Radar speed measurement-based intelligent precision seeding control system for both rape and wheat

Abstract

The invention discloses a radar speed measurement-based intelligent precision seeding control system for both rape and wheat. The system comprises an airborne central controller, a man-machine interaction device, a working speed detector, a working state self-detector, a seeding controller and a power supply module. The airborne central controller is used for receiving and processing data and sending corresponding control signals; the man-machine interaction device is used for carrying out man-machine information interaction; the operation speed detector is used for detecting the operation speed of the seeder in real time; the working state self-detector is used for detecting the working state of the seeder in real time; the seeding controller is used for driving a seeding mechanism mounted on the seeding machine to execute seeding operation according to set seeding parameters; and the power supply module is used for supplying power to each electric device of the control system and carrying out overvoltage and overcurrent protection. The seeding control system provided by the invention is high in intelligent degree, simple and convenient to operate and convenient to expand, and can realize the functions of identifying and reminding the working state of the seeding machine, stopping seeding in a non-working state, and performing speed-following precision seeding on the rape and the wheat.

Description

Technical Field

[0001] The invention belongs to the field of automation and intelligence of agricultural machinery, and specifically relates to an intelligent precision sowing control system for both oilseed and wheat based on radar speed measurement. Background Art

[0002] Rapeseed and wheat are important oil crops in China and major winter crops in southern China. The sowing periods of the two are adjacent and the mechanized sowing processes are similar. The development of precision seeders for both oil and wheat is of great significance for ensuring national grain and oil security and reducing the probability of abandonment of fallow fields in southern China during winter.

[0003] The quality of machine sowing is the key to affecting the quality of seedlings and crop yield. The quality of machine sowing of the oil and wheat dual-purpose precision seeder is mainly determined by the dual-purpose of the seeding device for oil and wheat and the accuracy of the seeding amount of the seeder. Among them, based on structural optimization design, direct motor drive and pneumatic assisted seeding, the current research has basically achieved stable seeding and precise stepless adjustment of the seeding device for rapeseed and wheat; but in the actual machine sowing operation, the existing seeders mostly use open-loop motor direct drive and mechanical fan airflow supply. Affected by factors such as the change in the operating speed of the machine and the limitation of the working principle of the fan, there are still problems such as the seeding speed cannot be adjusted with the speed and the airflow supply is delayed and redundant, resulting in a large error between the actual sowing amount of the seeder and the theoretical required sowing amount. At the same time, due to the different operating states of the seeder during field operation, such as loading, transporting, sowing, turning, and unloading, the start and stop and operation sequence of the existing sowing mechanism drive electrical components need to be manually adjusted by the driver. The operation operation is cumbersome and the probability of misoperation is high, which greatly limits the operation efficiency of the oil and wheat dual-purpose precision seeder. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide an intelligent precision sowing control system for both rapeseed and wheat, which has optional rapeseed and wheat sowing types, greatly adjustable sowing amount per mu, and can automatically and intelligently control the operating state of the sowing mechanism driving electrical components according to the operating state of the seeder and accurately and dynamically adjust the sowing amount according to the operating speed.

[0005] An intelligent precision seeding control system for oil and wheat based on radar speed measurement, comprising an onboard central controller, a human-machine interface, an operation speed detector, a working state self-checker, a seeding controller and a power module;

[0006] The airborne central controller is a control system information receiving, processing and sending center; it is used to receive and process the operation parameter information transmitted from each signal input or collector, including the seed type and required per-acre sowing amount input by the human-machine interface, the real-time operation speed of the seeder input by the operation speed detector, and the real-time working state of the seeder input by the working state self-test device; it is also used to determine the real-time working state of the seeder through the real-time working state and operation speed value of the seeder, and control the start and stop of the sowing controller according to the real-time working state of the seeder. When the sowing controller is in a normal working state, the sowing rate of the sowing mechanism is calculated according to the real-time operation speed of the seeder and the required per-acre sowing amount, and then the motor speed of the sowing mechanism is determined according to the corresponding seed type model, and the corresponding control signal is generated to drive the sowing controller and control the human-machine interface to display the corresponding operation state information;

