Method for determining operating speed of seeding machine, processor, control device and seeding machine

Abstract

The invention relates to the field of agricultural machinery, and discloses an operation speed determination method of a seeder, a processor, a control device and the seeder, and the operation speed determination method comprises the following steps: determining the operation state of the seeder; determining the working states of a plurality of first speed sensors and a plurality of second speed sensors; according to the working state of the seeder, the working states of the first speed sensors and the working states of the second speed sensors, the weight coefficients of the speeds measured by the first speed sensors and the second speed sensors are determined respectively, and the sum of the weight coefficients is 1; and according to the speeds measured by the plurality of first speed sensors, the speeds measured by the plurality of second speed sensors and the plurality of weight coefficients, the current operation speed of the seeder is calculated and determined through weight fusion. The method for determining the operation speed can effectively improve the reliability and the accuracy of the control of the seed-metering plate, so that the consistency of the sowing plant spacing is ensured.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery. Specifically, it relates to a method for determining the operating speed of a seeder, a processor, a control device, and a seeder. Background Art

[0002] During the operation of an existing electric-driven seeder, it is usually towed by a tractor and moves while the seed metering disc is rotated by a drive motor to achieve seeding. In order to make the operating speed of the seeder match the rotational speed of the seed metering disc, so that the spacing between each plant is consistent, a speed sensor is used to detect the operating speed of the seeder in real time, convert the detected operating speed into the rotational speed of the drive motor, and control the operation of the drive motor according to the converted rotational speed. In practical applications, it is easy to occur that due to the failure or abnormal signal of the speed sensor, the detected operating speed is inaccurate, resulting in deviation in the control of the rotational speed of the seed metering disc, and finally leading to the problem of uneven seeding plant spacing. Summary of the Invention

[0003] Aiming at the above-mentioned deficiencies or defects in the prior art, the present invention provides a method for determining the operating speed of a seeder, a processor, a control device, and a seeder, which can effectively improve the reliability and accuracy of the control of the seed metering disc and ensure the consistency of the seeding plant spacing.

[0004] To achieve the above object, the present invention provides a method for determining the operating speed of a seeder. The seeder includes a plurality of first speed sensors capable of accurately detecting the speed of the seeder in the low-speed operating state and a plurality of second speed sensors capable of accurately detecting the speed of the seeder in the high-speed operating state. The method for determining the operating speed includes:

[0005] Determine the operating state of the seeder, where the operating state of the seeder includes a low-speed operating state and a high-speed operating state;

[0006] Determine the working states of the plurality of first speed sensors;

[0007] Determine the working states of the plurality of second speed sensors;

[0008] According to the operating state of the seeder, the working states of the plurality of first speed sensors, and the working states of the plurality of second speed sensors, respectively determine the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors, where the sum of the plurality of weight coefficients is 1;

[0009] According to the speeds measured by the plurality of first speed sensors, the speeds measured by the plurality of second speed sensors, and the plurality of weight coefficients, determine the current operating speed of the seeder through weighted fusion calculation.

[0010] Optionally, determining the current operating speed of the seeder according to the speeds measured by the multiple first speed sensors, the speeds measured by the multiple second speed sensors, and the multiple weight coefficients includes:

[0011] Multiply the speeds measured by the multiple first speed sensors and the multiple second speed sensors by their respective corresponding weight coefficients and then sum them, and determine the sum value as the current operating speed of the seeder.

[0012] Optionally, determining the weight coefficients of the speeds measured by the multiple first speed sensors and the multiple second speed sensors respectively according to the operating state of the seeder, the operating states of the multiple first speed sensors, and the operating states of the multiple second speed sensors includes:

[0013] When it is determined that at least one of the first speed sensors is operating normally and the signal is normal, and all the second speed sensors are faulty, when the operating state of the seeder is a high-speed operating state, then the seeder is decelerated to a low-speed operating state. When the operating state of the seeder is a low-speed operating state, the weight coefficient of the speed measured by the faulty second speed sensor is set to 0, and the weight coefficients of the speeds measured by the first speed sensors that are operating normally and have normal signals are made consistent; and / or,

[0014] When it is determined that at least one of the second speed sensors is operating normally and the signal is normal, and all the first speed sensors are faulty, when the operating state of the seeder is a high-speed operating state, then the seeder is decelerated to a low-speed operating state. When the operating state of the seeder is a high-speed operating state, the weight coefficient of the speed measured by the faulty first speed sensor is set to 0, and the weight coefficients of the speeds measured by the second speed sensors that are operating normally and have normal signals are made consistent. When the operating state of the seeder is a low-speed operating state, then the seeder is accelerated to a high-speed operating state.

