Accurate seed and fertilizer material discharging control method and system based on digital prescription

Abstract

The invention discloses a seed and fertilizer material accurate discharge control method and system based on a digital prescription, and the method comprises the steps: obtaining the speed data v of a machine tool and the discharge execution time t, and calculating a predicted displacement S corresponding to the discharge execution time t according to the speed data v and the discharge execution time t; calculating a compensated position coordinate (xc, yc) based on the current position coordinate (x, y) obtained by the positioning module and an advanced installation distance L of the positioning module relative to the discharging single body; based on the compensated position coordinates (xc, yc), calculating blanking point prediction coordinates (xi, yi) corresponding to each discharging monomer at the current moment; and querying a target discharge amount Q corresponding to the position based on the blanking point prediction coordinate (xi, yi), and controlling a discharge motor to operate according to the target discharge amount Q. The advanced installation characteristic of the positioning module is fully utilized, the time consumption of the whole discharging process is fully considered, and the discharging control of the discharging single body is compensated based on the time consumption, so that the discharging single body can adjust the discharging amount at a more reasonable opportunity.

Description

Technical Field

[0001] The present invention relates to the technical field of precise discharging control of agricultural seeds and fertilizer materials, and in particular to a precise discharging control method and system of seeds and fertilizer materials based on digital prescriptions. Background Art

[0002] Sowing and fertilization technology based on digital prescriptions is a key application of precision agriculture, which uses technologies such as GIS, GPS and VRA to optimize field management. First, data is collected through sensors, satellite images, etc., and then analyzed and generated into a "digital prescription" that reflects the differences in the fields. For sowing, parameters such as seed type and density are customized according to the digital prescription, and automated equipment is used to accurately sow according to the map; for fertilization, fertilizer formulas are formulated based on soil nutrient test results, and intelligent fertilizer spreaders can be deployed on demand to avoid waste and environmental pollution. The entire process also includes crop growth monitoring and feedback, and continuous optimization of strategies. These technologies have improved resource utilization efficiency, reduced costs, increased crop yields and quality, and promoted the sustainable development of agriculture.

[0003] Taking variable fertilization technology as an example, variable fertilization is performed based on digital prescription information. The temporal and spatial variations of various information such as soil properties, historical yields, temperature and precipitation can be used for comprehensive analysis. The target fertilization amount information can be obtained by combining the expert decision-making system or the fertilization model, and a digital prescription for fertilization operation is generated. During operation, the fertilization control system queries the digital prescription in combination with the GPS positioning information, and adjusts the fertilization actuator to achieve the target fertilization amount. For example, the applicant's prior application CN115589822A and other patents disclose a method for variable fertilization based on digital prescriptions.

[0004] Ideally, the machine should adjust the discharge volume according to the digital prescription immediately after entering the new discharge area. However, due to delay factors such as the execution time of the main controller program and algorithm, the acceleration and deceleration time of the drive motor, and the time it takes for the material to fall to the ground, the control system cannot complete the adjustment of the discharge volume in the first time, causing the actual adjustment position of the discharge volume to lag behind the boundary line of the adjacent discharge area, resulting in deviations between the actual variable discharge effect and the discharge operation prescription. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a method and system for accurately discharging seeds and fertilizers based on digital prescriptions, which can avoid the problem of inaccurate discharging amount due to early or delayed adjustment of the discharging amount in the process of crossing the boundary between discharging areas.

