Variable sowing and fertilizing test method and system of sowing and fertilizing machine

Abstract

The invention discloses a variable seeding and fertilizing test method and system for seeding and fertilizing equipment. The test method comprises the following steps: receiving positioning data generated by a positioning data simulator; based on the positioning data, the prescription map and a preset variable discharging control program, controlling the discharging monomers to perform discharging operation; discharging data corresponding to the discharging single bodies are obtained through a data obtaining device; and calculating index parameters capable of reflecting the discharging effect based on the discharging data and / or adjusting parameters of the variable discharging control program. According to the invention, variable seeding and fertilization testing based on the prescription map can be carried out on the indoor rack, on one hand, index parameter calculation can be carried out to assess the discharge effect, on the other hand, parameters of a variable discharge control program can be calibrated and can be adjusted according to the index parameters, and the accuracy of the variable discharge control program is improved. Therefore, during follow-up actual field operation, the discharging operation can be more accurately carried out according to the prescription map.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural discharging, and in particular to a variable sowing and fertilizing test method and system for a sowing and fertilizing machine. Background Art

[0002] With the rapid development of modern agriculture, precision agriculture has gradually become an important means to improve agricultural production efficiency and resource utilization. Variable discharge technology, as an important component of precision agriculture, can effectively improve material utilization efficiency by performing differentiated discharge according to crop demand in different regions. Variable discharge of seeds and fertilizers based on prescription maps is an emerging discharge technology. It uses positioning technologies such as GPS to determine the location of the machine, queries the prescription map based on the location of the machine, and determines the discharge amount based on the prescription map. When performing actual discharge based on the prescription map, the control algorithm needs to be tested to determine the discharge effect. In the prior art, for example, in the prescription map-based sprayer shown in patent CN 101716567A, field operation data needs to be used as test data for analysis and processing, and the determination and optimization of various parameters also need to be determined based on field operation data. This not only consumes a lot of time and resources, but is also affected by environmental factors such as terrain changes and climatic conditions. It can be seen that this test method is not only costly, difficult, but also inefficient. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a variable sowing and fertilizing testing method and system for sowing and fertilizing machinery that can be tested comprehensively and efficiently based on bench testing and computer technology.

[0004] Technical solution: To achieve the above-mentioned purpose, the variable sowing and fertilizing testing method of the sowing and fertilizing machine of the present invention comprises:

[0005] The receiving positioning data simulator generates positioning data; the controller is connected to a computer, and a positioning data simulator capable of generating virtual positioning data is installed in the computer. The positioning data simulator can generate GPS message information that complies with the NMEA-0183 protocol, or generate message information of the Beidou positioning system;

[0006] In this step, message information can be generated according to the target speed, so that the controller can calculate the virtual forward speed of the sowing and fertilizing machine based on the positioning data.

[0007] The discharge unit is controlled to perform a discharge operation based on the positioning data, the prescription map, and a preset variable discharge control program; the prescription map includes a plurality of continuous square variable discharge operation areas, the target discharge amounts of any two adjacent variable discharge operation areas are different, and the first and last variable discharge operation areas respectively have adjacent buffer zones;

[0008] Acquire the discharge data corresponding to the discharge unit through a data acquisition device;

[0009] In this step, the discharge data may include discharge weight, response time and other data. That is, the data acquisition device includes a high-precision weighing device and a timer. The weight acquisition accuracy of the high-precision weighing device is 1g, and the acquisition frequency is up to 10hz. The data collected by the data acquisition device can form a curve of the change of discharge weight over time. In addition, when calibrating the response time, the discharge response time can be determined based on the time from the time when the positioning signal is received to the time when the high-precision weighing device generates data changes. The time-consuming execution of the discharge fully reflects the time-consuming process of the controller processing the positioning data, querying the prescription map to obtain the corresponding target discharge quantity data, calculating the target speed based on the target discharge quantity data, and driving the discharge motor to operate based on the target speed until the final material falls to the ground. The discharge control can be compensated based on the discharge response time.

[0010] Based on the nesting data, an index parameter that can reflect the nesting effect is calculated and / or the parameters of the variable nesting control program are adjusted.

