Sowing control method based on planting pattern coordinate planning

Abstract

The invention provides a seeding control method based on planting pattern coordinate planning. The method comprises the following steps: delimiting the boundary of a farmland to be operated in a Beidou navigation electronic map, drawing a pattern planned to be planted in the farmland to be operated, generating pattern coordinates, and making a seeding plan; setting information acquisition and output frequencies of a navigation positioning system and a control system; generating coordinates of a to-be-operated path of the seeding machine, acquiring position coordinates of the single body when the seeding machine advances by utilizing the mathematical model, screening pattern coordinates, judging seed category selection and controlling a corresponding seed discharging motor to plant. By means of the method, efficient flower type crop planting can be achieved, accurate seeding of various crops in different pattern areas can be achieved, and fine and intelligent seeding is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent agricultural machinery and equipment, and in particular to a sowing control method based on planting pattern coordinate planning when multiple crops are sown simultaneously. Background Art

[0002] With the requirements of agricultural development that relies on, serves and adapts to cities, urban sightseeing agriculture is gradually emerging. The traditional patterned farmland crop planting mainly relies on manual labor, which generally adopts the method of drawing patterns first, then dividing crop areas, and finally manual sowing or transplanting. This may lead to uneven crop layout in the area and affect the appearance. With the development and application of seed drills, adding navigation and positioning systems, sensors, embedded development boards, etc. to the machine can realize the intelligent and refined operation of planting a variety of crops.

[0003] Reasonable planning of planting layout before sowing and accurate planting position during sowing are the basis for completing pattern planting, and being able to select the correct seeds for sowing at the predetermined position is an important factor affecting the aesthetics of the pattern. There are many prior arts that combine navigation systems to control sowing operations, such as patents CN202111003954.4, CN202111005778.8 and CN202322761223.7, etc., but there is no multi-crop sowing control technology that uses position coordinates for planning based on artificially set planting patterns. Summary of the invention

[0004] In view of the above description, the purpose of the present invention is to provide a general method for drawing a pattern to be planted according to the Beidou navigation system to achieve sowing control in the case of multi-crop sowing, thereby achieving efficient pattern crop planting.

[0005] A sowing control method based on planting pattern coordinate planning, comprising:

[0006] Step A: Delineate the boundaries of the farmland to be operated on the Beidou navigation electronic map;

[0007] Step B, draw a planned planting pattern in the farmland to be operated, generate pattern coordinates, and formulate a sowing plan;

[0008] Step C, setting the information collection and output frequency of the navigation positioning system and the control system;

[0009] Step D, generating the coordinates of the path to be operated by the seeder;

[0010] Step E: Use a mathematical model to obtain the position coordinates of the monomers when the seeder is moving, screen the pattern coordinates, determine the seed category selection and control the corresponding seeding motor.

[0011] In the present invention, a positioning system host computer is required to manually draw the farmland boundary, draw the pattern to be planted, and store the corresponding coordinates. Step A includes:

[0012] Step A1: Manually demarcate the farmland to be operated into n-gons, and set the actual distance of each straight line boundary to s. i (i=1,2……n), the coordinate point density is p i (i=1,2……n), must satisfy s i / p i ≥1cm, with the RTK positioning accuracy not exceeding that of the actual operation, the longitude and latitude coordinates obtained by the system are stored in [x fij ,y fij ](i=1,2...n; j=1,2...p i )middle;

[0013] Step A2: Tourism agriculture pursues aesthetics. To facilitate subsequent operations, m (m≤n) boundary vertices are selected to form a simple shape (such as a rectangle, trapezoid, etc.) as the actual operation range. Space for the seed drill to change rows needs to be reserved, so the actual operation range needs to be within the defined farmland boundary. The method in step A1 is also used to select points on each edge to obtain [x wij ,y wij ](i=1,2...m; j=1,2...p i );

[0014] Step B includes:

