An intelligent precision seeding control system for oilseed and wheat based on radar speed measurement

Abstract

The present invention discloses an intelligent precision sowing control system for both oilseed and wheat based on radar speed measurement, comprising an onboard central controller, a human-machine interface, an operating speed detector, a working status self-detector, a sowing controller, and a power supply module. The onboard central controller is used for receiving and processing data and issuing corresponding control signals; the human-machine interface is used for human-machine information interaction; the operating speed detector is used for real-time detection of the operating speed of the seeder; the working status self-detector is used for real-time detection of the working status of the seeder; the sowing controller is used to drive the sowing mechanism installed on the seeder to perform sowing operations according to the set sowing parameters; the power supply module is used to supply power to various electrical components of the control system and perform overvoltage and overcurrent protection. The present invention provides a sowing control system that is highly intelligent, easy to operate, and easy to expand, and can realize identification and reminder of the seeder's operating status, suspension of sowing in non-working status, and speed-dependent precision sowing of both oilseed and wheat.

Description

Technical Field

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

[0002] Rapeseed and wheat are important oil crops in China and the main 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 to ensuring national grain and oil security and reducing the probability of abandonment of fallow fields in winter in southern China.

[0003] The quality of machine sowing is crucial for seedling emergence quality and crop yield. The sowing quality of a precision seeder for both oilseed and wheat is primarily determined by the seeder's adaptability for both oilseed and wheat, as well as the accuracy of the seeder's sowing rate. Current research has largely achieved stable seeding and precise, stepless adjustment of the seeder's sowing rate for both rapeseed and wheat, based on structural optimization, direct motor drive, and pneumatically assisted seeding. However, in actual sowing operations, existing seeders often utilize open-loop direct motor drive and mechanical fan airflow. Due to factors such as the speed of the machine and the limitations of the fan's operating principle, problems persist, such as an inability to adjust the seeding speed and delayed, redundant airflow supply. This results in significant discrepancies between the actual sowing rate and the theoretically required rate. Furthermore, due to the various operational states of the seeder during field operations, such as loading, transporting, sowing, turning, and unloading, the operator must manually adjust the start / stop and operating sequence of the existing sowing mechanism's drive components. This cumbersome operation is associated with a high probability of misoperation, significantly limiting the efficiency of precision seeders for both oilseed and wheat. Summary of the Invention

[0004] In response to 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 status of the sowing mechanism driving electrical components according to the operating status of the seeder, and accurately and dynamically adjust the sowing amount according to the operating speed.

[0005] An intelligent precision seeding control system for oilseed and wheat crops based on radar speed measurement, comprising an onboard central controller, a human-machine interface, an operating speed detector, a working status self-test device, a seeding controller, and a power module;

[0006] The onboard central controller is the control system information receiving, processing and sending center; it is used to receive and process the operation parameter information transmitted by each signal input or collector, including the seed type and required per mu sowing amount input by the human-computer 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 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 mu sowing amount, and then the sowing mechanism motor speed 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-computer 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 via wired or wireless means. The human-machine interface is equipped with tabs for system start and stop, seed type selection, per-acre sowing amount input, silo loading and residual material discharge, and can display operating condition information including machine working status and operating speed 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 seeder 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 provides overvoltage and overcurrent protection.

[0012] Furthermore, the human-computer interaction device adopts a touch screen, a mobile phone or a tablet, and only character string data is transmitted between the human-computer interaction device and the onboard central controller.

[0013] Furthermore, the human-computer interactor interacts with the user through a human-computer interface. The human-computer interface has multiple task tabs. By selecting different tabs, the human-computer interactor can send corresponding string data to the onboard central controller. 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, which is installed on the seeder and has a fixed installation angle with the seed bed surface.

[0015] Furthermore, the method for the onboard central controller to detect the operating status of the seed drill is:

[0016] When the seeder is in the lifting 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 lowering 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 operating 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 sowing mechanism motor speed 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 operating speed of the seeder at the current moment, km / h;

[0027] Furthermore, V is obtained by filtering the detection value of the planter's operating speed at each moment using the sliding filter algorithm. The filtering formula is:

[0028]

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

[0030] Furthermore, the onboard central controller determines the motor speed of the sowing mechanism according to the corresponding seed type model by determining 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; 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 system adopts modular programming and hardware assembly mode, and is equipped with RS485 / CAN bus communication. The system has strong compatibility and scalability, 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 saving costs and increasing efficiency;

[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, it can achieve speed-dependent precise sowing, 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 It is 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 diagram of the precision seeding control system;

[0043] Figure 4 This is a data fitting diagram of the 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 using rapeseed as the test seed.

[0045] In the accompanying drawings, the components represented by the reference numerals are 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 with reference to 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., indicating orientations or positional relationships, are 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 specified or limited, the terms "connect," "fix," and the like should be understood broadly. For example, "fix" can mean a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; and can refer to internal communication between two components or an interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0050] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated 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 oilseed and wheat includes an onboard central controller 1, a human-computer interface 2, an operating speed detector 8, a working status self-detection device 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-computer interface 2 is used for human-computer information interaction; the operating speed detector 8 is used to detect the operating speed of the seeder in real time; the working status self-detection device 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 oilseed 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 operating parameter information transmitted by each signal input / collector, and output corresponding control signals using different operating logic based on the specific operating parameter values, driving the seeding controller 3 to operate and controlling the human-machine interface 2 to display the corresponding operating condition information. The terminal onboard central controller 1 and the human-machine interface 2 communicate via a TTL serial port. Preferably, the onboard central controller 1 is a single-chip microcomputer model STM32ZET6.