[0011] Furthermore, the index parameters include discharge volume accuracy and discharge volume stability; the discharge volume accuracy is calculated based on the following formula:

[0012]

[0013] In the formula, FA i QT is the discharge quantity accuracy of the i-th variable discharge operation area; i is the target discharge quantity of the variable discharge operation area i; QA i is the actual discharge volume; N is the number of sampling times; FA is the discharge volume accuracy;

[0014] The discharge volume stability FVC is calculated based on the following formula:

[0015]

[0016] The above-mentioned index parameters can effectively reflect the discharge quality. In addition, the index parameters can also include discharge uniformity and discharge accuracy. Based on the above-mentioned discharge weight change curve over time, the rate of change of discharge weight can be obtained, and thus the discharge uniformity can be obtained. In addition, the discharge accuracy can be obtained by comparing the weight increase of the discharge amount in a specific time period with the theoretical discharge amount increase.

[0017] Furthermore, the variable discharge control program specifically includes:

[0018] Analyze the positioning data to obtain the virtual forward speed of the sowing and fertilizing equipment;

[0019] Calculate the tool displacement S corresponding to the time taken to execute the nesting based on the virtual forward speed and the time taken to execute the nesting;

[0020] The distance compensation L is calculated based on the front installation distance L of the positioning module relative to the discharge unit in the sowing and fertilizing machine and the displacement S of the machine. lag =LS;

[0021] Based on the distance compensation amount L lag The real-time coordinates in the positioning data are compensated, and the prescription map is queried based on the compensated coordinates to obtain the target discharge volume, the target speed of the discharge motor is calculated based on the target discharge volume, and the operation of the discharge motor is controlled according to the target speed.

[0022] Furthermore, the prescription map is 80m long, including three variable discharge operation areas of 20m in length and a 10m buffer zone at each end. The target discharge volume corresponding to each variable discharge operation area can be 0kg / hm 2 , 225kg / hm 2 , 450kg / hm 2 Three typical target discharge quantity data are selected, and the target discharge quantities corresponding to two adjacent variable discharge operation areas are different, and there is a discharge boundary line between the adjacent variable discharge operation areas.

[0023] In this embodiment, three variable discharge operation area layouts were used for testing. The first layout was: 0 kg / hm 2 , 225kg / hm 2 , 0kg / hm 2 ; The second arrangement is: 0kg / hm 2 , 225kg / hm 2 , 0kg / hm 2 ; The second arrangement is: 0kg / hm 2 , 450kg / hm 2 , 0kg / hm 2 ; The third arrangement is: 225kg / hm 2 , 450kg / hm 2 , 225kg / hm 2 The positioning data simulator generates continuous positioning data based on the three target operating speeds of 4km / h, 6km / h, and 8km / h. In this way, 0kg / hm 2 , 225kg / hm 2 , 450kg / hm2 The three target discharge volumes are switched to simulate each other. Similarly, when the prescription map contains 4 types of discharge volume data, the corresponding arrangement is When the prescription map contains n types of discharge quantity data, the corresponding arrangement is In each arrangement mode, the target discharge quantities of the first and last variable discharge operation areas are the same, and the target discharge quantity of the middle variable discharge operation area is different.

[0024] During the test, the movement direction of the sowing and fertilizing equipment was perpendicular to the discharge boundary line, which is an ideal working condition.

[0025] Furthermore, the adjusting of the parameters of the variable discharge control program includes:

[0026] Whenever the target discharge volume changes, determining the discharge volume change end position based on the discharge data collected by the data acquisition device;

[0027] In this embodiment, when the target discharge volume changes, the difference between the target discharge volume before and after the change is used as the adjustment amount. When the actual discharge volume reaches 5% of the adjustment amount, the position is used as the starting position of the discharge volume change. When the actual discharge volume reaches 95% of the adjustment amount, the position is used as the end position of the discharge volume change.

[0028] Determine the deviation distance between the discharge amount change end position and the corresponding discharge boundary line;

[0029] It is determined whether the deviation distance exceeds a predetermined allowable error range, and if so, compensation correction is performed on the time consumed in nesting execution.

[0030] Furthermore, to simulate the discharging behavior of the discharging unit under bumpy conditions, the variable seeding and fertilizing test system also includes a bump simulation mechanism capable of moving the discharging unit up and down. The amplitude and frequency of the bump simulation mechanism's up and down motion can be varied, thereby simulating the bumpy effects of different road conditions on the discharging unit. During actual operation, based on bump data corresponding to common operating conditions (including bump amplitude and frequency), various target speeds and discharging volume adjustments can be tested to generate a test database. Based on this test database and machine learning algorithms such as convolutional neural networks, the effects of this bump data on the discharging of the discharging unit are summarized, and a compensation model for the parameters of the variable discharging control program is formed based on this influence. In actual use, sensors that detect bump data can be installed on the discharging unit. During actual discharging operations, the parameters of the variable discharging control program can be compensated based on the collected bump data to further improve discharging accuracy.