[0015] Step B1: Draw the planned planting pattern within the simple farmland shape obtained in step A2, manually draw the boundary of the pattern and set it as an r-gon, and obtain the coordinates of each boundary [x pij ,y pij ](i=1,2...r; j=1,2...p i );

[0016] Step B2: formulate a corresponding sowing plan, label and number the seed types to be sown in each operation row, record them as a, b, c, etc., set the initial sowing type for the seeds sown in general, record them as Seed0, and plan label numbers for the seeds to be sown in different patterns, i.e. Seed i (i is a, b, c...), which is used as the basis for subsequent motor control;

[0017] In step D, the control system generates the point coordinates of the path to be operated in the following manner:

[0018] Step D1, select an edge of the simplified m-gon as the starting cutting edge of the seeder operation, take the direction of one of its adjacent edges as the reference direction α of the operation, set the initial coordinate point (x0, y0) when the machine cuts in, and when the width of the operation is known, set the turning form of the field to an arc shape, and the distance between the most side rows of the seeder between two adjacent straight line operations must be the crop planting row spacing, set t as the number of round trips of the seeder operation, and the value of t is the ratio of the length of the farmland perpendicular to the α direction to the width. After completion, generate a reference direction with α as the reference direction, "width + 1 times the row spacing" as the horizontal spacing, and p as the row spacing. s is the straight line travel coordinate point set [x sij ,y sij ](i=1,2...t; j=1,2...p s ), set the upper limit of the coordinate density on the turning arc to p r Here, the arc is regarded as the fitting of a short straight line, and the arc travel coordinates [x rij ,y rij ](i=1,2...t-1; j=1,2...p r ), the arc travel coordinate set is also applicable to non-straight line operations under certain conditions;

[0019] Step D2, generating the expected travel coordinates of the working row: Assume that the seeder is a u-row seeder, guided by the working reference direction α, and based on the planting row spacing, generate a density upper limit of p for each working row. a The coordinates of aij ,y aij ] α (i=1,2...t·u; j=1,2...p a ), this coordinate is understood as: the expected position range of each sowing unit operation;

[0020] Step E includes:

[0021] Step E1: Conversion of relative position between seeding position and Beidou positioning antenna:

[0022]

[0023] Here, it is assumed that the Beidou positioning antenna is installed on the tractor. u is the distance between the seeding position of the uth row and the Beidou positioning antenna, L is the longitudinal distance between the Beidou positioning antenna and the seeding position, and D u is the lateral distance between the seeding position and the positioning antenna;

[0024] In a coordinate system where due north and due east are the x and y axes, clockwise is considered positive:

[0025]

[0026] or

[0027]

[0028] β0 is the angle between the tractor's driving direction and the true north direction, 0°≤β0<360°; the above two calculation formulas are applicable to the seed meter located on the left and right of the central axis of the seeder, β u It is the angle between the line connecting the seeding position and the Beidou positioning antenna and the x-axis;

[0029] The coordinates of the seeding position are [x sowij ,y sowij ], by [x sij ,y sij ] and [x rij ,y rij ] can be calculated as:

[0030] (1) When driving in a straight line:

[0031] x sowij =x sij ±d u ·cosβ u

[0032] y sowij =y sij ±d u ·sinβ u

[0033] At this time, i=1,2……t·u;j=1,2……p s ;

[0034] (2) When turning:

[0035] x sowij =x rij ±d u ·cosβ u

[0036] y sowij =y rij ±d u ·sinβ u

[0037] At this time, i=1,2……(t-1)·u;j=1,2……p r ;

[0038] The seeding position coordinates here should be understood as: the position range of each sowing unit when the seeder is actually working; [x sowij ,y sowij ] and [x aij ,y aij] have the same function, which is a coordinate set guiding the operation of the single planter.