[0054] In this embodiment, the human-machine interface of the human-machine interface 2 is equipped with tabs for system start and stop, seed type selection, sowing agronomic parameter input, and one-touch loading / unloading. It can also display operating information such as machine speed and working status in real time, thereby realizing information exchange 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 planter's operating speed in real time. The detected speed value is transmitted to the onboard central controller 1 via RS485 bus communication. The onboard central controller 1 then transmits the detected speed value 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 seedbed after tillage. Bench and field tests have verified its speed measurement accuracy, demonstrating that when the radar is installed at an optimal angle, the error between the actual speed value and the theoretical operating speed of the planter is less than 2%, resulting in a "light, simple, and accurate" speed measurement solution.

[0056] In this embodiment, the operating status self-detector 7 uses a dual-axis inclination sensor to detect the seeder's lifting direction angle in real time. The detected speed value is transmitted to the onboard central controller 1 via RS485 bus communication. The onboard central controller 1 then transmits the detected speed value to the human-machine interface 2 for real-time display. The onboard central controller 1 determines the seeder's operating status by comparing the tool's lifting / lowering status and operating speed value. For example, if the seeder is raised and the operating speed is 0, it is in the seeder unloading state; if the seeder is raised and the operating speed is greater than 0, it is in the seeder transporting state; if the seeder is lowered and the operating speed is 0, it is in the seeder loading state; and if the seeder is lowered and the operating speed is greater than 0, it is in the seeder sowing state.

[0057] In this embodiment, the sowing control module 3 includes an air-transported 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 machine 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 driving electrical signals 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 regulator, and an overvoltage / overcurrent protector, providing stable power to the control system's electrical components and overvoltage and overcurrent protection. Preferably, the external power supply is a tractor battery or an independent battery pack. After the input voltage passes through the power module 4, it provides a stable 12V DC voltage to 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 operating 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 oilseed wheat sowing working condition, and the motor is stopped, so that the seeder can be put down at any time to start sowing; 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 is started in the moving / turning 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 sowing mechanism motor speed is determined according to the corresponding seed type model;

[0061] 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 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 operating speed of the seeder at the current moment, km / h;

[0065] V is obtained by filtering the detection value of the planter's operating 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 a 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 seeding motor speed-seeding device displacement was carried out with rapeseed and wheat as 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 Figure 2, 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-computer interface 2, selects the seed type and sowing amount per mu, and sends it to the onboard central controller 1 via serial communication;

[0080] Step 2: The onboard central controller 1 generates a mathematical model of corresponding seeding motor speed-seeding amount based on the seeding agronomic parameters received from the human-computer 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 operating status of the seed drill according to the seed drill lifting and lowering status and operating speed received from the working status self-detector 7 and the operating speed detector 8, and transmits the result to the human-machine interface 2 for real-time display for user inspection;

[0084] Step 6: The onboard central controller 1 matches the operation logic of the corresponding sowing control module 3 according to the current operating status of the seeder and the sowing rate mathematical model, 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 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 seed collector 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 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 requirements.

[0087] The foregoing is an example of the best mode of carrying out the present invention. Any portion not described in detail herein is common knowledge within the skill of one of ordinary skill in the art. The scope of protection of the present invention is determined by the claims. Any equivalent transformation based on the technical teachings of the present invention is also within the scope of protection of the present invention.

Claims

1. An intelligent precision seeding control system for oil and wheat based on radar speed measurement, characterized in that: It includes an onboard central controller, a human-machine interface, an operating speed detector, a working status self-test device, a seeding controller and a power module; The onboard central controller is the control system information receiving, processing and sending center; it is used to receive and process the operation parameter information transmitted by each signal input or collector, including the seed type and required per mu sowing amount input by the human-computer 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 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 mu sowing amount, and then the sowing mechanism motor speed 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-computer 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 via wired or wireless means. The human-machine interface is equipped with tabs for system start and stop, seed type selection, per-acre sowing amount input, silo loading and residual material discharge, and can display operating condition information including machine working status and operating speed 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 seeder 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 provides overvoltage and overcurrent protection.

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

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

4. The intelligent precision seeding control system for oilseed and wheat crops based on radar speed measurement according to claim 1 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. The intelligent precision seeding control system for oilseed and wheat crops based on radar speed measurement according to claim 1 is characterized in that: The method for the onboard central controller to detect the operating status of the seed drill is as follows: When the seeder is in the lifting 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 lowering 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 oilseed and wheat crops 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 operating 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 moving 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 sowing mechanism motor speed is determined according to the corresponding seed type model.

7. The intelligent precision seeding control system for oilseed and wheat crops 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 based on 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 operating 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 oilseed and wheat crops based on radar speed measurement according to claim 6 is characterized in that: V is obtained by filtering the detection value of the planter's operating 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 oilseed and wheat crops based on radar speed measurement according to claim 1, characterized in that: The onboard central controller determines the sowing mechanism motor speed according to the corresponding seed type model by using the following formula to determine the motor speed R: 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; when the seed type is rapeseed, a=0.0002, b=0.1789, c=0.3468.

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