A control system and method for a seeding and fertilizing integrated seeder

Abstract

A kind of sowing and fertilizing integrated seeding machine control system and method belong to agricultural machinery technical field, the control system includes drive assembly, it includes seeding motor driver, seeding motor, fertilizing motor driver and fertilizing motor;Seeding motor driver and seeding motor are installed in seeding disc;Fertilizing motor driver and fertilizing motor are installed in fertilizing disc;Sensing component;Controller is installed in seeding machine frame;Internet of Things cloud platform realizes the collaborative control of fertilizing operation and seeding operation.The control method includes that vehicle-mounted power supply is power supply for motion controller, and motion controller determines speed value;Motion controller adjusts the rotational speed of fertilizing motor and seeding motor according to speed value, and the two motors are cooperatively controlled;Motion controller sends data to Internet of Things cloud platform;Seeding machine completes seeding.The present application makes that seeding machine has intelligent decision and remote monitoring capability, improves the seeding precision and efficiency of seeding machine in whole process, and improves intelligent degree.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a control system and method for an integrated seeding and fertilization seeder. Background Technology

[0002] Seeders play an indispensable role in modern agriculture. Their high efficiency, precision, and multi-functionality not only improve agricultural production efficiency and quality but also promote agricultural mechanization and sustainable development. With continuous technological advancements, seeders will continue to develop towards intelligence and precision, providing even stronger support for modern agriculture.

[0003] Traditional seeders employ mechanical structures with low precision and automation levels, making them unsuitable for large-scale, high-efficiency operations. Although various advanced control technologies are being gradually applied to seeders, many systems still suffer from fragmentation, meaning that different technologies are often used in isolation, lacking comprehensive integration and resulting in poor system stability and reliability. Compared to international advanced levels, intelligent features and data integration are insufficient; most systems lack IoT technology, hindering remote monitoring and / or data uploading for cloud analysis. Many systems still rely on manual intervention, lacking intelligent decision-making and remote monitoring capabilities.

[0004] For example, document CN113311756A discloses an intelligent seeding cloud monitoring system based on the OneNET platform, which discloses that big data of various operations of the seeder can be uploaded to the cloud to realize network function. Document CN214225712U discloses a control system for an electronic suction and blowing seeder, which discloses a control system based on logic editable control, suitable for simple scene control.

[0005] Therefore, there is a need for an innovative control system and method for an integrated seeding and fertilization seeder. Summary of the Invention

[0006] This invention addresses the shortcomings of existing technologies by providing an integrated seeding and fertilization control system and method for a seeder. This solution integrates Internet of Things (IoT) technology, solving the problems of manual intervention in seeding, lack of intelligent decision-making and remote monitoring capabilities, and low level of intelligence in the seeder.

[0007] A seeding and fertilization integrated seeder control system includes:

[0008] The drive assembly includes a seeding motor driver, a seeding motor, a fertilizer motor driver, and a fertilizer motor;

[0009] The seeding motor driver and the seeding motor are installed on the seeding tray to drive and control the seeding tray for sowing; the fertilizer motor driver and the fertilizer motor are installed on the fertilizer tray to drive and control the fertilizer tray for fertilization.

[0010] The sensing component includes: a photoelectric sensor for acquiring seed flow signals after seeding in a seed tray;

[0011] Ground wheel encoder is used to collect the starting speed of the seeder;

[0012] Radar sensors are used to collect the operating speed of the seeder throughout the entire process;

[0013] GPS locator is used to collect GPS signals throughout the entire operation of the seeder;

[0014] The controller, installed on the seeder frame, is used to collect signals from the sensing components to control the drive components and output seeder operation data;

[0015] The Internet of Things (IoT) cloud platform is used to collect and store data from seeder operations, while enabling coordinated control of fertilization and seeding operations.

[0016] Furthermore, the photoelectric sensor is installed on the seed metering pipe, the ground wheel encoder is installed on the ground wheel of the seeder, the radar sensor is installed below the front end of the seeder frame at an angle of 55 degrees downward from the ground plane, and the GPS locator is installed on the controller.

[0017] Furthermore, the controller includes a motion controller and a microcontroller installed on the seeder frame. The microcontroller collects signals from the sensing components and transmits them to the motion controller. The motion controller controls the drive components, collects signals from the GPS locator, and transmits the seeder's operation data to the Internet of Things cloud platform.