[0039] Step E2: Coordinate screening of the planned planting pattern: according to [x aij ,y aij ] α Generate plot division lines, and for each planting row generate:

[0040]

[0041] The straight line and [x pij ,y pij ] for comparison, retain the points on the straight line, and project the point closest to the straight line vertically onto the straight line as the comparison point, recorded as [x cij ,y cij ] (i=1,2...t·u; j=1,2...p e ), where p e In order to retain the sum of the number of points on the straight line and the number of points projected onto the straight line, only symbols are used without range restrictions. Combined with the sowing plan formulated in step B2, the same type of seeds should be planted between every two adjacent points;

[0042] Step E3, different seed categories judgment selection: focus on [x sowij ,y sowij ] and [x cij ,y cij ], compare the planting boundaries between different crops, and use the critical coordinates as the basis for controlling the seeding motor of a certain crop, that is, to determine the planting boundary between (x sowi+1，j+1 -x sowi，j ,y sowi+1，j+1 -y sowi，j ) direction, (x c ,y c ) and (x sow ,y sow ), that is, to judge:

[0043] U (xc，yc) ∩U (xsow，ysow) =U (xsow，ysow)

[0044] Is it true? If true, it means the job has entered the pattern range, and seed selection and motor control operations should be performed at this time;

[0045] Step E4, control strategy for seeding motors of different crops: On the same operation row, the ends of q seeding devices share a seeding tube. Under normal operation conditions, only one seeding device motor rotates in all operation rows. After reaching the planting limit, the control system performs Boolean operations:

[0046] Seed line ∩Seedi =1

[0047] Seed in the formula line For the seed category of each sowing row, determine the next sowing plan, that is, determine the seed category corresponding to the next step, and select the corresponding motor for rotation control.

[0048] The present invention requires the installation of a Beidou navigation and positioning antenna on the seeder and the configuration of RTK positioning to obtain the position during operation in real time; the navigation and positioning system and the motor of each seeding disk need to communicate with the control system to achieve real-time control; the coordinate information collection and transmission frequency of the navigation and positioning system and the output frequency of the control system are set to high frequency.

[0049] The beneficial technical effects of the present invention are as follows: with multi-crop sowing as the goal, a method based on the Beidou navigation system and graphic planning is used to define the farmland boundary, draw the planting pattern, set the system parameters, generate the operation path and use the mathematical model to control the seeding motor, so as to provide a general sowing control method, which can realize efficient pattern crop planting. With the sowing machine operation as the object, a precise seeding control scheme is provided by using methods such as the relative position conversion between the seeding position and the Beidou positioning antenna, the generation of the expected travel coordinates of the operation row, the pattern coordinate screening, the determination of different crop seeding conditions and the seeding motor control strategy, which can realize the accurate sowing of multiple crops in different pattern areas and ensure the refinement and intelligence of sowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A flow chart for realizing multi-crop pattern planting in the present invention;

[0051] Figure 2 A schematic diagram of demarcating farmland boundaries and actual operation range in an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of a planned planting pattern and a corresponding sowing plan in an embodiment of the present invention;

[0053] Figure 4 A schematic diagram of operation path generation and pattern coordinate screening in an embodiment of the present invention;

[0054] Figure 5 Schematic diagram of seed category selection and motor control strategy in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0056] like Figure 1As shown in the figure, to realize multi-crop pattern planting, you first need to prepare the farmland pattern: the first step is to draw the farmland boundary, manually divide the farmland to be operated into n-gons, and set the actual distance of each straight line boundary to s i And the coordinate point density is p i , store the obtained latitude and longitude coordinates in [x fij ,y fij ], then draw the actual operation range within the farmland boundary, select m boundary vertices to draw a simple shape, and reserve space for the planter to change rows at the end of the field. Use the same method to select points to obtain [x wij ,y wij ], then draw the planting pattern range within the actual operation range, manually draw the pattern boundary and take points to obtain [x pij ,y pij ], and finally, number the seed category to be sown for each operation row, formulate a seed sowing plan, and record the label as Seed i ; The second is the operation path preparation: within the actual operation range, according to the machine operation width and planting row spacing requirements, generate the straight and turning path coordinates of the planter and store them as [x sij ,y sij ] and [x rij ,y rij ], and then generate the preset path coordinates of each sowing unit according to the row spacing requirements and store them as [x aij ,y aij ] α , and then according to