[0015] Optionally, determining the weight coefficients of the speeds measured by the multiple first speed sensors and the multiple second speed sensors respectively according to the operating state of the seeder, the operating states of the multiple first speed sensors, and the operating states of the multiple second speed sensors includes:

[0016] When the working state of the seeder is in the low-speed working state, and it is determined that some of the multiple first speed sensors are faulty and some are operating normally with normal signals, and all of the multiple second speed sensors are operating normally with normal signals or some are faulty and some are operating normally with normal signals, the weight coefficients of the speeds measured by the faulty first speed sensor and the faulty second speed sensor are set to 0, the weight coefficients of the speeds measured by the first speed sensors that are operating normally with normal signals are made consistent, the weight coefficients of the speeds measured by the second speed sensors that are operating normally with normal signals are made consistent, and the sum of the weight coefficients of the speeds measured by the first speed sensors that are operating normally with normal signals is greater than the sum of the weight coefficients of the speeds measured by the second speed sensors that are operating normally with normal signals; and / or,

[0017] When the working state of the seeder is in the high-speed working state, and it is determined that some of the multiple second speed sensors are faulty and some are operating normally with normal signals, and all of the multiple first speed sensors are operating normally with normal signals or some are faulty and some are operating normally with normal signals, the weight coefficients of the speeds measured by the faulty first speed sensor and the faulty second speed sensor are set to 0, the weight coefficients of the speeds measured by the first speed sensors that are operating normally with normal signals are made consistent, the weight coefficients of the speeds measured by the second speed sensors that are operating normally with normal signals are made consistent, and the sum of the weight coefficients of the speeds measured by the second speed sensors that are operating normally with normal signals is greater than the sum of the weight coefficients of the speeds measured by the first speed sensors that are operating normally with normal signals.

[0018] Optionally, determining the current working speed of the seeder through weighted fusion calculation based on the speeds measured by the multiple first speed sensors, the speeds measured by the multiple second speed sensors, and the multiple weight coefficients includes:

[0019] When the signal of the first speed sensor is normal, the speed measured by the first speed sensor is taken as the currently measured speed;

[0020] When the signal of the first speed sensor is abnormal, the speed measured by the first speed sensor is taken as the speed measured at the previous moment when the signal was normal;

[0021] When the signal of the second speed sensor is normal, the speed measured by the second speed sensor is taken as the currently measured speed;

[0022] When the signal of the second speed sensor is abnormal, the speed measured by the second speed sensor is taken as the speed measured at the previous moment when the signal was normal.

[0023] Optionally, the method for respectively determining the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors according to the operating state of the seeder, the operating states of the plurality of first speed sensors, and the operating states of the plurality of second speed sensors includes:

[0024] When the operating state of the seeder is a low-speed operating state, and it is determined that at least one of the first speed sensors is operating normally but has abnormal signals, and at least one of the second speed sensors is operating normally and has normal signals, keeping the weight coefficients of the first speed sensors that are operating normally but have abnormal signals the same, keeping the weight coefficients of the speeds measured by the second speed sensors that are operating normally and have normal signals the same, and making the sum of the weight coefficients of the speeds measured by one or more of the first speed sensors greater than the sum of the weight coefficients of the speeds measured by one or more of the second speed sensors; and / or,

[0025] When the operating state of the seeder is a high-speed operating state, and it is determined that at least one of the second speed sensors is operating normally but has abnormal signals, and at least one of the first speed sensors is operating normally and has normal signals, keeping the weight coefficients of the second speed sensors that are operating normally but have abnormal signals the same, keeping the weight coefficients of the speeds measured by the first speed sensors that are operating normally and have normal signals the same, and making the sum of the weight coefficients of the speeds measured by one or more of the second speed sensors greater than the sum of the weight coefficients of the speeds measured by one or more of the first speed sensors.

