A digital prescription-based seed and fertilizer material precision discharge control method and system

Abstract

The present invention discloses a method and system for controlling precise discharging of seeds and fertilizers based on digital prescriptions, wherein the method comprises: obtaining speed data v of a machine and a time t for discharging, and calculating a predicted displacement S corresponding to the time t for discharging based on the data; calculating a compensated position coordinate (x, y) based on the current position coordinate (x, y) obtained by the positioning module and the leading installation distance L of the positioning module relative to the discharging unit; and calculating a predicted displacement S corresponding to the time t for discharging based on the speed data v of the machine and the time t for discharging. c ,y c ); Based on the compensated position coordinates (x c ,y c ) Calculate the predicted coordinates (x) of the drop point corresponding to each discharge unit at the current moment i ,y i ); Based on the predicted coordinates of the drop point (x i ,y i ) queries the target discharge volume Q corresponding to the position, and controls the discharge motor operation according to the target discharge volume Q. The present invention fully utilizes the advanced installation feature of the positioning module and fully considers the time consumption of the entire discharge process. Based on this, the discharge control of the discharge unit is compensated, so that the discharge unit can adjust the discharge volume at a more reasonable time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision control of seed and fertilizer material, and particularly relates to a precision control method and system of seed and fertilizer material based on digital prescription. BACKGROUND

[0002] Variable rate technology (VRT) is a key application of precision agriculture, which optimizes field management using GIS, GPS, and VRA technologies. First, data is collected through sensors, satellite images, etc., then analyzed and a "digital prescription" reflecting field differences is generated. For seeding, seed types, density, etc. are customized according to the digital prescription, and automated equipment is used for precise seeding. For fertilization, fertilizer formulations are developed based on soil nutrient test results, and intelligent fertilizer machines can be used to deliver fertilizer as needed, avoiding waste and environmental pollution. The entire process also includes crop growth monitoring and feedback, continuously optimizing strategies. These technologies improve resource use efficiency, reduce costs, enhance crop yield and quality, and promote sustainable agricultural development.

[0003] Taking variable rate technology as an example, variable rate fertilization based on digital prescription information can utilize spatial and temporal variations of soil properties, historical yields, temperature, precipitation, etc. to analyze and obtain target fertilization information combined with expert decision systems or fertilization models, and generate a digital prescription for fertilization operations. During operation, the fertilization control system queries the digital prescription based on GPS positioning information to adjust the fertilization actuator to achieve the target fertilization rate. For example, the applicant's prior application CN115589822A discloses a method for variable rate fertilization based on digital prescription.

[0004] Ideally, the machine should immediately adjust the discharge amount according to the digital prescription when it enters a new discharge area, but due to factors such as program and algorithm execution time, drive motor acceleration and deceleration time, and material landing time, the control system cannot adjust the discharge amount in the first time, causing the actual adjustment position of the discharge amount to lag behind the boundary line of the adjacent discharge area, resulting in deviations in actual variable discharge effect and discharge operation prescription. SUMMARY

[0005] The present application provides a precision control method and system of seed and fertilizer material based on digital prescription, which can avoid the problem of inaccurate discharge amount caused by advanced or delayed adjustment of discharge amount when crossing the boundary line between discharge areas.

[0006] Technical solution: To achieve the above purpose, the precision control method of seed and fertilizer material based on digital prescription of the present application comprises the following steps S101-S104:

[0007] Step S101, obtaining the speed data v of the machine and the time t required to execute the discharge, and calculating the predicted displacement S corresponding to the time t required to execute the discharge. The time t required to execute the discharge includes the total time from the control unit executing the program and algorithm, driving the discharge motor to operate, the acceleration and deceleration time of the discharge motor, and the time until the material finally reaches the ground. The time t required to execute the discharge 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 position coordinates after compensation (x, y) are calculated. c ,y c ); When the discharging machine moves in 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 ) Calculate the predicted coordinates (x) of the drop point corresponding to each 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 volume Q corresponding to the position, and control the discharge motor to operate according to the target discharge volume Q. The target discharge volume Q here is the discharge volume per unit area.

[0013] Furthermore, the calculation of the predicted displacement S corresponding to the time t for executing 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 the future set time period; set the time period

[0015] Step S202 : Calculate the predicted displacement S corresponding to the time t required to execute the nesting based on the current speed of the nesting machine and the speed change trend.