[0006] Technical solution: To achieve the above purpose, the present invention provides a method for controlling the precise discharging of seeds and fertilizers based on digital prescriptions, the method comprising the following steps S101-S104:

[0007] Step S101, obtaining the speed data v of the machine and the time t for executing the discharging, and calculating the predicted displacement S corresponding to the time t for executing the discharging; wherein the time t for executing the discharging includes the total time from the control unit to execute the program and algorithm, drive the discharging motor to run, the acceleration and deceleration time of the discharging motor, until the material finally reaches the ground, and the time t for executing the discharging is not a constant and varies with the material type;

[0008] Step S102, based on the current position coordinates (x, y) acquired by the positioning module and the leading installation distance L of the positioning module relative to the discharge unit, the compensated position coordinates (x c ,y c ); When the discharging machine moves along a straight line, the position coordinates after compensation (x c ,y c )for:

[0009]

[0010] Among them, L lag To compensate the distance, L lag =LS; θ is the heading angle;

[0011] Step S103: based on the compensated position coordinates (x c ,y c ) calculates the predicted coordinates (x) of the material drop point corresponding to each material discharge unit at the current moment i ,y i ), where i = 1, 2 ... N, N is the total number of discharge monomers;

[0012] Step S104: based on the predicted coordinates (x i ,y i ) query the target discharge amount Q corresponding to the position, and control the discharge motor to operate according to the target discharge amount Q. The target discharge amount Q here is the discharge amount per unit area.

[0013] Furthermore, the calculation of the predicted displacement S corresponding to the time t for executing the nesting in the above step S101 includes the following steps S201-S202:

[0014] Step S201, based on the change of the speed data v and / or the speed planning of the discharging machine by the control unit, obtain the speed change trend within a future set time period; set the time period

[0015] Step S202, based on the current speed of the discharging machine and the speed change trend, calculate the predicted displacement S corresponding to the time t for executing the discharging.

[0016] By adopting the above method, the predicted displacement S of the discharging machine under different conditions such as uniform speed, acceleration, and deceleration can be calculated according to the speed change trend. When the discharging machine moves at a uniform speed, S=v0t, where v0 is the current speed; when the discharging machine is in a relatively regular acceleration and deceleration motion, S=v0t+at 2 / 2, a is the acceleration, which can be determined based on similar historical speed data or based on the speed change trend within a set time period in the future.

[0017] Furthermore, when the discharging machine moves in a straight line, the predicted coordinates (xi, yi) of the material drop point in the ascending step S103 are calculated based on the following formula:

[0018]

[0019]

[0020]

[0021] Among them, L r It is the distance between two adjacent discharge units in the left-right direction of the discharge machine.

[0022] Furthermore, in this embodiment, discharging is performed based on a grooved wheel type discharging mechanism, and the step S103 described in the above-mentioned step of controlling the operation of the discharging motor according to the target discharging amount Q includes:

[0023] The sheave speed n is calculated based on the following formula:

[0024]

[0025] in:

[0026] q=0.01347l 2 -0.0004382n 2 +0.002419l·n-0.6145l-0.05145n+48.62;

[0027] M is the number of continuous discharge units located in the same discharge area; n is the rotation speed of the groove wheel; L is the corresponding working width of M discharge units; q is the discharge amount of the discharge unit in one rotation of the groove wheel, and l is the opening of the discharge port.

[0028] In actual operation, since the boundary line of the discharge area is not necessarily a straight line, and even if the boundary line is a straight line, it is not necessarily parallel to the left and right directions of the machine, some discharge units may be located in the discharge area that is about to leave, and some discharge units may be located in the discharge area that is about to enter. In actual implementation, it is necessary to first predict the coordinates (x n ,y n) The discharge monomers are divided into multiple groups according to the adjacent relationship, and the target speed is calculated based on the discharge area corresponding to each group of discharge monomers.

[0029] Furthermore, the time t for executing discharge is obtained by calibration.

[0030] Specifically, the discharge unit can be used indoors to calibrate the discharge of various types of materials, and the time consumed for the entire data processing, driving the motor to operate until the final material falls to the ground is obtained. Multiple data are collected for each type of material, and the average is taken as the discharge execution time t. In addition, the discharge unit is installed on a vibration mechanism that can vibrate vertically, and the amplitude and vibration frequency of the vibration mechanism can be adjusted, so that the influence relationship between the amplitude and the vibration frequency on the discharge execution time t can be tested. In addition, a vibration detection device is provided on the seed drill to detect the amplitude and vibration frequency of the discharge machine during field operation. In this way, when the discharge machine is operating, on the one hand, the basic discharge execution time data can be determined based on the material type and the speed change (based on the material type and the calibration data of the discharge execution time for confirmation), and on the other hand, the basic discharge execution time data can be further compensated based on the actual ground bumps (that is, the actual amplitude and vibration frequency) and the above-mentioned influence relationship to obtain an accurate discharge execution time t.