[0031] A variable sowing and fertilizing testing system for a sowing and fertilizing machine comprises a controller, a memory, and a plurality of discharge units arranged equidistantly in a straight line, and also comprises a data acquisition device for measuring the material discharged by the discharge units; each of the discharge units comprises a material box, a discharge wheel, and a discharge motor for driving the discharge wheel to rotate; the memory, the data acquisition device, and all the discharge motors are connected to the controller; the memory stores a preset prescription map; and the controller is capable of implementing the above-mentioned variable sowing and fertilizing testing method for the sowing and fertilizing machine.

[0032] Beneficial effects: The variable sowing and fertilizing testing method and system of the sowing and fertilizing machine of the present invention has the following beneficial effects:

[0033] (1) In the test method, variable sowing and fertilization tests based on prescription maps can be carried out on an indoor test bench. On the one hand, the index parameters can be calculated to evaluate the discharge effect. On the other hand, the parameters of the variable discharge control program can be calibrated and adjusted according to the index parameters, so that in the subsequent actual field operations, the discharge operation can be carried out more accurately according to the prescription map.

[0034] (2) The test method is based on bench testing and computer technology, which avoids the difficulty of field testing and can fully simulate various situations in an indoor environment, with high test efficiency.

[0035] (3) The parameters can be corrected while the nesting effect is obtained in the experiment. In this way, in the next round of testing, the experiment can be continued based on the corrected parameters, and finally the optimized parameters can be obtained for actual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram of the prescription map;

[0037] Figure 2 This is a flow chart of a variable sowing and fertilizing test method for sowing and fertilizing machines. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings.

[0039] like Figure 1The variable sowing and fertilizing test system for the sowing and fertilizing equipment shown includes a controller, a memory and a plurality of discharge units arranged equidistantly in a straight line. The discharge units can be sowing units or fertilizing units. The discharge units are installed on a stand and also include a data acquisition device for measuring the material discharged by the discharge units; each of the discharge units has a material box, a discharge wheel and a discharge motor for driving the discharge wheel to rotate; the memory, the data acquisition device and all the discharge motors are connected to the controller; the memory stores a preset prescription map; the controller can implement the following variable sowing and fertilizing test method for the sowing and fertilizing equipment.

[0040] Based on the above variable sowing and fertilizing test system, the variable sowing and fertilizing test method of the sowing and fertilizing machine includes the following steps S101-S104:

[0041] Step S101, receiving positioning data generated by a positioning data simulator; the controller is connected to a computer, and a positioning data simulator capable of generating virtual positioning data is installed in the computer, and the positioning data simulator can generate GPS message information that conforms to the NMEA-0183 protocol, or generate message information of the Beidou positioning system;

[0042] In this step, message information may be generated according to the target speed, so that the controller can calculate the virtual forward speed of the sowing and fertilizing machine based on the positioning data.

[0043] Step S102: Controlling the discharge unit to perform a discharge operation based on the positioning data, the prescription map, and a preset variable discharge control program; the prescription map includes a plurality of continuous square variable discharge operation areas, the target discharge amounts of any two adjacent variable discharge operation areas are different, and the first and last variable discharge operation areas each have an adjacent buffer zone;

[0044] Step S103, obtaining the discharge data corresponding to the discharge unit through a data acquisition device;

[0045] In this step, the discharge data may include discharge weight, response time and other data. That is, the data acquisition device includes a high-precision weighing device and a timer. The weight acquisition accuracy of the high-precision weighing device is 1g, and the acquisition frequency is up to 10hz. The data collected by the data acquisition device can form a curve of the change of discharge weight over time. In addition, when calibrating the response time, the discharge response time can be determined based on the time from the time when the positioning signal is received to the time when the high-precision weighing device generates data changes. The time-consuming execution of the discharge fully reflects the time-consuming process of the controller processing the positioning data, querying the prescription map to obtain the corresponding target discharge quantity data, calculating the target speed based on the target discharge quantity data, and driving the discharge motor to operate based on the target speed until the final material falls to the ground. The discharge control can be compensated based on the discharge response time.

[0046] Step S104: calculating an index parameter that can reflect the nesting effect based on the nesting data and / or adjusting the parameters of the variable nesting control program.