[0016] In this way, the predicted displacement S of the discharging machine under different conditions such as uniform speed, acceleration, deceleration, etc. can be calculated according to the speed change trend. When the discharging machine moves at a uniform speed, S=v0t, v0 is the current speed; when the discharging machine moves at a relatively regular acceleration or deceleration, S=v0t+at 2 , a is the acceleration, which can be determined according to the similar historical speed data or according to the speed change trend in the future setting time period.

[0017] Further, when the discharging machine moves along a straight line, the drop point prediction coordinates (xi, yi) in the rising step S103 are calculated based on the following formula:

[0018]

[0019]

[0020]

[0021] wherein, L r is the distance between two adjacent discharging units in the left-right direction of the discharging machine.

[0022] Further, in this embodiment, the discharging is carried out based on the groove wheel type discharging mechanism, and the operation of the discharging motor in the step S103 is controlled according to the target discharging amount Q, which includes:

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

[0024]

[0025] wherein:

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

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

[0028] In actual operation, since the boundary line of the discharging area is not necessarily a straight line, and even if it is a straight line, it is not necessarily parallel to the left-right direction of the machine tool, therefore, there will be a situation that part of the discharging units are located in the discharging area about to leave, and part of the discharging units are located in the discharging area about to enter. In actual implementation, the drop point prediction coordinates (xi, yi) in the rising step S103 need to be calculated according to the drop point prediction coordinates (xi, yi) in the falling step S102 and the discharging direction of the discharging machine. n n ​The discharge units are divided into multiple groups in adjacent relationship, and the target rotating speed is calculated based on the discharge area corresponding to each group of discharge units.

[0029] Further, the execution discharge time t is obtained by calibration.

[0030] Specifically, the discharge units can be used indoors to calibrate the discharge of various types of materials, and the time consumed for the entire data processing, driving of the motor and final landing of the material is obtained. For each type of material, multiple data are collected and the average is taken as the execution discharge time t. In addition, the discharge units are installed on a vibrating mechanism capable of vertical vibration, and the amplitude and vibration frequency of the vibrating mechanism can be adjusted, so that the influence of the amplitude and vibration frequency on the execution discharge time t can be tested. In addition, a vibration detection device is provided on the seeding machine to detect the amplitude and vibration frequency during field operation of the discharge machine. Thus, during operation of the discharge machine, on the one hand, the basic execution discharge time data can be determined based on the material type and the rotating speed change condition (confirmed based on the calibration data of the material type and the execution discharge time), and on the other hand, the basic execution discharge time data can be further compensated based on the actual ground bumping condition (i.e. actual amplitude and vibration frequency) and the above influence relationship to obtain the accurate execution discharge time t.

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

[0032] The acquisition module 301 is configured to acquire the speed data v of the machine tool and the execution discharge time t, and calculate the predicted displacement S corresponding to the execution discharge time t based on the speed data v and the execution discharge time t. The execution discharge time t includes the total time from the program and algorithm of the control unit, the driving of the discharge motor, the acceleration and deceleration time of the discharge motor, to the final landing of the seed and fertilizer material on the ground. The execution discharge time t is not constant and is related to the type of material.

[0033] The compensation module 302 is configured to calculate the compensated position coordinates (x c ,y c ) based on the current position coordinates (x, y) obtained by the positioning module and the advance installation distance L of the positioning module relative to the discharge units. c c When the discharge machine moves in a straight line, the compensated position coordinates (x c ,y c ) are:

[0034]

[0035] The calculation module 303 is configured to calculate the predicted coordinates (x 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 ) query the target discharge quantity Q corresponding to the position, and control the operation of the discharge motor according to the target discharge 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 entire discharge process from the control unit starting data processing, issuing control instructions, the operation of the discharge mechanism, to the seeds and fertilizers landing. 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 diagram of the arrangement 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 with reference to the accompanying drawings.