[0031] A seed and fertilizer material precise discharging control system based on digital prescription, comprising:

[0032] The acquisition module 301 is used to acquire the speed data v of the machine and the time t for executing the discharging, and calculate the predicted displacement S corresponding to the time t for executing the discharging; wherein the time t for executing the discharging includes the total time from the control unit executing the program and algorithm, driving the discharging motor to operate, the acceleration and deceleration time of the discharging motor, until the seed and fertilizer materials finally reach the ground, and the time t for executing the discharging is not a constant, but is related to the material type;

[0033] The compensation module 302 is used to calculate the compensated position coordinates (x, y) based on the current position coordinates (x, y) obtained by the positioning module and the leading installation distance L of the positioning module relative to the discharge unit. c ,y c ); When the discharging machine moves along a straight line, the position coordinates after compensation (x c ,y c )for:

[0034]

[0035] The calculation module 303 is used to calculate the position coordinates after compensation (x c ,y c ) calculates the predicted coordinates (x) of the material drop point corresponding to each material discharge unit at the current moment i ,y i), where i = 1, 2 ... N, N is the total number of discharge monomers;

[0036] The control module 304 is used to predict the coordinates (x i ,y i ) queries the target discharging quantity Q corresponding to the position, and controls the operation of the discharging motor according to the target discharging quantity Q.

[0037] Beneficial effect: The digital prescription-based precise seed and fertilizer material discharge control method and system of the present invention fully utilizes the advanced installation feature of the positioning module, and fully considers the time-consuming process of the control unit starting data processing, issuing control instructions, and the operation of the discharge mechanism until the seeds and fertilizers fall to the ground. Based on this, the discharge control of the discharge unit is compensated, so that the discharge unit can adjust the discharge amount at a more reasonable time. The actual distribution of seeds and fertilizers after discharge is more in line with the set amount of the digital prescription, avoiding the problem of inaccurate discharge amount due to the advance or delay in adjusting the discharge amount in the process of crossing the boundary between the discharge areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the discharging machine;

[0039] Figure 2 (a)-2(d) are four state diagrams of the discharge machine;

[0040] Figure 3 The present invention is a flow chart of a control method for a precise discharging control method of seed and fertilizer materials and a control method for a discharging machine. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] The seed and fertilizer material precise discharging control method of the present invention is implemented by the control system of the discharging machine, such as Figure 1 As shown, the discharging machine includes a tractor and a frame towed to the rear side of the tractor, and the frame has a plurality of discharging units arranged equidistantly on the left and right, and the discharging units are sowing units or fertilizing units, and each discharging unit has a discharging groove wheel and a discharging motor driving the discharging groove wheel to operate. The GPS positioning module or the Beidou positioning module is installed above the cab, that is, the positioning module is located in front of all the discharging units, and the positioning module has an advanced installation distance L relative to all the discharging units.

[0043] The following discussion assumes that the discharge machine passes through two adjacent discharge areas, the two adjacent discharge areas being the first discharge area A1 where the discharge monomer is about to leave and the second discharge area A2 where the discharge monomer is about to enter. Figure 2As shown in (a), the boundary line between the discharging areas is a straight line, and the moving direction of the discharging machine is perpendicular to the boundary line.