[0026] Optionally, the method for respectively determining the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors according to the operating state of the seeder, the operating states of the plurality of first speed sensors, and the operating states of the plurality of second speed sensors includes:

[0027] When the operating state of the seeder is a low-speed operating state, and it is determined that all of the plurality of first speed sensors are operating normally and have normal signals, and all of the plurality of second speed sensors are operating normally and have normal signals, keeping the weight coefficients of the speeds measured by the plurality of second speed sensors the same, keeping the weight coefficients of the speeds measured by the plurality of first speed sensors the same, and making the sum of the weight coefficients of the speeds measured by the plurality of first speed sensors greater than the sum of the weight coefficients of the speeds measured by the plurality of second speed sensors; and / or,

[0028] When the working state of the seeder is the high-speed working state, and it is determined that all of the multiple first speed sensors are operating normally and the signals are normal, and all of the multiple second speed sensors are operating normally and the signals are normal, make the weight coefficients of the speeds measured by the multiple second speed sensors consistent, make the weight coefficients of the speeds measured by the multiple first speed sensors consistent, and make the sum of the weight coefficients of the speeds measured by the multiple second speed sensors greater than the sum of the weight coefficients of the speeds measured by the multiple first speed sensors.

[0029] The present invention also provides a processor, which is configured to execute the working speed determination method of the seeder described above.

[0030] The present invention also provides a control device, which includes the processor described above.

[0031] The present invention also provides a seeder, which includes the control device described above.

[0032] Through the above technical solution, during the operation of the seeder, according to the working state of the seeder, the working states of the multiple first speed sensors, and the working states of the multiple second speed sensors, respectively determine the weight coefficients of the speeds measured by the multiple first speed sensors and the multiple second speed sensors, and according to the speeds measured by the multiple first speed sensors, the speeds measured by the multiple second speed sensors, and the multiple weight coefficients, determine the current working speed of the seeder through weighted fusion calculation, that is, comprehensively consider the detection results of multiple speed sensors according to the weights, so as to determine the current working speed of the seeder. With such a setting, the accuracy and reliability of the working speed determination are effectively improved. In the case of partial speed sensor failures or abnormal signals, the influence of this situation on the accuracy of the detected working speed can be greatly reduced. Controlling the seed metering disc according to the working speed determined by the working speed determination method of the present invention can effectively improve the reliability and accuracy of the control of the seed metering disc, thereby ensuring the consistency of the seeding spacing.

[0033] Other features and advantages of the present invention will be described in detail in the subsequent specific embodiment part. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention.

[0035] In the drawings:

[0036] Figure 1 is a flowchart of the working speed determination method in an embodiment of the present invention;

[0037] Figure 2 For Figure 1 the block schematic diagram of the control device in

[0038] Figure 3 is the flowchart of the operating speed determination method in another embodiment of the present invention.

[0039] Description of reference numerals:

[0040] 1 Processor

[0041] 2 First speed sensor

[0042] 3 Second speed sensor Specific embodiments

[0043] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the present invention, and are not used to limit the present invention.

[0044] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0045] In the present invention, unless otherwise stated, directional terms such as "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. usually refer to the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the embodiments of the present invention; the directional terms "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0046] The following will describe the present invention in detail with reference to the accompanying drawings and in conjunction with the embodiments.

[0047] Referring to Figure 1 and Figure 2 as shown, the first exemplary embodiment of the present invention provides an operating speed determination method for a seeder. The seeder includes a plurality of first speed sensors 2 for accurately detecting the speed of the seeder when it is in a low-speed operating state and a plurality of second speed sensors 3 for accurately detecting the speed of the seeder when it is in a high-speed operating state. The operating speed determination method includes the following steps:

[0048] Step S1. Determine the operating state of the seeder, where the operating state of the seeder includes a low-speed operating state and a high-speed operating state;

[0049] Step S2. Determine the working states of the plurality of first speed sensors 2;

[0050] Step S3. Determine the operating states of multiple second speed sensors 3;

[0051] Step S4. According to the working state of the seeder, the working states of multiple first speed sensors 2, and the working states of multiple second speed sensors 3, respectively determine the weight coefficients of the speeds measured by multiple first speed sensors 2 and multiple second speed sensors 3, where the sum of the multiple weight coefficients is 1.