[0042] The seed and fertilizer material precise discharge control method of the present invention is implemented by the control system of the discharge machine, such as Figure 1 As shown, the discharging machine includes a tractor and a frame towed to the rear of the tractor. The frame has multiple discharging units equidistantly spaced from left to right. Each discharging unit is a sowing unit or a fertilizing unit. Each discharging unit has a discharging trough wheel and a discharging motor to drive the discharging trough wheel. A GPS positioning module or a Beidou positioning module is installed above the cab, that is, the positioning module is located in front of all discharging units and is installed a distance L ahead of all discharging units.

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

[0044] Based on the movement speed of the discharging machine, the predicted displacement S of the discharging unit within the execution time t of discharging can be calculated, that is, the lag distance caused by the execution time of the discharging system; wherein the execution time t of discharging includes the total time from the control unit performing programs and algorithms, driving the discharging motor to operate, to the final arrival of the seed and fertilizer material on the ground; when the GPS receiver crosses the A1, A2 boundary line, that is, receives the position signal belonging to the A2 discharging area, the current time is recorded as 0 time, at this time the position of the discharging unit is P0; the total time t of the control system and the execution mechanism completing the program and algorithm execution, driving the motor to accelerate and decelerate, and the material falling to the ground; during this process, the distance S of the machine forward movement, the position P of the discharging unit to reach, and the relationship between the boundary line of the discharging area will exist in the following three cases: t t

[0045] -When S=L, as shown in Figure 2 (b), that is, the advance installation distance S of the positioning module just compensates for the lag distance caused by the execution time of the discharging system, without the need for compensation control, directly adjusting the discharging amount, and adjusting the target discharging amount based on the second discharging area (A2) to control the operation of the discharging motor;

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

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

[0048] Based on the above derivation, as shown in Figure 3 the seed and fertilizer material precision discharging control method based on digital prescription of the present application includes the following steps S101-S104:

[0049] Step S101, obtaining the speed data v of the machine and the execution time t of discharging, and calculating the predicted displacement S corresponding to the execution time t of discharging; wherein the execution time t of discharging includes the total time from the control unit performing programs and algorithms, driving the discharging motor to operate, the time length of the discharging motor to accelerate and decelerate, to the final arrival of the material on the ground, and the execution time t of discharging is not a constant, which is related to the type of material;

[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 position coordinates after compensation (x, y) are calculated. c ,y c ); When the discharging machine moves in 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 ) Calculate the predicted coordinates (x) of the drop point corresponding to each 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 volume Q corresponding to the position, and control the discharge motor to operate according to the target discharge volume Q. The target discharge volume Q here is the discharge volume 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 taken for the entire discharge process from the control unit starting data processing, issuing control instructions, the operation of the discharge mechanism, to the landing of the seeds and fertilizers. 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, and 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 dividing line between the discharge areas.

[0056] Furthermore, the calculation of the predicted displacement S corresponding to the time t for executing 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 the future set time period; set the time period

[0058] Step S202 : Calculate the predicted displacement S corresponding to the time t required to execute the nesting based on the current speed of the nesting machine and the speed change trend.

[0059] In this way, the predicted displacement S of the discharging machine under different conditions such as uniform speed, acceleration, deceleration, etc. can be calculated according to the speed change trend. When the discharging machine moves at a uniform speed, S=v0t, v0 is the current speed; when the discharging machine moves at a regular acceleration or deceleration, S=v0t+at 2 , a is the acceleration, which can be determined according to the similar historical speed data or according to the speed change trend in the future setting time period.

[0060] Further, when the discharging machine moves along a straight line, the falling point prediction coordinates (xi, yi) in the rising step S103 are calculated based on the following formula:

[0061]

[0062] Wherein, L r is the distance between two adjacent discharging units in the left-right direction of the discharging machine.

[0063] Further, in this embodiment, the discharging is carried out based on the groove wheel type discharging mechanism, and the operation of the discharging motor in the step S103 is controlled according to the target discharging amount Q, which includes:

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

[0065]

[0066] Wherein:

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

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

[0069] In actual operation, since the boundary line of the discharging area is not necessarily a straight line, and even if it is a straight line, it is not necessarily parallel to the left-right direction of the machine tool, therefore, there will be a situation that part of the discharging units are located in the discharging area that will be left, and part of the discharging units are located in the discharging area that will be entered. In actual implementation, the discharging units need to be divided into multiple groups according to the falling point prediction coordinates (x n ,y n ) in the adjacent relationship, and the target speed is calculated based on the corresponding discharging area of each group of discharging units.