[0057]

[0058]

[0059]

[0060] x sowij =x sij ±d u ·cosβ u

[0061] y sowij =y sij ±d u ·sinβ u

[0062] x sowij =x rij ±d u ·cosβ u

[0063] y sowij =y rij ±d u·sinβ u

[0064] The actual operation path coordinates of each sowing unit are calculated by the formula and stored as the coordinate set [x sowij ,y sowij ], and finally based on [x aij ,y aij ] α The fitting straight line

[0065]

[0066] For [x pij ,y pij ] to be retained or processed and stored as [x cij ,y cij ], and then compare it with [x sowij ,y sowij ] Relationship judgment; actual operation process: in satisfying

[0067] U (xc，yc) ∩U (xsow，ysow) =U (xsow，ysow)

[0068] Under the premise that [x cij ,y cij ] range, through

[0069] Seed line ∩Seed i =1

[0070] Select seed categories and control corresponding motors to achieve planting of multiple crop patterns.

[0071] like Figure 2 As shown in the figure, the dotted line is the demarcated farmland boundary, for example, an octagon, each side generates coordinate points with a density of p, and the actual distance of the side length s ÷ the density of the coordinate points p is greater than or equal to 1cm, in order to meet the accuracy requirements of RTK centimeter-level positioning, the generated coordinates are stored in [x fij ,y fij ]; the solid rectangle in the figure is a simple figure drawn to take into account the aesthetic needs of sightseeing agriculture. As the background, the coordinate points of p density are also taken on the edge of the rectangle and stored in [x wij ,y wij In addition, the space reserved in the two areas must meet the needs of the seeder's turning operation.

[0072] Figure 3 In the example, star-shaped and crescent-shaped patterns are drawn within the rectangular farmland operation range. For the pattern boundary, the coordinate points are obtained in the same way as above and stored in [x pij ,ypij ] The black points in the figure are these coordinate points; plan the types of seeds that need to be sown in each operation part, such as the large background marked as Seed a , the star is the Seed b , the crescent shape is Seed c The three areas correspond to different crop seeds, providing a basis for subsequent precise sowing.

[0073] Figure 4 The process of generating the working path and selecting the pattern coordinates is shown in the figure. The double-dotted line is the driving path of the seeder. The seeder cuts in from (x0, y0), takes the edge direction angle α as the reference, and uses the working width + row spacing as the lateral interval to generate the straight line driving coordinate point set [x sij ,y sij ], and also generates [x rij ,y rij ], the turning arc is regarded as a multiple short straight line fitting, and the black frame gray filled mark points on the double dotted line in the figure are these coordinates; similarly, with α as the guide and the row spacing as the horizontal interval, the expected operation position range of the sowing unit is generated, which is recorded as [x aij ,y aij ], the white bars in the figure are crop rows, and the gray points are these coordinates; combined with the machine's forward direction, d u and β u After the conversion between the sowing position of the sowing unit and the relative position of the Beidou positioning antenna is completed, the coordinate set [x sowij ,y sowij ], the black hollow points in the figure are these coordinates; according to

[0074]

[0075] Divide the planting row into straight lines and keep the [x pij ,y pij ], and for the closest [x pij ,y pij ] to perform a vertical projection onto the line, stored as the coordinate set [x cij ,y cij ], the white circles in the figure show the above two operations, [x pij ,y pij ]The point on the straight line after processing is [x cij ,y cij ]; Taking the crescent pattern in the figure as an example, the left planting row dividing line passes through the upper and lower parts of the crescent. During the operation, the two (x c ,y c ) must exist between

[0076] U (xc，yc) ∩U (xsow，ysow) =U (xsow，ysow) The case of two (x c ,y c ) includes the seeding operation coordinate set. In this case, the seed category should be switched for sowing, which is the Seed mentioned above. a Switch to Seed c .