[0052] Step S5. According to the speeds measured by multiple first speed sensors 2, the speeds measured by multiple second speed sensors 3, and multiple weight coefficients, determine the current operating speed of the seeder through weighted fusion calculation.

[0053] Specifically, the seeder further includes a processor 1, and the processor 1 is respectively connected to the first speed sensor 2 and the second speed sensor 3 in a signal connection and is configured to execute the above-mentioned operating speed determination method.

[0054] The processor 1 pre-stores a critical speed, and the critical speed is the product of the average speed required for the ground wheel of the seeder to rotate one circle within a set unit time t and its circumference. When the traveling speed of the tractor towing the seeder is less than or equal to the critical speed, it is determined that the seeder is in a low-speed operating state. When the traveling speed of the tractor is greater than the critical speed, it is determined that the seeder is in a high-speed operating state.

[0055] Step S1, Step S2, and Step S3 can be carried out simultaneously or in a preset order and the order among them can be interchanged.

[0056] It can be understood that the working states of the first speed sensor 2 and the second speed sensor 3 specifically include a normal operating state, a fault state, and a signal anomaly state. The normal operating state means that the speed sensor can detect and send signals. The fault state means that the speed sensor fails to detect and send signals due to failure. The signal anomaly state means that the signals sent by the speed sensor have abnormal phenomena such as abnormal jumps and momentary glitches. According to the working state of the speed sensor, giving the corresponding weight to the speed sensor can effectively improve the accuracy of the operating speed determination. The specific weight distribution can refer to the subsequent embodiments.

[0057] In practical applications, the first speed sensor 2 can be set on the ground wheel of the seeder or the wheel of the tractor to accurately detect the speed when the seeder is in a low-speed operating state. The second speed sensor 3 can be set on the frame of the seeder to accurately detect the speed when the seeder is in a high-speed operating state. Giving different weights to the first speed sensor 2 and the second speed sensor 3 in different operating states can effectively improve the accuracy of the operating speed determination. The specific weight distribution can refer to the subsequent embodiments.

[0058] During the operation of the seeder, according to the operation status of the seeder, the working status of multiple first speed sensors 2, and the working status of multiple second speed sensors 3, the weight coefficients of the speeds measured by the multiple first speed sensors 2 and the multiple second speed sensors 3 are determined respectively. Then, according to the speeds measured by the multiple first speed sensors 2, the speeds measured by the multiple second speed sensors 3, and the multiple weight coefficients, the current operation speed of the seeder is determined through weighted fusion calculation, that is, the detection results of multiple speed sensors are integrated according to the weights, so as to determine the current operation speed of the seeder. With such a setting, the accuracy and reliability of the operation speed determination are effectively improved. In the case of partial speed sensor failures or abnormal signals, the influence of such situations on the accuracy of the detected operation speed can be greatly reduced.

[0059] In the actual application process, the processor 1 can convert the operation speed determined by the operation speed determination method in this embodiment into the target rotation speed of the driving motor, and reliably and accurately control the driving motor to drive the seed metering disc to rotate according to this target rotation speed. In this way, the rotation speed of the seed metering disc can be kept matching with the operation speed of the seeder, so as to ensure the consistency of the sowing plant spacing.

[0060] In an optional embodiment, step S5 specifically includes:

[0061] Multiply the speeds measured by the multiple first speed sensors 2 and the multiple second speed sensors 3 by their respective corresponding weight coefficients and then sum them, and the obtained sum value is determined as the current operation speed of the seeder.

[0062] In an optional embodiment, step S4 specifically includes:

[0063] When it is determined that at least one first speed sensor 2 is operating normally and the signal is normal, and all multiple second speed sensors 3 are faulty, when the operation status of the seeder is in the high-speed operation state, the seeder is decelerated to the low-speed operation state. When the operation status of the seeder is in the low-speed operation state, the weight coefficient of the speed measured by the faulty second speed sensor 3 is set to 0, and the weight coefficients of the speeds measured by the first speed sensors 2 that are operating normally and have normal signals are made consistent. In this way, the accuracy and reliability of the operation speed detection can be effectively improved. When all the sensors corresponding to the current operation status are faulty, the operation status is switched to ensure the accuracy of the operation speed detection, and the consistency between the actual operation speed and the sowing speed is effectively guaranteed.

