved between adjacent plots.

[0061] The workflow of the present invention is as follows: after the distribution of the sowing area and the cell area is input into the control panel, the system automatically generates the sowing routes of each cell area and the seed clearing routes for transition between each cell. As shown in the figure, the sowing machine starts from the starting point and goes to cell No. 1. When the RTK system detects that the sowing machine enters the cell area, the sowing machine walks along the sowing route of the cell. When walking in the sowing area, the seed meter starts to descend and the trolley travels in a straight line. When the RTK system detects that the sowing machine leaves the current sowing area and gradually approaches the boundary of the plot of the cell, the seed meter rises to determine whether the path that the sowing machine has walked completely coincides with the sowing route of the cell; if not, the trolley starts to turn and continues to sow in the next sowing area. This process is repeated. When the path that the sowing machine has walked completely coincides with the sowing route of the cell, the sowing of breeding cell No. 1 is completed, and the trolley goes to breeding cell No. 2 along the preset seed clearing route between the two cells. When the trolley reaches the seed clearing line position (point A) in the seed clearing route, the trolley starts to clear the seeds to prevent seed mixing. After the seed clearing is completed, the vehicle continues to go to breeding plot No. 2 and repeats the steps of breeding plot No. 1. When all breeding plots are sown, the seeder returns.

[0062] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling automatic corn sowing, using a seeder capable of walking in a straight line and turning, the seeder being equipped with a seed meter capable of being controlled to rise or fall; the seeder being communicatively connected to a navigation system capable of determining the real-time position of the seeder; the seeder being used to walk and sow in a plurality of square cell areas; a plurality of rows of sowing areas being pre-demarcated in each cell area; and seed clearing areas being pre-demarcated between adjacent cell blocks; characterized in that: include: Step S1, determining that one of the plurality of cell areas is a cell area to be sown; Step S2: according to the to-be-sown cell area, determine the plot boundary of the cell area and the sowing route that can cover all the sowing areas in the cell area; Step S3, controlling the seeder to move according to the sowing route; Step S31, controlling the seeder to move along a straight line in one row of the sowing area, while the seed meter performs sowing operation; Step S32: when the seeder leaves the sowing area of ​​the row, determining whether the route traveled by the seeder completely coincides with the preset sowing route; If the judgment is yes, jump to step S5; If the result is negative, the seeder is controlled to turn around along the sowing route and enter the next row sowing area, and continue to move in a straight line to sow; Step S4, when the seeder moves in the sowing area, determining the height of the seed meter and the moving speed of the seeder according to the real-time position of the seeder and the boundary of the plot; Step S5, controlling the seeder to enter a seed clearing area preset between adjacent cell areas; Step S6, control the seeder to travel along the preset seed clearing route in the seed clearing area and perform seed clearing, and when the seeder reaches the end of the preset route, control the seeder to enter the next area to be sown, and repeat the above steps.

2. A corn automatic sowing control method according to claim 1, characterized in that: In step S4, the calculation formula for the height of the seed meter is: Where H represents the preset maximum height of the seed meter, d represents the vertical distance of the real-time position of the seed drill in the current seeding area compared to the starting point of the plot boundary; D0 represents the preset safety distance, σ is a smooth activation function; z represents the independent variable of σ; S is the gradient of the smooth function; The method for determining the walking speed of the seed drill is: If d<D0, the seeder moves at a preset first speed; If d≥D0, the seeder moves at a preset second speed; Among them, the first speed>the second speed.

3. A corn automatic sowing control method according to claim 2, characterized in that: During the sowing operation, sowing is performed according to a preset sowing depth.

4. The control method for automatic corn sowing according to claim 1, characterized in that: When the seeder performs seed clearing operation in step S6, the seed meter rises to a preset maximum height, the seed wheel rises to a preset highest point and stops rotating, and the seed clearing motor runs and reverses a preset number of times to perform seed clearing.

5. The method for controlling automatic corn sowing according to claim 1, characterized in that: The width of the seed clearing area is 1 meter.

6. A corn automatic sowing control method according to claim 5, characterized in that: After the real-time position of the seeder is determined to have entered the seed clearing area in step S6, the height of the seed meter is maintained at a preset maximum height.

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