[0077] Figure 5 The seed category selection and motor control strategy are explained. On the same operation row, multiple seeding devices share a seeding tube at the end, and generally only one seeding device motor rotates.

[0078] U (xc，yc) ∩U (xsow，ysow) =U (xsow，ysow)

[0079] If it is true, it means that you have entered the pattern operation area. According to the predetermined sowing plan, identify which seed is here, that is, judge the Seed line With which Seed i The result of the Boolean intersection operation is 1. If it is Seed b , then the seeding motor of type B works, and delivers seeds to the seeding tube to sow type B. c , then the seeding motor of type c will work, transporting seeds to the seeding tube to sow type c, and so on... When each motor is operating, the other motors are in a stagnant state. (xc，yc) ∩U (xsow，ysow) ≠U (xsow，ysow) When , we return to the initial seeding category, i.e. Seed a Big background sowing category.

[0080] This embodiment is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A sowing control method based on planting pattern coordinate planning, comprising: Step A: Delineate the boundaries of the farmland to be operated on the Beidou navigation electronic map; Step B, draw a planned planting pattern in the farmland to be operated, generate pattern coordinates, and formulate a sowing plan; Step C, setting the information collection and output frequency of the navigation positioning system and the control system; Step D, generating the coordinates of the path to be operated by the seeder; Step E: Use a mathematical model to obtain the position coordinates of the monomers when the seeder is moving, screen the pattern coordinates, determine the seed category, and control the corresponding seeding motor for planting.

2. A sowing control method based on planting pattern coordinate planning according to claim 1, characterized in that: The step A comprises: Step A1: Manually demarcate the farmland to be operated in the Beidou navigation system into n-gons, and set the actual distance of each straight line boundary to s. i (i=1,2……n), the coordinate point density is p i (i=1,2……n), must satisfy s i / p i ≥1cm, with the RTK positioning accuracy not exceeding that of the actual operation, the longitude and latitude coordinates obtained by the system are stored in [x fij ,y fij ](i=1,2...n; j=1,2...p i )middle; Step A2: Select m (m≤n) boundary vertices to form a simple shape as the actual operation range. The actual operation range must be within the defined farmland boundary. Use the method in step A1 to select points on each edge to obtain [x wij ,y wij ] (i=1,2...m; j=1,2...p i ).

3. A sowing control method based on planting pattern coordinate planning according to claim 2, characterized in that: The step B comprises: Step B1: Draw the planned planting pattern within the simple farmland shape obtained in step A2, manually draw the boundary of the pattern and set it as an r-gon, and obtain the coordinates of each boundary [x pij ,y pij ] (i=1,2...r; j=1,2...p i ); Step B2: formulate a corresponding sowing plan, label and number the seed types to be sown in each operation row, record them as a, b, c, etc., set the initial sowing type for the seeds sown in general, record them as Seed0, and plan label numbers for the seeds to be sown in different patterns, i.e. Seed i (i is a, b, c...).