[0064] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When it is determined that the two first speed sensors 2 are operating normally and the signals are normal, and both of the two second speed sensors 3 are faulty, when the operating state of the seeder is a low-speed operating state, the weight coefficients of the speeds measured by the two second speed sensors 3 are set to 0, and the weight coefficients of the speeds measured by the two first speed sensors 2 are both set to 0.5. When the operating state of the seeder is a high-speed operating state, the seeder is then decelerated to a low-speed operating state, so that the weight coefficients of the speeds measured by the two second speed sensors 3 are 0, and the weight coefficients of the speeds measured by the two first speed sensors 2 are both 0.5.

[0065] In an alternative embodiment, step S4 specifically includes:

[0066] When it is determined that at least one of the second speed sensors is operating normally and the signal is normal, and all of the multiple first speed sensors are faulty, when the operating state of the seeder is a low-speed operating state, the seeder is then accelerated to a high-speed operating state. When the operating state of the seeder is a high-speed operating state, the weight coefficient of the speed measured by the faulty first speed sensor is set to 0, and the weight coefficients of the speeds measured by the second speed sensors that are operating normally and have normal signals are made consistent. By doing so, the accuracy and reliability of the operation speed detection can be effectively improved. When all the sensors corresponding to the current operating state are faulty, the operating state is switched to ensure the accuracy of the operation speed detection, effectively ensuring the consistency between the actual operation speed and the seeding speed.

[0067] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When it is determined that the two second speed sensors 3 are operating normally and the signals are normal, and both of the two first speed sensors 2 are faulty, when the operating state of the seeder is a high-speed operating state, the weight coefficients of the speeds measured by the two first speed sensors 2 are set to 0, and the weight coefficients of the speeds measured by the two second speed sensors 3 are both 0.5. When the operating state of the seeder is a low-speed operating state, the seeder is then accelerated to a high-speed operating state, so that the weight coefficients of the speeds measured by the two first speed sensors 2 are 0, and the weight coefficients of the speeds measured by the two second speed sensors 3 are both 0.5.

[0068] In actual application, when both the first speed sensor 2 and the second speed sensor 3 are faulty, the seeder is then made to run at a constant current traveling speed to ensure that the actual seeding speed and the driving speed are always consistent, ensuring a stable plant spacing.

[0069] In an alternative embodiment, step S4 includes:

[0070] When the operating state of the seeder is the low-speed operating state, and it is determined that some of the multiple first speed sensors 2 are faulty and some are operating normally with normal signals, and some or all of the multiple second speed sensors 3 are operating normally with normal signals, the weight coefficients of the speeds measured by the faulty first speed sensors 2 and the faulty second speed sensors 3 are set to 0, the weight coefficients of the speeds measured by the first speed sensors 2 that are operating normally with normal signals are made consistent, the weight coefficients of the speeds measured by the second speed sensors 3 that are operating normally with normal signals are made consistent, and the sum of the weight coefficients of the speeds measured by the first speed sensors 2 that are operating normally with normal signals is greater than the sum of the weight coefficients of the speeds measured by the second speed sensors 3 that are operating normally with normal signals.

[0071] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When the operating state of the seeder is the low-speed operating state, and it is determined that one of the two first speed sensors 2 is faulty and the other is operating normally with normal signals, and both second speed sensors 3 are operating normally with normal signals, the weight coefficient of the speed measured by the faulty first speed sensor 2 is set to 0, the weight coefficients of the speeds measured by the two second speed sensors 3 are made consistent, and the weight coefficient of the speed measured by the first speed sensor 2 that is operating normally with normal signals is greater than the sum of the weight coefficients of the speeds measured by the two second speed sensors 3. Among them, the specific values of the weight coefficients can be set according to actual needs. For example, the weight coefficient of the speed measured by the first speed sensor 2 that is operating normally with normal signals can be 0.6, and the weight coefficients of the speeds measured by the two second speed sensors 3 are 0.2 respectively.