[0007] The human-machine interface is used for human-machine information interaction, and communicates with the onboard central controller by wired or wireless means. The human-machine interface is equipped with system start and stop, seed type selection, per-acre sowing amount input, silo loading and residual material discharge tabs, and can display the operating condition information including the working status and operating speed of the machine in real time, thereby realizing information interaction between the control system and the user;

[0008] The operating speed detector is used to detect the operating speed of the seed drill in real time. The operating speed detector is used to detect the real-time operating speed of the seed drill using a speed sensor and transmit the speed detection value to the onboard central controller;

[0009] The working state self-detector is used to detect the real-time working state of the seed drill, and uses a multi-degree-of-freedom attitude sensor to detect the lifting direction angle value of the seed drill in real time, and transmits the lifting direction angle detection value of the seed drill as the real-time working state of the seed drill to the onboard central controller;

[0010] The sowing controller is connected to the sowing mechanism through a motor, and controls the motor to drive the sowing mechanism installed on the sowing machine to perform sowing operations according to the set sowing parameters;

[0011] The power supply module supplies power to various electrical components of the control system and performs overvoltage and overcurrent protection.

[0012] Furthermore, the human-machine interface uses a touch screen, a mobile phone or a tablet, and only transmits character string data with the onboard central controller.

[0013] Furthermore, the human-machine interactor exchanges information with the user through a human-machine interface, which has multiple task tabs. By selecting different tabs, the human-machine interactor can send corresponding string data to the onboard central controller, and the onboard central controller parses the data and responds to user needs.

[0014] Furthermore, the operating speed detector adopts a non-contact speed measuring radar, and the non-contact speed measuring radar is installed on the seeder, and the installation angle is fixed to the seed bed surface.

[0015] Furthermore, the method by which the onboard central controller detects the operating status of the seed drill is:

[0016] When the seeder is in the lifted state, if the operating speed of the seeder is 0, it is determined to be in the unloading state; if the operating speed of the seeder is greater than 0, it is determined to be in the moving state;

[0017] When the seeder is in the lowered state, if the operating speed of the seeder is 0, it is determined to be in the loading state; if the operating speed of the seeder is greater than 0, it is determined to be in the sowing state.

[0018] Furthermore, the onboard central controller is used to control the seeding controller using a corresponding driving strategy according to the real-time operation status of the seeding machine, specifically:

[0019] When in the unloading state, the sowing controller motor is controlled to run at a specified constant speed;

[0020] When in the transport state: control the sowing controller motor to the forced stop state;

[0021] When in the feeding state: control the sowing controller motor to the forced stop state;

[0022] When in the sowing state: the sowing rate of the sowing mechanism is calculated according to the real-time operating speed of the seeder and the required sowing amount per mu, and then the motor speed of the sowing mechanism is determined according to the corresponding seed type model.

[0023] Furthermore, the onboard central controller calculates the sowing rate Q of the sowing mechanism according to the real-time operating speed of the seeder and the required sowing amount per mu as follows:

[0024]

[0025] Where:

[0026] M is the sowing rate per mu input by the human-computer interface, kg / hm 2 ; B is the working width of the seeder, m; V is the working speed of the seeder at the current moment, km / h;

[0027] Furthermore, V is obtained by filtering the detection value of the planter operation speed at each moment using the sliding filter algorithm, and the filtering formula is:

[0028]

[0029] Where: N is the number of consecutive moments of the preset sliding filter window.

[0030] Furthermore, the method in which the onboard central controller determines the motor speed of the sowing mechanism according to the corresponding seed type model is to determine the motor speed R according to the following formula:

[0031] R=a·Q 2 +b·Q+c

[0032] Where:

[0033] R is the motor speed, r / min; Q is the sowing rate of the sowing mechanism, g / min; a is the coefficient of the quadratic term of the model; b is the coefficient of the linear term of the model; c is the constant term of the model;

[0034] When the seed type is wheat, a=9E-07, b=0.0056, c=5.404, and when the seed type is rapeseed, a=0.0002, b=0.1789, c=0.3468.