[0044] Based on the moving speed of the discharging machine, the predicted displacement S of the discharging unit within the discharging time t can be calculated. The predicted displacement S is the lag distance caused by the discharging system's execution time. Among them, the discharging time t includes the total time from the control unit executing the program and algorithm, driving the discharging motor to operate until the seeds and fertilizers finally reach the ground. When the GPS receiver crosses the A1 and A2 boundary lines, it receives the position signal belonging to the A2 discharging area, and records the current time as the 0 time. At this time, the position of the discharging unit is P0. The total time taken for the control system and the actuator to complete the program and algorithm execution, drive the motor to accelerate and decelerate, and the material to land is recorded as t. During this process, the distance S that the machine advances, and the discharging unit reaches the position P t , P t The relationship between P and the discharging area boundary line will have the following three situations:

[0045] - When S = L, as Figure 2 shown in (b), that is, the leading installation distance S of the positioning module just compensates for the lag distance caused by the discharging system's execution time. There is no need for compensation control, and the discharging amount is directly adjusted. After adjustment, the discharging motor is controlled to operate based on the target discharging amount of the second discharging area (A2);

[0046] - When S < L, as Figure 2 shown in (c), that is, the leading installation distance S of the positioning module is greater than the lag distance caused by the discharging system's execution time. A distance delay amount S1 = L - S is provided for distance compensation, and the discharging amount is adjusted after the discharging machine continues to travel a displacement corresponding to the distance delay amount S1;

[0047] - When S > L, as Figure 2 shown in (d), that is, the leading installation distance S of the positioning module is less than the lag distance caused by the discharging system's execution time. A distance advance amount S2 = L - S is provided for distance compensation.

[0048] Based on the above derivation, as Figure 3 shown, the precise discharging control method for seeds and fertilizers based on digital prescription of the present invention includes the following steps S101 - S104:

[0049] Step S101, obtain the speed data v of the machine and the discharging time t, and calculate the predicted displacement S corresponding to the discharging time t accordingly. Among them, the discharging time t includes the total time from the control unit executing the program and algorithm, driving the discharging motor to operate, the acceleration and deceleration time of the discharging motor until the material finally reaches the ground. The discharging time t is not a constant and is related to the material type;

[0050] Step S102, based on the current position coordinates (x, y) acquired by the positioning module and the leading installation distance L of the positioning module relative to the discharge unit, the compensated position coordinates (x c ,y c ); When the discharging machine moves along a straight line, the position coordinates after compensation (x c ,y c )for:

[0051]

[0052] Among them, L lag To compensate the distance, L lag =LS; θ is the heading angle;

[0053] Step S103: based on the compensated position coordinates (x c ,y c ) calculates the predicted coordinates (x) of the material drop point corresponding to each material discharge unit at the current moment i ,y i ), where i = 1, 2 ... N, N is the total number of discharge monomers;

[0054] Step S104: based on the predicted coordinates (x i ,y i ) query the target discharge amount Q corresponding to the position, and control the discharge motor to operate according to the target discharge amount Q. The target discharge amount Q here is the discharge amount per unit area.

[0055] In the above method, full use is made of the advanced installation feature of the positioning module, and full consideration is given to the time consumed by the entire discharging process from the control unit starting data processing, issuing control instructions, the operation of the discharging mechanism, to the landing of the seeds and fertilizer materials. Based on this, the discharging control of the discharging unit is compensated, so that the discharging unit can adjust the discharging amount at a more reasonable time, and the actual distribution of seeds and fertilizers after discharging is more in line with the set amount of the digital prescription, avoiding the problem of inaccurate discharging amount due to the advance or delay in adjusting the discharging amount in the process of crossing the boundary between the discharging areas.

[0056] Furthermore, the calculation of the predicted displacement S corresponding to the time t for executing the nesting in the above step S101 includes the following steps S201-S202:

[0057] Step S201, based on the change of the speed data v and / or the speed planning of the discharging machine by the control unit, obtain the speed change trend within a future set time period; set the time period

[0058] Step S202, based on the current speed of the discharging machine and the speed change trend, calculate the predicted displacement S corresponding to the time t for executing the discharging.