[0072] In an alternative embodiment, step S4 includes:

[0073] When the operating state of the seeder is the high-speed operating state, and it is determined that some of the multiple second speed sensors 3 are faulty and some are operating normally with normal signals, and some or all of the multiple first speed sensors 2 are operating normally with normal signals, the weight coefficients of the speeds measured by the faulty first speed sensors 2 and the faulty second speed sensors 3 are set to 0, the weight coefficients of the speeds measured by the first speed sensors 2 that are operating normally with normal signals are made consistent, the weight coefficients of the speeds measured by the second speed sensors 3 that are operating normally with normal signals are made consistent, and the sum of the weight coefficients of the speeds measured by the second speed sensors 3 that are operating normally with normal signals is greater than the sum of the weight coefficients of the speeds measured by the first speed sensors 2 that are operating normally with normal signals.

[0074] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When the seeder is in the high-speed operation state, and it is determined that one of the two second speed sensors 3 is faulty, the other is operating normally and the signal is normal, and both first speed sensors 2 are operating normally and the signals are normal, the weight coefficient of the speed measured by the faulty second speed sensor 3 is set to 0. The weight coefficients of the speeds measured by the two first speed sensors 2 are the same. The weight coefficient of the speed measured by the second speed sensor 3 that is operating normally and has a normal signal is greater than the sum of the weight coefficients of the speeds measured by the two first speed sensors 2. Among them, the specific values of the respective weight coefficients can be set according to actual requirements. For example, the weight coefficient of the speed measured by the second speed sensor 3 that is operating normally and has a normal signal can be 0.6, and the weight coefficients of the speeds measured by the two first speed sensors 2 are 0.2 respectively.

[0075] In an alternative embodiment, step S5 includes:

[0076] When the signal of the first speed sensor 2 is normal, the speed measured by the first speed sensor 2 is set as the currently measured speed;

[0077] When the signal of the first speed sensor 2 is abnormal, the speed measured by the first speed sensor 2 is set as the speed measured at the previous moment when the signal was normal;

[0078] When the signal of the second speed sensor 3 is normal, the speed measured by the second speed sensor 3 is set as the currently measured speed;

[0079] When the signal of the second speed sensor 3 is abnormal, the speed measured by the second speed sensor 3 is set as the speed measured at the previous moment when the signal was normal.

[0080] With such a setting, the accuracy of the finally determined operating speed can be further ensured, effectively avoiding the problem of inaccurate operating speed caused by abnormal signals of the speed sensors.

[0081] In an alternative embodiment, step S4 includes:

[0082] When the seeder is in the low-speed operation state, and it is determined that at least one first speed sensor 2 is operating normally but the signal is abnormal, and at least one second speed sensor 3 is operating normally and the signal is normal, the weight coefficients of the first speed sensors that are operating normally but have abnormal signals are kept the same, the weight coefficients of the speeds measured by the second speed sensors that are operating normally and have normal signals are the same, and the sum of the weight coefficients of the speeds measured by one or more first speed sensors is greater than the sum of the weight coefficients of the speeds measured by one or more second speed sensors.

[0083] In an alternative embodiment, step S4 includes:

[0084] When the working state of the seeder is in the high-speed working state, and it is determined that at least one second speed sensor 3 is operating normally but the signal is abnormal, and at least one first speed sensor 2 is operating normally and the signal is normal, keep the weight coefficients of the second speed sensors 3 that are operating normally but have abnormal signals consistent, keep the weight coefficients of the speeds measured by the first speed sensors 2 that are operating normally and have normal signals consistent, and make the sum of the weight coefficients of the speeds measured by one or more second speed sensors 3 greater than the sum of the weight coefficients of the speeds measured by one or more first speed sensors 2.

[0085] In an alternative embodiment, step S4 includes:

[0086] When the working state of the seeder is in the low-speed working state, and it is determined that all the multiple first speed sensors 2 are operating normally and the signals are normal, and all the multiple second speed sensors 3 are operating normally and the signals are normal, keep the weight coefficients of the speeds measured by the multiple second speed sensors 3 consistent, keep the weight coefficients of the speeds measured by the multiple first speed sensors 2 consistent, and make the sum of the weight coefficients of the speeds measured by the multiple first speed sensors 2 greater than the sum of the weight coefficients of the speeds measured by the multiple second speed sensors 3.