[0018] Furthermore, the seeding motor driver and the fertilizing motor driver are connected by power lines. The motion controller sends commands to each driver via the bus, and each driver then drives its corresponding motor. The motor information is then fed back to the motion controller via the bus, forming a closed-loop control. The bus is an EtherCAT bus, which has the advantages of enabling coordinated control of fertilization and seeding, high transmission accuracy, and good control performance.

[0019] A control method for an integrated seeding and fertilization seeder includes:

[0020] S1. The vehicle power supply powers the motion controller. The microcontroller sends the speed signals collected by the wheel encoder and radar sensor to the motion controller. During the start-up phase, the radar sensor signal is verified based on the wheel encoder signal. After the start-up, the speed value is determined by the speed signal provided by the radar sensor.

[0021] S2. The motion controller adjusts the speed of the fertilizer motor and the seeding motor according to the speed value. The two motors are controlled in a coordinated manner. The motion controller adjusts the speed of the seeding motor and the fertilizer motor according to the signal fed back by the photoelectric sensor.

[0022] S3. The motion controller sends data to the IoT cloud platform, which then uses GPS signals to generate a route map and a sowing status map for the seeder.

[0023] S4. The seeder completes sowing, the display shows relevant data from the IoT cloud platform, and the vehicle power supply stops supplying power to the motion controller.

[0024] The advantages of this application compared to the prior art are:

[0025] The control system of this invention combines monitoring and control functions. The transmission bus is an EtherCAT bus, which has the advantages of achieving coordinated control of fertilization and sowing, high transmission accuracy, and good control performance. This enables the seeder to have intelligent decision-making and remote monitoring capabilities, thus improving its level of intelligence.

[0026] This invention's control method comprehensively considers the speed signals provided by the ground wheel encoder and radar sensor, accurately measuring the seeder's operating speed throughout the entire process, thus improving the seeder's accuracy and efficiency. Simultaneously, it integrates an IoT cloud platform, which monitors and transmits feedback signals to the controller to optimize control performance. This is reflected in the motion controller's ability to download previous data signals from the IoT cloud platform via HTTP protocol, allowing for adaptive adjustment and optimization of the seeder's control parameters, thereby better controlling the seeding motor and fertilizer motor.

[0027] The proposed solution will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the control system of a seeding and fertilization integrated seeder provided in this application;

[0029] Figure 2 This is a flowchart of a control method for an integrated seeding and fertilization seeder provided in this application.

[0030] In the diagram: 1. IoT cloud platform; 2. Motion controller; 3. Display; 4. Microcontroller; 5. Seeding motor driver; 6. Seeding motor; 7. Photoelectric sensor; 8. Fertilizer motor driver; 9. Fertilizer motor; 10. Ground wheel encoder; 11. Radar sensor; 12. GPS locator. Detailed Implementation

[0031] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application have the ordinary meaning as understood by those skilled in the art.

[0032] Reference Figure 1 This embodiment provides a seeding and fertilization integrated seeder control system, which includes:

[0033] The drive assembly includes a seeding motor driver 5, a seeding motor 6, a fertilizer motor driver 8, and a fertilizer motor 9;

[0034] The seeding motor driver 5 and the seeding motor 6 are installed on the seeding tray to drive and control the seeding tray for sowing; the fertilizer motor driver 8 and the fertilizer motor 9 are installed on the fertilizer tray to drive and control the fertilizer tray for fertilization; in this embodiment, the fertilization method is hole sowing fertilizer.

[0035] The sensing component includes: a photoelectric sensor 7, used to collect seed flow signals after sowing in the seed tray;

[0036] Ground wheel encoder 10 is used to collect the starting speed of the seeder;

[0037] Radar sensor 11 is used to collect the operating speed of the seeder throughout the entire process;

[0038] GPS locator 12 is used to collect GPS signals throughout the entire process of the seeder;

[0039] The controller, installed on the seeder frame, is used to collect signals from the sensing components to control the drive components and output seeder operation data;

[0040] The Internet of Things cloud platform 1 is used to collect and store seeder operation data, and at the same time realize the coordinated control of fertilization and seeding operations.

[0041] The above schemes are further...