4. A sowing control method based on planting pattern coordinate planning according to claim 3, characterized in that: The step D comprises: Step D1, select an edge of the simplified m-gon as the starting cutting edge of the seeder operation, take the direction of one of its adjacent edges as the reference direction α of the operation, set the initial coordinate point (x0, y0) when the machine cuts in the operation, and when the operation width is known, set the field head turning form to an arc shape, and the distance between the two adjacent straight line operations of the seeder is the crop planting row spacing, set t as the number of round trips of the seeder operation, and the value of t is the ratio of the length of the farmland perpendicular to the α direction to the width. After completion, generate a reference direction with α as the reference direction, "width + 1 times row spacing" as the horizontal spacing, and p as the width. s is the straight line travel coordinate point set [x sij ,y sij ](i=1,2...t; j=1,2...p s ), set the upper limit of the coordinate density on the turning arc to p r Here, the arc is regarded as the fitting of a short straight line, and the arc travel coordinates [x rij ,y rij ](i=1,2...t-1; j=1,2...p r ), the arc travel coordinate set is also applicable to non-straight line operations under certain conditions; Step D2: Assume that the seeder is a u-row seeder, and take the operation reference direction α as the guide. According to the row spacing of planting, the density upper limit for each operation row is generated as p a The coordinates of aij ,y aij ] α (i=1,2...t·u; j=1,2...p a ).

5. A sowing control method based on planting pattern coordinate planning according to claim 4, characterized in that: The step E comprises: Step E1: Conversion of relative position between seeding position and Beidou positioning antenna: Here, it is assumed that the Beidou positioning antenna is installed on the tractor. u is the distance between the seeding position of the uth row and the Beidou positioning antenna, L is the longitudinal distance between the Beidou positioning antenna and the seeding position, and D u is the lateral distance between the seeding position and the positioning antenna; In a coordinate system where due north and due east are the x and y axes, clockwise is considered positive: or β0 is the angle between the tractor's driving direction and the true north direction, 0°≤β0<360°; the above two calculation formulas are applicable to the seed meter located on the left and right of the central axis of the seeder, β u It is the angle between the line connecting the seeding position and the Beidou positioning antenna and the x-axis; The coordinates of the seeding position are [x sowij ,y sowij ], by [x sij ,y sij ] and [x rij ,y rij ] can be calculated as: (1) When driving in a straight line: x sowij =x sij ±d u ·cosβ u y sowij =y sij ±d u ·sinβ u At this time, i=1,2……t·u;j=1,2……p s ; (2) When turning: x sowij =x rij ±d u ·cosβ u y sowij =y rij ±d u ·sinβ u At this time, i=1,2……(t-1)·u;j=1,2……p r ; Step E2: According to [x aij ,y aij ] α Generate plot division lines, and for each planting row generate: The straight line and [x pij ,y pij ] for comparison, retain the points on the straight line, and project the point closest to the straight line vertically onto the straight line as the comparison point, recorded as [x cij ,y cij ] (i=1,2...t·u; j=1,2...p e ), where p e In order to retain the sum of the number of points on the straight line and the number of points projected onto the straight line, only symbols are used without range restrictions. Combined with the sowing plan formulated in step B2, the same type of seeds should be planted between every two adjacent points; Step E3, different seed categories judgment selection: focus on [x sowij ,y sowij ] and [x cij ,y cij ], compare the planting boundaries between different crops, and use the critical coordinates as the basis for controlling the seeding motor of a certain crop, that is, to determine the planting boundary between (x sowi+1，j+1 -x sowi，j ,y sowi+1，j+1 -y sowi，j ) direction, (x c ,y c ) and (x sow ,y sow ), that is, to judge: IN (xc，yc) ∩U (xsow，ysow) =U (xsow，ysow) Is it true? If true, it means the job has entered the pattern range, and seed selection and motor control operations should be performed at this time; Step E4: On the same operation row, the ends of q seeding devices share a seeding tube. Under normal operation conditions, only one seeding device motor rotates in all operation rows. After reaching the planting limit, the control system performs Boolean operations: Seed line ∩Seed i =1 Seed in the formula line For the seed category of each sowing row, determine the next sowing plan, that is, determine the seed category corresponding to the next step, and select the corresponding motor for rotation control.

6. A sowing control method based on planting pattern coordinate planning according to claim 1, characterized in that: Install a Beidou navigation and positioning antenna on the seeder and configure RTK positioning to obtain the real-time position during operation; the navigation and positioning system and the motor of each seed disc need to communicate with the control system to achieve real-time control.

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