[0059] By adopting the above method, the predicted displacement S of the discharging machine under different conditions such as uniform speed, acceleration, and deceleration can be calculated according to the speed change trend. When the discharging machine moves at a uniform speed, S=v0t, where v0 is the current speed; when the discharging machine is in a relatively regular acceleration and deceleration motion, S=v0t+at 2 / 2, a is the acceleration, which can be determined based on similar historical speed data or based on the speed change trend within a set time period in the future.

[0060] Furthermore, when the discharging machine moves in a straight line, the predicted coordinates (xi, yi) of the material drop point in the ascending step S103 are calculated based on the following formula:

[0061]

[0062] Among them, L r It is the distance between two adjacent discharge units in the left-right direction of the discharge machine.

[0063] Furthermore, in this embodiment, discharging is performed based on a grooved wheel type discharging mechanism, and the step S103 described in the above-mentioned step of controlling the operation of the discharging motor according to the target discharging amount Q includes:

[0064] The sheave speed n is calculated based on the following formula:

[0065]

[0066] in:

[0067] q=0.01347l 2 -0.0004382n 2 +0.002419l·n-0.6145l-0.05145n+48.62;

[0068] M is the number of continuous discharge units located in the same discharge area; n is the rotation speed of the groove wheel; L is the corresponding working width of M discharge units; q is the discharge amount of the discharge unit in one rotation of the groove wheel, and l is the opening of the discharge port.

[0069] In actual operation, since the boundary line of the discharge area is not necessarily a straight line, and even if the boundary line is a straight line, it is not necessarily parallel to the left and right directions of the machine, some discharge units may be located in the discharge area that is about to leave, and some discharge units may be located in the discharge area that is about to enter. In actual implementation, it is necessary to first predict the coordinates (x n ,y n ) The discharge monomers are divided into multiple groups according to the adjacent relationship, and the target speed is calculated based on the discharge area corresponding to each group of discharge monomers.

[0070] Furthermore, the time t for executing discharge is obtained by calibration.

[0071] Specifically, the discharge unit can be used indoors to calibrate the discharge of various types of materials, and the time consumed for the entire data processing, driving the motor to operate until the final material falls to the ground is obtained. Multiple data are collected for each type of material, and the average is taken as the discharge execution time t. In addition, the discharge unit is installed on a vibration mechanism that can vibrate vertically, and the amplitude and vibration frequency of the vibration mechanism can be adjusted, so that the influence relationship between the amplitude and the vibration frequency on the discharge execution time t can be tested. In addition, a vibration detection device is provided on the seed drill to detect the amplitude and vibration frequency of the discharge machine during field operation. In this way, when the discharge machine is operating, on the one hand, the basic discharge execution time data can be determined based on the material type and the speed change (based on the material type and the calibration data of the discharge execution time for confirmation), and on the other hand, the basic discharge execution time data can be further compensated based on the actual ground bumps (that is, the actual amplitude and vibration frequency) and the above-mentioned influence relationship to obtain an accurate discharge execution time t.

[0072] The present invention also provides a seed and fertilizer material precise discharging control system based on digital prescription, which comprises:

[0073] The acquisition module 301 is used to acquire the speed data v of the machine and the time t for executing the discharging, and calculate the predicted displacement S corresponding to the time t for executing the discharging; wherein the time t for executing the discharging includes the total time from the control unit to execute the program and algorithm, drive the discharging motor to run, the acceleration and deceleration time of the discharging motor, until the material finally reaches the ground, and the time t for executing the discharging is not a constant and is related to the material type;

[0074] The compensation module 302 is used to calculate the compensated position coordinates (x, y) based on the current position coordinates (x, y) obtained by the positioning module and the leading installation distance L of the positioning module relative to the discharge unit. c ,y c ); When the discharging machine moves along a straight line, the position coordinates after compensation (x c ,y c )for:

[0075]

[0076] The calculation module 303 is used to calculate the position coordinates after compensation (x c ,y c ) calculates the predicted coordinates (x) of the material drop point corresponding to each material discharge unit at the current moment i ,y i ), where i = 1, 2 ... N, N is the total number of discharge monomers;

[0077] The control module 304 is used to predict the coordinates (x i ,yi ) queries the target discharging quantity Q corresponding to the position, and controls the operation of the discharging motor according to the target discharging quantity Q.