[0035] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0036] 1. The modular programming and hardware assembly method, combined with RS485 / CAN bus communication, has strong system compatibility and expandability, which helps users to expand and develop according to their specific needs;

[0037] 2. Compatible with precision sowing of different crops such as rapeseed and wheat, one machine can be used for multiple purposes, with wide applicability, and better achieve the purpose of cost saving and efficiency improvement;

[0038] 3. High degree of intelligence and easy operation. Users can specify the sowing seeds and sowing amount through the human-computer interface, and the system will automatically and intelligently control the operation logic of the sowing controller. Regardless of the speed of the vehicle, precise sowing can be achieved, reducing the need for manual operation, improving production efficiency, and contributing to further market promotion.

[0039] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The system hardware composition of the present invention;

[0041] Figure 2 It is the program execution process of the precision broadcast control system;

[0042] Figure 3 This is the field operation map of the precision seeding control system;

[0043] Figure 4 This is a data fitting diagram of seeding motor speed-seeding device displacement obtained using a test bench with wheat as the test seed;

[0044] Figure 5This is a data fitting diagram of the seeding motor speed-seeding device displacement obtained using a test bench with rapeseed as the test seed.

[0045] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0046] 1. Airborne central controller, 2. Human-machine interface, 3. Seeding controller, 4. Power module, 5. Power bus, 6. Signal bus, 7. Working status self-test device, 8. Operation speed detector. DETAILED DESCRIPTION

[0047] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0048] In the description of the present invention, it should be noted that the terms "upper", "lower", "vertical", "horizontal", "middle", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation" and the like should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Reference Figure 1In one embodiment of the present invention, the intelligent precision sowing control system for both oil and wheat includes an onboard central controller 1, a human-machine interface 2, an operating speed detector 8, a working status self-detector 7, a sowing controller 3, and a power module 4; the onboard central controller 1 is the information receiving, processing and sending center of the control system; the human-machine interface 2 is used for human-machine information interaction; the operating speed detector 8 is used to detect the operating speed of the seeder in real time; the working status self-detector 7 is used to detect the working status of the seeder in real time; the sowing controller 3 is used to drive and control the motor and fan required for sowing of an air-transported oil and wheat sowing device, thereby controlling the sowing amount; the power module 4 is used to supply power to various electrical components of the control system and perform overvoltage and overcurrent protection.

[0053] In this embodiment, the onboard central controller 1 is used to receive and process the operation parameter information transmitted by each signal input / collector, and output corresponding control signals using different operation logics according to specific operation parameter values, drive the sowing controller 3 to work and control the human-machine interface 2 to display the corresponding operation condition information, and the terminal onboard central controller 1 and the human-machine interface 2 use TTL serial communication. Preferably, the onboard central controller 1 is a single-chip microcomputer of the STM32ZET6 model.

[0054] In this embodiment, the human-machine interface of the human-machine interface 2 is equipped with tabs such as system start and stop, sowing seed type selection, sowing agronomic requirement parameter input, and one-key loading / unloading, and can display the machine operation speed, working status and other operation condition information in real time, thereby realizing information interaction between the system and the user. Preferably, the human-machine interface 2 is a touch screen.

[0055] In this embodiment, the operating speed detector 8 uses a speed sensor to detect the operating speed of the planter in real time, and transmits the detected speed value to the onboard central controller 1 through RS485 bus communication, and then the onboard central controller 1 transmits it to the human-machine interface 2 for real-time display. Preferably, the operating speed detector 8 uses a non-contact radar speed sensor for leveling the seed bed after tillage. After verifying its speed measurement accuracy through bench and field tests, it can be obtained that when the radar installation angle is the optimal value, the error between its actual speed measurement value and the theoretical operating speed value of the planter is less than 2%, and the speed measurement solution is "light, simple, and accurate".