[0042] The cloud, specifically the IoT cloud platform 1, can collect and store data from the seeder's operations;

[0043] The controller includes a motion controller 2 and a microcontroller 4, which are mounted on the seeder frame. The microcontroller 4 collects signals from sensors such as photoelectric sensor 7, ground wheel encoder 10, and radar sensor 11 and transmits them to the motion controller 2. The motion controller 1 controls the drive components to control the seeding motor and fertilizer motor to achieve seeding and fertilization. It also collects signals from GPS locator 12 and transmits the seeder's operation data to the cloud.

[0044] The drive assembly includes a seeding drive and a fertilization drive. The seeding drive includes a seeding motor driver 5 and a seeding motor 6, which are mounted on a seeding tray to drive and control the seeding tray for seeding. The fertilization drive includes a fertilization motor driver 8 and a fertilization motor 9, which are mounted on a fertilization tray to drive and control the fertilization tray for fertilization.

[0045] The sensing components include a photoelectric sensor 7, a ground wheel encoder 10, a radar sensor 10, and a GPS locator 11. Specifically, the photoelectric sensor 7 is installed on the seed metering pipe to collect seed flow signals after sowing; the ground wheel encoder 10 is installed on the ground wheel of the seeder to collect the seeder's operating speed during the initial stage; the radar sensor 10 is installed below the front end of the seeder frame at an angle of 55 degrees downwards from the ground plane to collect the seeder's operating speed throughout the sowing and fertilization process; and the GPS locator 12 is installed on the motion controller to collect GPS signals throughout the sowing and fertilization process.

[0046] The motion controller 2 and the IoT cloud platform 1 transmit information such as the seeder's operating speed, GPS positioning signal, seeder motor speed, and fertilizer motor speed via the HTTP protocol.

[0047] This embodiment features cloud monitoring that can feed back signals to the controller to optimize control performance. This is mainly reflected in the fact that the motion controller 2 can download previous data signals from the Internet of Things cloud platform 1 via the HTTP protocol to adaptively adjust and optimize the control parameters of the seeder, thereby better controlling the seeding motor and the fertilizer motor.

[0048] The motion controller 2 is connected to the seeding motor driver 5 and the fertilizer motor driver 8 via a bus, which can be either a CAN bus or an EtherCAT bus. The motion controller 2 is also connected to the seeding motor 6 and the fertilizer motor 9 via an EtherCAT bus, enabling coordinated control of fertilization and seeding with high transmission accuracy and good control performance. The motion controller 2, GPS locator 11, and microcontroller 4 all use the RS-232 protocol to transmit GPS positioning signals and sensor data.

[0049] The seeding motor driver 5 and seeding motor 6, and the fertilizer motor driver 8 and fertilizer motor 9 are all connected by power lines. The motion controller 2 sends commands via a bus to control each driver, which then drives its corresponding motor. Motor speed and other information are fed back to the motion controller 2 via the bus, thus achieving closed-loop control. The photoelectric sensor 7, radar sensor 11, and wheel encoder 10 transmit data to the microcontroller 4 using I / O, RS-232, and RS-422 protocols, respectively.

[0050] Based on any of the above-described control system implementation schemes, a control method for an integrated seeding and fertilization seeder is provided, referring to... Figure 2 The method includes:

[0051] S1. The vehicle power supply powers the motion controller. The microcontroller sends the speed signals collected by the wheel encoder and radar sensor to the motion controller. During the start-up phase, the radar sensor signal is verified based on the wheel encoder signal. After the start-up, the speed value is determined by the speed signal provided by the radar sensor.

[0052] S2. The motion controller adjusts the speed of the fertilizer motor and the seeding motor according to the speed value. The two motors are controlled in a coordinated manner. The motion controller adjusts the speed of the seeding motor and the fertilizer motor according to the signal fed back by the photoelectric sensor.

[0053] S3. The motion controller sends data to the IoT cloud platform, which uses GPS signals to draw a route map and a sowing status map of the seeder. Cloud monitoring can feed back signals to the controller to optimize control performance, forming a closed loop.

[0054] S4. The seeder completes sowing, the display shows relevant data from the IoT cloud platform, and the vehicle power supply stops supplying power to the motion controller.

[0055] In the implementation of the above control method, since the ground wheel encoder 10 is installed on the ground wheel, during the initial stage, the ground wheel encoder 10 monitors the rotation speed of the seeder's ground wheel to measure the seeder's operating speed. Considering that the ground wheel encoder 10 may slip during low-speed starts due to insufficient driving force, soil conditions, or mechanical design issues, leading to speed measurement errors and reduced sowing accuracy.