[0087] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When the working state of the seeder is in the low-speed working state, and it is determined that both of the two first speed sensors 2 are operating normally and the signals are normal, and both of the two second speed sensors 3 are operating normally and the signals are normal, make the sum of the weight coefficients of the speeds measured by the two first speed sensors 2 greater than the sum of the weight coefficients of the speeds measured by the two second speed sensors 3. Specifically, the weight coefficients of the speeds measured by the two first speed sensors 2 can both be 0.3, and the weight coefficients of the speeds measured by the two second speed sensors 3 can both be 0.2.

[0088] In an alternative embodiment, step S4 includes:

[0089] When the working state of the seeder is in the high-speed working state, and it is determined that all the multiple first speed sensors 2 are operating normally and the signals are normal, and all the multiple second speed sensors 3 are operating normally and the signals are normal, keep the weight coefficients of the speeds measured by the multiple second speed sensors 3 consistent, keep the weight coefficients of the speeds measured by the multiple first speed sensors 2 consistent, and make the sum of the weight coefficients of the speeds measured by the multiple second speed sensors 3 greater than the sum of the weight coefficients of the speeds measured by the multiple first speed sensors 2.

[0090] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When the working state of the seeder is the high-speed working state, and it is determined that all two second speed sensors 3 are operating normally and the signals are normal, and all two first speed sensors 2 are operating normally and the signals are normal, the sum of the weight coefficients of the speeds measured by the two second speed sensors 3 is made greater than the sum of the weight coefficients of the speeds measured by the two first speed sensors 2. Specifically, the weight coefficients of the speeds measured by the two second speed sensors 3 can be both 0.3, and the weight coefficients of the speeds measured by the two first speed sensors 2 can be both 0.2.

[0091] Refer to the appendix Figure 3 As shown, in another embodiment of the present invention, the working speed determination method includes the following steps:

[0092] Step S1. Determine the current working process of the seeder, where the working process includes a speed steady change process, a speed rapid change process, and a speed stable process;

[0093] Step S2. According to the working process, determine the first weight coefficient of the speed measured by the first speed sensor 2, and determine the second weight coefficient of the speed measured by the second speed sensor 3, where the sum of the multiple first weight coefficients and the multiple second weight coefficients is 1;

[0094] Step S3. According to the speeds currently measured by the multiple first speed sensors 2, the speeds currently measured by the multiple second speed sensors 3, the first weight coefficient, and the second weight coefficient, determine the current working speed of the seeder through weighted fusion calculation.

[0095] Specifically, the seeder further includes a processor 1, and the processor 1 is respectively connected to the first speed sensor 2 and the second speed sensor 3 in a signal connection, and is configured to execute the above-mentioned working speed determination method.

[0096] In this embodiment, a plurality of first speed sensors 2 are provided on the ground wheels of the seeder or the wheels of the tractor, and a plurality of second speed sensors 3 are provided on the frame of the seeder. During the operation of the seeder, according to the current operation process of the seeder, the first weight coefficient of the speed measured by the first speed sensor 2 is determined, the second weight coefficient of the speed measured by the second speed sensor 3 is determined, and according to the speeds currently measured by the plurality of first speed sensors 2, the speeds currently measured by the plurality of second speed sensors 3, the first weight coefficient, and the second weight coefficient, the current operation speed of the seeder is determined through weighted fusion calculation, that is, the detection results of multiple speed sensors are comprehensively weighted to determine the current operation speed of the seeder. With such a setting, the accuracy and reliability of the operation speed determination are effectively improved. Controlling the seed metering disc according to the operation speed determined by the operation speed determination method of this embodiment can effectively improve the reliability and accuracy of the control of the seed metering disc, thereby ensuring the consistency of the sowing plant spacing.

[0097] It can be understood that the operation process of the seeder is to start from a stopped state and accelerate to a predetermined speed under the traction of the tractor, operate smoothly at the predetermined speed, and decelerate to a stopped state at the end of the operation. Among them, the two processes of starting from a stopped state and accelerating to a predetermined speed and decelerating to a stopped state are the speed steady change processes, and operating smoothly at the predetermined speed is the speed stable process, while the turning operation and emergency braking that occur during the operation are the speed rapid change processes. The critical speeds between each process are pre-stored in the processor 1, and the critical speeds can be obtained through experiments. In practical applications, the operation process of the seeder is determined by the speed range in which the traveling speed of the tractor towing the seeder is located.