[0056] In this embodiment, the working state self-detector 7 uses a dual-axis tilt sensor to detect the angle value of the lifting direction of the seed drill in real time, and transmits the detected speed value to the onboard central controller 1 through the RS485 bus communication mode, and then the onboard central controller 1 transmits it to the human-machine interactive device 2 for real-time display. The onboard central controller 1 can determine the working state of the seed drill by comparing the lifting / lowering state of the machine and the operating speed value. If the seed drill is lifted and the operating speed is 0, it is the unloading state of the seed drill; if the seed drill is lifted and the operating speed is greater than 0, it is the moving state; if the seed drill is put down and the operating speed is 0, it is the loading state; if the seed drill is put down and the operating speed is greater than 0, it is the sowing state.

[0057] In this embodiment, the sowing control module 3 includes an air-conveying seeding device for both oil and wheat, a 12V DC seeding motor, a motor controller, a 12V DC electric fan, and a fan driver, wherein: the motor controller is used to drive and control the motor speed; the fan driver is used to drive and control the airflow pressure and flow rate of the fan output; the seeding motor is used to drive the seeding components inside the seeding device to rotate; the electric fan is used to supply the airflow required for seeding to the seeding device. The onboard central controller 1 sends a driving electrical signal with corresponding operating logic to the motor controller and the fan driver according to different operating states of the seeding machine, thereby realizing precise speed-dependent regulation of the seeding amount of the seeding machine.

[0058] In this embodiment, the power module 4 includes an external power supply, a voltage reducer / stabilizer, and an overvoltage / overcurrent protector, which is used to provide stable power supply to various electrical components of the control system and perform overvoltage and overcurrent protection. Preferably, the external power supply is a tractor battery or an independent battery pack, and the input voltage passes through the power module 4 to provide a 12V DC stable voltage for the system.

[0059] In this embodiment, the precision sowing control system is applied to a sowing system, which includes a tractor and a seeder, wherein the tractor tows the seeder, the power module 4 is externally connected to the tractor battery, the onboard central controller 1 and the human-computer interface 2 are installed in the tractor cab, and the sowing control module 3, the operating speed detector 8, and the working status self-test device 7 are installed on the seeder.

[0060] In this embodiment, the precision sowing control system drives and controls the operation logic of the sowing control module 3 according to the working state of the seeder: 1) In the unloading state, the fan is started at a fixed value and runs for a given response time, and then the motor is started at a fixed value until all the remaining materials are discharged; 2) In the moving state, the fan is started according to the corresponding value of the oil wheat sowing condition, and the motor is stopped, so as to start sowing when the seeding machine is ready to be put down at any time; 3) In the loading state, the fan and the motor are forced to stop to prevent accidental operation and injury; 4) In the sowing state, the fan has been started in the moving / turning state, and the sowing rate of the sowing mechanism is calculated according to the real-time operating speed of the seeder and the required sowing amount per mu, and then the sowing mechanism motor speed is determined according to the corresponding seed type model;

[0061] The airborne central controller calculates the sowing rate Q of the sowing mechanism according to the real-time operating speed of the seeder and the required sowing rate per mu. The mathematical model is:

[0062]

[0063] Where:

[0064] M is the sowing rate per mu input by the human-computer interface, kg / hm 2 ; B is the working width of the seeder, m; V is the working speed of the seeder at the current moment, km / h;

[0065] V is obtained by filtering the detection value of the planter operation speed at each moment using the sliding filter algorithm. The filtering formula is:

[0066]

[0067] Where: N is the number of consecutive moments of the preset sliding filter window.

[0068] In order to obtain the mathematical model of the seeding rate of the seeding mechanism with the air-transported seeding device for both oilseed and wheat as the core, a bench test of the seeding motor speed-seeding device displacement was carried out with rapeseed and wheat as the test seeds. In the rapeseed test, the seeding motor speed range was 5-30r / min, and the seeding rate of the seeding device at each speed was measured at intervals of 5r / min. The test results are shown in the figure. Figure 4 As shown in the figure, the mathematical model of rapeseed sowing rate is:

[0069] R=0.0002Q1 2 +0.1789Q1+0.3468

[0070] Where:

[0071] R——motor speed, r / min;

[0072] Q1——Rapeseed sowing rate of sowing mechanism, g / min;