[0056] To solve the problem of wheel slippage, consider whether the wheels are slipping.

[0057] Setting, initial stage V radar <V threshold At that time, V radar For radar speed measurement data, V threshold The set speed threshold can be taken as 2 km / h. By comparing the speed data from the ground wheel encoder and radar measurement, the slippage rate S is calculated. Where V encoder This is the speed measurement data from the ground wheel encoder;

[0058] When the slippage rate S ≥ 10%, slippage occurs during startup. In this case, Kalman filtering is used to fuse data from the ground wheel encoder and radar to calculate the operating speed of the seeder. Where σ 2 e , σ 2 rThese are the noise variances of the ground wheel encoder and the radar, respectively.

[0059] When the slippage rate S < 10%, there is no slippage at start-up. In this case, the dynamic weighted average method is used to calculate the operating speed of the seeder, V = ω × V. encoder +(1-ω)×V radar , Where ω is the weight, when the operating speed V is lower than the speed threshold, the weight ω tilts towards the ground wheel encoder; after exceeding the speed threshold, it relies entirely on the radar sensor; the radar monitors the seeder speed in real time through the Doppler effect, and it is installed below the front end of the seeder frame at an angle of 55° downward from the radar transceiver plane to the ground plane.

[0060] After starting, V rada r≥V threshold At high speeds, there is no slippage. Radar exhibits stronger anti-slip and anti-interference capabilities at high speeds. To avoid errors introduced by mechanical slippage of the ground wheels, V... radar The operating speed of the vehicle is used as a seeder. In this example, a threshold division stage is used to balance low-speed calibration accuracy and high-speed reliability.

[0061] The coordinated control strategy between the seeding motor and the fertilizer applicator motor refers to the use of speed proportional control between the seeding motor and the fertilizer applicator motor, setting the speed S of the seeding motor to... s =k1×V; Fertilizer motor speed S f =k2×V; Where k1 and k2 are the proportional coefficients of the seeding motor and the fertilizer motor, respectively, V is the operating speed of the seeder obtained after calculation by the motion controller, and c is a constant, that is, k1 and k2 maintain a fixed ratio.

[0062] The motion controller adjusts the speed of the seeding motor and the fertilizing motor based on the signal transmitted by the photoelectric sensor. The strategy is to use a PID algorithm to dynamically adjust the speed according to the pulse error. The adjustment amount acts on both motors simultaneously to maintain coordination, that is, ΔS = PID(ΔE), where ΔE is the error provided by the photoelectric sensor signal and ΔS is the adjustment amount provided to the motor speed. The seeding motor and the fertilizing motor are adjusted independently. The final motor speed = motor base proportional speed + coordination adjustment amount.

[0063] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and all such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. A control system for an integrated seeding and fertilization seeder, characterized in that: Include: The drive assembly includes a seeding motor driver, a seeding motor, a fertilizer motor driver, and a fertilizer motor; The seeding motor driver and the seeding motor are installed on the seeding tray to drive and control the seeding tray for sowing. The fertilizer motor driver and the fertilizer motor are installed on the fertilizer tray to drive and control the fertilizer tray to apply fertilizer. The sensing component includes: a photoelectric sensor for acquiring seed flow signals after seeding in a seed tray; Ground wheel encoder is used to collect the operating speed of the seeder during the initial stage of operation; During the initial stage, the radar sensor signal is verified based on the ground wheel encoder signal; Radar sensors are used to collect the operating speed of the seeder throughout its entire operation after it starts moving. GPS locator is used to collect GPS signals throughout the entire operation of the seeder; A controller, mounted on the seeder frame, is used to collect signals from the sensor components to control the drive components and output seeder operation data. An IoT cloud platform is used to collect and store seeder operation data, and simultaneously achieve coordinated control of fertilization and sowing operations. The controller includes a motion controller and a microcontroller mounted on the seeder frame. The microcontroller collects signals from the sensor components and transmits them to the motion controller. The motion controller controls the drive components, collects signals from the GPS locator, and transmits the seeder operation data to the IoT cloud platform. The motion controller performs closed-loop coordinated adjustment of the speeds of the sowing and fertilizing motors based on signals transmitted from the photoelectric sensors. The adjustment strategy uses a PID algorithm to dynamically adjust based on pulse errors. The adjustment amount acts simultaneously on both motors to maintain coordination. The motion controller and the IoT cloud platform transmit seeder operation speed, GPS positioning signals, sowing motor speed, and fertilizing motor speed information via HTTP protocol. The motion controller is connected to the sowing and fertilizing motors via an EtherCAT bus.