[0070] Further, the execution discharging time t is obtained by calibration.

[0071] Specifically, the discharging monomer can be used to calibrate the discharging of various types of materials in the room, and the entire data processing, driving motor operation and the time consumption of the final material falling to the ground are obtained. A plurality of data is collected for each type of material, and the average is taken as the execution discharging time t. In addition, the discharging monomer is installed on a vibrating mechanism capable of vertical vibration, and the amplitude and vibration frequency of the vibrating mechanism can be adjusted, so that the influence relationship of amplitude and vibration frequency on the execution discharging time t can be tested. In addition, a vibration detection device is arranged on the seeder to detect the amplitude and vibration frequency of the discharging machine during field operation. Thus, during the operation of the discharging machine, on the one hand, the basic execution discharging time data can be determined based on the material type and the change condition of the rotating speed (confirmed based on the calibration data of the material type and the execution discharging time), and on the other hand, the basic execution discharging time data can be further compensated based on the actual ground bumping condition (i.e. actual amplitude and vibration frequency) and the above influence relationship to obtain the accurate execution discharging time t.

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

[0073] The acquisition module 301 is used to acquire the speed data v of the machine tool and the execution discharging time t, and calculate the predicted displacement S corresponding to the execution discharging time t; wherein the execution discharging time t includes the total time length from the program and algorithm of the control unit, the driving of the discharging motor, the acceleration and deceleration time length of the discharging motor, to the final arrival of the material on the ground. The execution discharging time t is not constant, and is related to the material type.

[0074] The compensation module 302 is used to calculate the compensated position coordinates (x c ,y c ) based on the current position coordinates (x, y) acquired by the positioning module and the advanced installation distance L of the positioning module relative to the discharging monomer; when the discharging machine walks along a straight line, the compensated position coordinates (x c ,y c ) are:

[0075]

[0076] The calculation module 303 is used to calculate the predicted coordinates (x c ,y c ) of the material falling point corresponding to each discharging monomer at the current time based on the compensated position coordinates (x i ,y i ), wherein i=1, 2…N, and N is the total number of discharging monomers.

[0077] The control module 304 is used to control the discharging monomer to discharge the material to the predicted coordinates (x i ,yi ) query the target discharge quantity Q corresponding to the position, and control the operation of the discharge motor according to the target discharge 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 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 method for controlling precise seed and fertilizer material discharging based on digital prescription, characterized in that: The method comprises: Obtain the speed data v of the machine and the time t it takes to execute the nesting, and calculate the predicted displacement S corresponding to the time t it takes to execute the nesting; The compensated position coordinates (x, y) are calculated 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 ); ； in, To compensate for the distance, ;θ is the heading angle; Based on the compensated position coordinates (x c ,y c ) Calculate the predicted coordinates (x) of the drop point corresponding to each 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 ) querying the target discharge amount Q corresponding to the position, and controlling the operation of the discharge motor according to the target discharge amount Q; 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 and right direction of the discharge machine.

2. The method for controlling precise seed and fertilizer material discharging based on digital prescription according to claim 1 is characterized in that: The calculation of the predicted displacement S corresponding to the time t of performing nesting includes: 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 nesting machine and the speed change trend, the predicted displacement S corresponding to the time t for executing nesting is calculated.

3. The method for controlling precise seed and fertilizer material discharging based on digital prescription according to claim 1 is characterized in that: The 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: ； M is the number of continuous discharge units in the same discharge area; n is the rotation speed of the groove wheel; L is the operating width corresponding to 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.

4. The method for controlling precise seed and fertilizer material discharging based on digital prescription according to claim 1, characterized in that: The time t for executing discharge is obtained by calibration.

5. A precise seed and fertilizer material discharging control system based on digital prescription, characterized in that: It includes: An acquisition module is used to obtain the speed data v of the machine and the time t it takes to execute the nesting, and calculate the predicted displacement S corresponding to the time t it takes to execute the nesting; The 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 ) Calculate the predicted coordinates (x) of the drop point corresponding to each 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 ) querying the target discharge amount Q corresponding to the position, and controlling the operation of the discharge motor according to the target discharge amount Q; 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 and right direction of the discharge machine.

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