[0073] In the wheat test, the speed range of the seeding motor was 20-45 r / min, and the seeding rate of the seeding device at each speed was measured at intervals of 5 r / min. The test results are as follows: Figure 5 As shown in the figure, the mathematical model of wheat sowing rate is:

[0074] R = 9 × 10 -7 Q2 2 +0.0056Q2+5.404

[0075] Where:

[0076] R——motor speed, r / min;

[0077] Q2——wheat sowing rate of sowing mechanism, g / min;

[0078] Reference Figure 2 In this embodiment, the seed drill starts sowing in the following steps:

[0079] Step 1: The user starts the system on the human-machine interface 2, selects the sowing seed type and sowing amount per mu, and sends it to the onboard central controller 1 through the serial port communication method;

[0080] Step 2: The onboard central controller 1 generates a mathematical model of corresponding seeding motor speed-sowing amount according to the sowing agronomic parameters received from the human-machine interface 2;

[0081] Step 3: The working status self-detector 7 detects the lifting and lowering status of the planter and sends it to the onboard central controller 1 via RS485 bus communication;

[0082] Step 4: The operating speed detector 8 detects the operating speed of the seed drill and sends it to the onboard central controller 1 via RS485 bus communication;

[0083] Step 5: The onboard central controller 1 determines the current working state of the seed drill according to the lifting and lowering state and working speed of the seed drill received from the working state self-detector 7 and the working speed detector 8, and transmits the result to the human-machine interactive device 2 for real-time display for the user to check;

[0084] Step 6: The onboard central controller 1 matches the operation logic of the corresponding sowing control module 3 according to the current operation status of the sowing machine and the mathematical model of the sowing amount, and sends corresponding speed-dependent driving electrical signals to the motor controller and the fan driver;

[0085] Step 7: The sowing control module 3 drives and controls the electric fan and the seeding motor in a corresponding cycle according to the signal sent by the onboard central controller 1, so that the oilseed and wheat air-transported collecting and discharging device discharges the corresponding amount of rapeseed or wheat seeds, thereby realizing the system's speed-dependent precision sowing.

[0086] Reference Figure 3 The present embodiment has completed the field sowing test, and the test results show that the intelligent precision sowing control system for both rapeseed and wheat can achieve an error of less than 3.5% between the actual sowing rate and the theoretical sowing rate of rapeseed and wheat under different operating speeds and per-acre sowing rate requirements.

[0087] The above is an example of the best implementation of the present invention, and the parts not described in detail are common knowledge of ordinary technicians in the field. The protection scope of the present invention shall be based on the content of the claims, and any equivalent transformation based on the technical enlightenment of the present invention is also within the protection scope of the present invention.

Claims

1. An intelligent precision seeding control system for both oil and wheat based on radar speed measurement, characterized in that: It includes an onboard central controller, a human-machine interface, an operation speed detector, a working status self-checker, a seeding controller and a power module; The airborne central controller is a control system information receiving, processing and sending center; it is used to receive and process the operation parameter information transmitted from each signal input or collector, including the seed type and required per-acre sowing amount input by the human-machine interface, the real-time operation speed of the seeder input by the operation speed detector, and the real-time working state of the seeder input by the working state self-test device; it is also used to determine the real-time working state of the seeder through the real-time working state and operation speed value of the seeder, and control the start and stop of the sowing controller according to the real-time working state of the seeder. When the sowing controller is in a normal working state, the sowing rate of the sowing mechanism is calculated according to the real-time operation speed of the seeder and the required per-acre sowing amount, and then the motor speed of the sowing mechanism is determined according to the corresponding seed type model, and the corresponding control signal is generated to drive the sowing controller and control the human-machine interface to display the corresponding operation state information; The human-machine interface is used for human-machine information interaction, and communicates with the onboard central controller by wired or wireless means. The human-machine interface is equipped with system start and stop, seed type selection, per-acre sowing amount input, silo loading and residual material discharge tabs, and can display the operating condition information including the working status and operating speed of the machine in real time, thereby realizing information interaction between the control system and the user; The operating speed detector is used to detect the operating speed of the seed drill in real time. The operating speed detector is used to detect the real-time operating speed of the seed drill using a speed sensor and transmit the speed detection value to the onboard central controller; The working state self-detector is used to detect the real-time working state of the seed drill, and uses a multi-degree-of-freedom attitude sensor to detect the lifting direction angle value of the seed drill in real time, and transmits the lifting direction angle detection value of the seed drill as the real-time working state of the seed drill to the onboard central controller; The sowing controller is connected to the sowing mechanism through a motor, and controls the motor to drive the sowing mechanism installed on the sowing machine to perform sowing operations according to the set sowing parameters; The power supply module supplies power to various electrical components of the control system and performs overvoltage and overcurrent protection.