[0047] Furthermore, the index parameters include discharge volume accuracy and discharge volume stability; the discharge volume accuracy is calculated based on the following formula:

[0048]

[0049] In the formula, FA i QT is the discharge quantity accuracy of the i-th variable discharge operation area; i is the target discharge quantity of the variable discharge operation area i; QA i is the actual discharge volume; N is the number of sampling times; FA is the discharge volume accuracy;

[0050] The discharge volume stability FVC is calculated based on the following formula:

[0051]

[0052] The above-mentioned index parameters can effectively reflect the discharge quality. In addition, the index parameters can also include discharge uniformity and discharge accuracy. Based on the above-mentioned discharge weight change curve over time, the rate of change of discharge weight can be obtained, and thus the discharge uniformity can be obtained. In addition, the discharge accuracy can be obtained by comparing the weight increase of the discharge amount in a specific time period with the theoretical discharge amount increase.

[0053] Furthermore, the variable discharge control program specifically includes the following steps S201 to S204:

[0054] Step S201, performing analysis based on the positioning data to obtain a virtual forward speed of the sowing and fertilizing machine;

[0055] Step S202, calculating a tool displacement S corresponding to the nesting execution time based on the virtual forward speed and the nesting execution time;

[0056] Step S203: Calculate the distance compensation L based on the front installation distance L of the positioning module in the sowing and fertilizing machine relative to the discharge unit and the displacement S of the machine. lag =LS;

[0057] Step S204: Based on the distance compensation L lag The real-time coordinates in the positioning data are compensated, and the prescription map is queried based on the compensated coordinates to obtain the target discharge volume, the target speed of the discharge motor is calculated based on the target discharge volume, and the operation of the discharge motor is controlled according to the target speed.

[0058] Based on the above method, full use is made of the characteristics of the overdue installation of the positioning module relative to the discharge unit in the actual sowing and fertilizing machinery and the time-consuming execution of discharge. When the sowing and fertilizing machinery operates across the variable discharge operation area, the control of the discharge unit can be fully compensated, and the target discharge amount is determined based on the compensated positioning coordinates, which can make the timing of changing the target discharge amount more reasonable and accurate.

[0059] Furthermore, the prescription map is 80m long, including three variable discharge operation areas of 20m in length and a 10m buffer zone at each end. The target discharge volume corresponding to each variable discharge operation area can be 0kg / hm 2 , 225kg / hm 2 , 450kg / hm 2 Three typical target discharge quantity data are selected, and the target discharge quantities corresponding to two adjacent variable discharge operation areas are different, and there is a discharge boundary line between the adjacent variable discharge operation areas.

[0060] In this embodiment, three variable discharge operation area layouts were used for testing. The first layout was: 0 kg / hm 2 , 225kg / hm 2 , 0kg / hm 2 ; The second arrangement is: 0kg / hm 2 , 225kg / hm 2 , 0kg / hm 2 ; The second arrangement is: 0kg / hm 2 , 450kg / hm 2 , 0kg / hm 2 ; The third arrangement is: 225kg / hm 2 , 450kg / hm 2 , 225kg / hm 2The positioning data simulator generates continuous positioning data based on the three target operating speeds of 4km / h, 6km / h, and 8km / h. In this way, 0kg / hm 2 , 225kg / hm 2 , 450kg / hm 2 The three target discharge volumes are switched to simulate each other. Similarly, when the prescription map contains 4 types of discharge volume data, the corresponding arrangement is When the prescription map contains n types of discharge quantity data, the corresponding arrangement is In each arrangement mode, the target discharge quantities of the first and last variable discharge operation areas are the same, and the target discharge quantity of the middle variable discharge operation area is different.

[0061] During the test, the movement direction of the sowing and fertilizing equipment was perpendicular to the discharge boundary line, which is an ideal working condition.

[0062] Furthermore, the adjustment of the parameters of the variable discharge control program in the above step S103 includes the following steps S301-S303:

[0063] Step S301, whenever the target discharge amount changes, determining the discharge amount change end position based on the discharge data collected by the data acquisition device;

[0064] In this embodiment, when the target discharge volume changes, the difference between the target discharge volume before and after the change is used as the adjustment amount. When the actual discharge volume reaches 5% of the adjustment amount, the position is used as the starting position of the discharge volume change. When the actual discharge volume reaches 95% of the adjustment amount, the position is used as the end position of the discharge volume change.

[0065] Step S302, determining the deviation distance between the discharge amount change end position and the corresponding discharge boundary line;

[0066] Step S303: determine whether the deviation distance exceeds a predetermined allowable error range, and if so, compensate and correct the time consumed in nesting.