[0078] Other contents of implementing the above control method based on the above control system have been introduced in detail in the previous embodiments. Please refer to the corresponding contents in the previous embodiments and will not be repeated here.

[0079] 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 principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the precise discharging of seeds and fertilizers based on digital prescriptions, characterized in that: The method comprises: Obtain the speed data v of the machine and the time t for executing the discharging, and calculate the predicted displacement S corresponding to the time t for executing the discharging; The compensated position coordinates (x, y) are calculated based on the current position coordinates (x, y) acquired by the positioning module and the leading installation distance L of the positioning module relative to the discharge unit. c ,y c ); Among them, L lag To compensate the distance, L lag =LS; θ is the heading angle; Based on the compensated position coordinates (x c ,y c ) calculates the predicted coordinates (x) of the material drop point corresponding to each material discharge unit at the current moment i ,y i ), where i = 1, 2 ... N, N is the total number of discharge monomers; Based on the predicted coordinates (x i ,y i ) queries the target discharging quantity Q corresponding to the position, and controls the operation of the discharging motor according to the target discharging quantity Q.

2. The method for controlling the precise discharging of seeds and fertilizers based on digital prescriptions according to claim 1 is characterized in that: The calculation corresponds to the predicted displacement S of the time t required to perform the nesting, including: Based on the change of the speed data v and / or the speed planning of the discharging machine by the control unit, a speed change trend within a future set time period is obtained; Based on the current speed of the discharging machine and the speed variation trend, the predicted displacement S corresponding to the time t for executing the discharging is calculated.

3. The method for controlling the precise discharging of seeds and fertilizers based on digital prescriptions according to claim 1 is characterized in that: The predicted coordinates of the drop point (x i ,y i ) is calculated based on the following formula: Among them, L r It is the distance between two adjacent discharge units in the left-right direction of the discharge machine.

4. The method for controlling the precise discharging of seeds and fertilizers based on digital prescriptions according to claim 1 is characterized in that: The step of controlling the operation of the discharge motor according to the target discharge amount Q comprises: The sheave speed n is calculated based on the following formula: in: q=0.01347l 2 -0.0004382n 2 +0.002419l·n-0.6145l-0.05145n+48.62; M is the number of continuous discharge units located in the same discharge area; n is the rotation speed of the groove wheel; L is the corresponding working width of M discharge units; q is the discharge amount of the discharge unit in one rotation of the groove wheel, and l is the opening of the discharge port.

5. The method for controlling the precise discharging of seeds and fertilizers based on digital prescriptions according to claim 1 is characterized in that: The time t for executing discharge is obtained by calibration.

6. A precise seed and fertilizer material discharging control system based on digital prescription, characterized in that: It includes: An acquisition module, which is used to acquire the speed data v of the machine and the time t for executing the discharging, and calculate the predicted displacement S corresponding to the time t for executing the discharging; A compensation module is used to calculate the compensated position coordinates (x, y) based on the current position coordinates (x, y) obtained by the positioning module and the leading installation distance L of the positioning module relative to the discharge unit. c ,y c ); A calculation module is used to calculate the position coordinates (x c ,y c ) calculates the predicted coordinates (x) of the material drop point corresponding to each material discharge unit at the current moment i ,y i ), where i = 1, 2 ... N, N is the total number of discharge monomers; A control module is used to predict the coordinates (x i ,y i ) queries the target discharging quantity Q corresponding to the position, and controls the operation of the discharging motor according to the target discharging quantity Q.

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