2. The integrated seeding and fertilization seeder control system according to claim 1, characterized in that: The photoelectric sensor is installed on the seed metering pipe, the ground wheel encoder is installed on the ground wheel of the seeder, the radar sensor is installed below the front end of the seeder frame at an angle of 55º downward from the radar sensor's transmitting and receiving plane, and the GPS locator is installed on the controller.

3. The integrated seeding and fertilization seeder control system according to claim 1, characterized in that: The seeding motor driver and the seeding motor are connected by power lines, and the fertilizer motor driver and the fertilizer motor are connected by power lines. The motion controller sends commands to control each driver via the bus, and each driver drives the corresponding motor. The motor information is then fed back to the motion controller via the bus, forming a closed-loop control.

4. The integrated seeding and fertilization seeder control system according to claim 3, characterized in that: The motion controller is connected to the seeding motor driver and the fertilizer motor driver via an Ethercat bus.

5. The integrated seeding and fertilization seeder control system according to claim 1, characterized in that: The photoelectric sensor, radar sensor, wheel encoder and microcontroller use I / O, RS-232 and RS-422 protocols for data transmission respectively.

6. A control method for an integrated seeding and fertilization seeder, characterized in that: Based on the control system according to any one of claims 1 to 5; the method comprises: S1. The vehicle power supply powers the motion controller. The microcontroller sends the speed signals collected by the wheel encoder and radar sensor to the motion controller. During the start-up phase, the radar sensor signal is verified based on the wheel encoder signal. After the start-up, the speed value is determined by the speed signal provided by the radar sensor. S2. The motion controller adjusts the speed of the fertilizer motor and the seeding motor according to the speed value. The two motors are controlled in a coordinated manner. The motion controller adjusts the speed of the seeding motor and the fertilizer motor according to the signal fed back by the photoelectric sensor. The coordinated control strategy between the seeding motor and the fertilizer motor in step S2 refers to the adoption of speed proportional control between the seeding motor and the fertilizer motor, which adjusts the speed of the seeding motor... Fertilizer motor speed ; Where k1 and k2 are the proportional coefficients of the seeding motor and the fertilizing motor, respectively. The operating speed of the seeder, calculated by the motion controller, is c, which is a constant. The motion controller adjusts the speed of the seeding motor and the fertilizing motor based on the signal transmitted by the photoelectric sensor. The strategy is to use a PID algorithm to dynamically adjust the speed according to the pulse error. The adjustment amount is applied to both motors simultaneously to maintain coordination, i.e., ΔS = PID(ΔE), where ΔE is the error provided by the photoelectric sensor signal and ΔS is the adjustment amount provided to the motor speed. The seeding motor and the fertilizing motor are adjusted independently. The final motor speed = motor base proportional speed + coordination adjustment amount. S3. The motion controller sends data to the IoT cloud platform, which then uses GPS signals to generate a route map and a sowing status map for the seeder. S4. The seeder completes sowing, the display shows relevant data from the IoT cloud platform, and the vehicle power supply stops supplying power to the motion controller.

7. The control method for an integrated seeding and fertilization seeder according to claim 6, characterized in that: In step S1, the possibility of wheel slippage is considered; Setting, initial stage V radar <V threshold At that time, V radar For radar speed measurement data, V threshold Calculate the slip ratio S based on the set speed threshold. V encoder This is the speed measurement data from the ground wheel encoder; When the slippage rate S ≥ 10%, slippage occurs during startup, and the operating speed of the seeder is [not specified]. ,in , These are the noise variances of the ground wheel encoder and the radar, respectively. When the slippage rate S < 10%, there is no slippage at start-up. In this case, the dynamic weighted average method is used to calculate the operating speed of the seeder. , ,in As the weight, when the operation speed When the speed is below the threshold, the weight Tilt towards the ground wheel encoder; once the speed threshold is exceeded, it relies entirely on radar sensors; After starting, V radar ≥V threshold At that time, there is no slippage, V radar The operating speed of the vehicle being used as a seed planter.

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