[0067] Furthermore, to simulate the discharging behavior of the discharging unit under bumpy conditions, the variable seeding and fertilizing test system also includes a bump simulation mechanism capable of moving the discharging unit up and down. The amplitude and frequency of the bump simulation mechanism's up and down motion can be varied, thereby simulating the bumpy effects of different road conditions on the discharging unit. During actual operation, based on bump data corresponding to common operating conditions (including bump amplitude and frequency), various target speeds and discharging volume adjustments can be tested to generate a test database. Based on this test database and machine learning algorithms such as convolutional neural networks, the effects of this bump data on the discharging of the discharging unit are summarized, and a compensation model for the parameters of the variable discharging control program is formed based on this influence. In actual use, sensors that detect bump data can be installed on the discharging unit. During actual discharging operations, the parameters of the variable discharging control program can be compensated based on the collected bump data to further improve discharging accuracy.

[0068] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A variable sowing and fertilizing test method for a sowing and fertilizing machine, the method comprising: A positioning data receiving simulator generates positioning data; Controlling the discharge unit to perform discharge operation based on the positioning data, the prescription map and a preset variable discharge control program; The prescription map includes a plurality of continuous square variable discharge operation areas, the target discharge amounts of any two adjacent variable discharge operation areas are different, and the first and last variable discharge operation areas respectively have buffer zones adjacent thereto; Acquire the discharge data corresponding to the discharge unit by means of a data acquisition device; Based on the discharge data, an index parameter that can reflect the discharge effect is calculated and / or the parameters of the variable discharge control program are adjusted.

2. The variable sowing and fertilization testing method of a sowing and fertilization machine according to claim 1, characterized in that: The index parameters include discharge volume accuracy and discharge volume stability; the discharge volume accuracy is calculated based on the following formula: In the formula, FA i QT is the discharge quantity accuracy of the ith variable discharge operation area; i is the target discharge quantity of the ith variable discharge operation area; QA i is the actual discharge volume; N is the number of sampling times; FA is the discharge volume accuracy; The discharge volume stability FVC is calculated based on the following formula:

3. The variable sowing and fertilization testing method of a sowing and fertilization machine according to claim 1, characterized in that: The variable discharge control program specifically includes: Analyze the positioning data to obtain the virtual forward speed of the sowing and fertilizing machine; Calculate the tool displacement S corresponding to the time consumed for discharging materials based on the virtual forward speed and the time consumed for discharging materials; The distance compensation L is calculated based on the front installation distance L of the positioning module in the sowing and fertilizing machine relative to the discharge unit and the displacement S of the machine. lag =LS; Based on the distance compensation amount L lag The real-time coordinates in the positioning data are compensated, and the prescription map is queried based on the compensated coordinates to obtain a target discharge volume, a target speed of a discharge motor is calculated based on the target discharge volume, and the operation of the discharge motor is controlled according to the target speed.

4. The variable sowing and fertilization testing method of a sowing and fertilization machine according to claim 1, characterized in that: The prescription map is 80m long, including three variable discharge operation areas of 20m in length and a buffer zone of 10m at each end. The target discharge volume corresponding to each variable discharge operation area can be 0kg / hm 2 、225kg / hm 2 、450kg / hm 2 Three typical target discharge quantity data are selected, and the target discharge quantities corresponding to two adjacent variable discharge operation areas are different, and there is a discharge boundary line between the adjacent variable discharge operation areas.

5. The variable sowing and fertilizing testing method of a sowing and fertilizing machine according to claim 4, characterized in that: The step of adjusting the parameters of the variable discharge control program includes: Whenever the target discharge amount changes, determining the discharge amount change end position based on the discharge data collected by the data acquisition device; Determine the deviation distance between the end position of the discharge amount change and the corresponding discharge boundary line; It is determined whether the deviation distance exceeds a predetermined allowable error range, and if so, compensation correction is performed on the time consumed in the material placement.

6. A variable sowing and fertilizing test system for sowing and fertilizing machines, characterized in that: It includes a controller, a memory, and a plurality of discharge units arranged equidistantly in a straight line, and also includes a data acquisition device for measuring the material discharged by the discharge units; each of the discharge units has a material box, a discharge wheel, and a discharge motor for driving the discharge wheel to rotate; the memory, the data acquisition device, and all the discharge motors are connected to the controller; a preset prescription map is stored in the memory; the controller can implement the variable sowing and fertilization test method for the sowing and fertilizing machine described in any one of claims 1 to 5.

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