2. According to claim 1, the intelligent precision seeding control system for oil and wheat based on radar speed measurement is characterized in that: The human-machine interface uses a touch screen, a mobile phone or a tablet, and only transmits character string data with the onboard central controller.

3. According to claim 2, the intelligent precision seeding control system for oil and wheat based on radar speed measurement is characterized in that: The human-machine interactor exchanges information with the user through a human-machine interface. The human-machine interface has multiple task tabs. By selecting different tabs, the human-machine interactor can send corresponding string data to the onboard central controller. The onboard central controller parses the data and responds to user needs.

4. According to the radar speed measurement based intelligent precision seeding control system for oil and wheat according to claim 1, it is characterized in that: The operating speed detector adopts a non-contact speed measuring radar, which is installed on the seed drill, and the installation angle is fixed to the seed bed surface.

5. According to the radar speed measurement based intelligent precision seeding control system for oil and wheat in claim 1, it is characterized in that: The method for the onboard central controller to detect the operation status of the seed drill is: When the seeder is in the lifted state, if the operating speed of the seeder is 0, it is determined to be in the unloading state; if the operating speed of the seeder is greater than 0, it is determined to be in the moving state; When the seeder is in the lowered state, if the operating speed of the seeder is 0, it is determined to be in the loading state; if the operating speed of the seeder is greater than 0, it is determined to be in the sowing state.

6. The intelligent precision seeding control system for oil and wheat based on radar speed measurement according to claim 5 is characterized in that: The onboard central controller is used to control the seeding controller using a corresponding driving strategy according to the real-time operation status of the seeding machine, specifically: When in the unloading state, the sowing controller motor is controlled to run at a specified constant speed; When in the transport state: control the sowing controller motor to the forced stop state; When in the feeding state: control the sowing controller motor to the forced stop state; When in the sowing state: the sowing rate of the sowing mechanism is calculated according to the real-time operating speed of the seeder and the required sowing amount per mu, and then the motor speed of the sowing mechanism is determined according to the corresponding seed type model.

7. The intelligent precision seeding control system for oil and wheat based on radar speed measurement according to claim 6 is characterized in that: The formula used by the onboard central controller to calculate the sowing rate Q of the sowing mechanism according to the real-time operating speed of the seeder and the required sowing amount per mu is: Where: M is the sowing rate per mu input by the human-computer interface, kg / hm 2 ; B is the working width of the seeder, m; V is the operating speed of the seeder at the current moment, km / h.

8. The intelligent precision seeding control system for oil and wheat based on radar speed measurement according to claim 6 is characterized in that: V is obtained by filtering the detection value of the planter operation speed at each moment using the sliding filter algorithm. The filtering formula is: Where: N is the number of consecutive moments of the preset sliding filter window.

9. The intelligent precision seeding control system for oil and wheat based on radar speed measurement according to claim 1 is characterized in that: The method by which the onboard central controller determines the motor speed of the sowing mechanism according to the corresponding seed type model is to determine the motor speed R according to the following formula: R=a·Q 2 +b·Q+c Where: R is the motor speed, r / min; Q is the sowing rate of the sowing mechanism, g / min; a is the coefficient of the quadratic term of the model; b is the coefficient of the linear term of the model; c is the constant term of the model; When the seed type is wheat, a=9E-07, b=0.0056, c=5.404, and when the seed type is rapeseed, a=0.0002, b=0.1789, c=0.3468.

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