[0098] In practical applications, the first speed sensor 2 can be provided on the ground wheels of the seeder or the wheels of the tractor to accurately detect the speed of the seeder when it is in a low-speed operation state, and the second speed sensor 3 can be provided on the frame of the seeder to accurately detect the speed of the seeder when it is in a high-speed operation state. When the seeder is in a low-speed operation state, since the speed measured by the first speed sensor 2 is relatively accurate, the first weight coefficient can be set to be greater than the second weight coefficient, so as to increase the proportion of the speed measured by the first speed sensor 2 in the fusion algorithm and ensure the accuracy of the finally obtained operation speed. Similarly, when the seeder is in a high-speed state, the speed measured by the second speed sensor 3 is relatively accurate, so the second weight coefficient can be set to be greater than the first weight coefficient, so as to increase the proportion of the speed measured by the first speed sensor 2 in the fusion algorithm and ensure the accuracy of the finally obtained operation speed. For specific reference, please refer to the subsequent embodiments.

[0099] In an alternative embodiment, step S3 specifically includes:

[0100] Multiply the speeds currently measured by multiple first speed sensors 2 by the first weight coefficient respectively and sum them to obtain a first sum value. Multiply the speeds currently measured by multiple second speed sensors 3 by the second weight coefficient respectively and sum them to obtain a second sum value. Sum the first sum value and the second sum value, and determine the obtained third sum value as the current working speed of the seeder.

[0101] For example, if the number of both the first speed sensors 2 and the second speed sensors 3 is two, the working speed can be calculated by the following formula:

[0102] v_r = σ_L * (v_1 + v_2) + σ_H * (v_3 + v_4);

[0103] Wherein, v_r is the working speed, σ_L is the first weight coefficient, v_1 and v_2 are two first speed sensors 2, σ_H is the second weight coefficient, and v_3 and v_4 are two second speed sensors 3.

[0104] In an alternative embodiment, step S2 specifically includes:

[0105] In the case where the operation process is an instantaneous acceleration process or an instantaneous deceleration process during the speed steady change process, determine that the second weight coefficient is 0.

[0106] It can be understood that the moment when the seeder starts to accelerate from the stopped state is the instantaneous acceleration process, and the moment when the seeder decelerates from the steady deceleration process to the stopped state is the instantaneous deceleration process. During these two processes, the seeder is in a low-speed state, and the speed measured by the second speed sensor 3 is inaccurate, while the speed measured by the first speed sensor 2 is relatively accurate. Setting the second weight coefficient to 0 can ensure the accuracy of the finally obtained working speed.

[0107] In an alternative embodiment, step S2 specifically includes:

[0108] In the case where the operation process is a steady acceleration process or a steady deceleration process during the speed steady change process, the second weight coefficient is calculated by the following formula:

[0109] σ_H = ((v_t - v_0)) / ((v_m - v_0))σ_m;

[0110] Wherein, σ_H is the second weight coefficient, v_t is the speed currently measured by the second speed sensor 3, σ_m is the critical value of the second weight coefficient when switching from the steady acceleration stage to the speed stable process or when switching from the speed stable process to the steady deceleration stage, v_0 is the initial speed of the steady acceleration stage or the final speed of the steady deceleration stage, and v_m is the final speed of the steady acceleration stage or the initial speed of the steady deceleration stage.

[0111] Understandably, when calculating the second weight coefficient through the above formula, when the seeder is in a steady acceleration process, σ_m is the critical value at which the second weight coefficient transitions from the steady acceleration stage to the speed stability process, v_0 is the initial speed of the steady acceleration stage, and v_m is the final speed of the steady acceleration stage. When the seeder is in a steady deceleration process, σ_m is the critical value at which the speed stability process transitions to the steady deceleration stage, v_0 is the final speed of the steady deceleration stage, and v_m is the initial speed of the steady deceleration stage.

[0112] The second weight coefficient can be obtained through the above formula. Based on the fact that the sum of the first weight coefficient and the second weight coefficient is 1, the first weight coefficient can be calculated. In this way, the current operating speed of the seeder can be determined through weighted fusion calculation.

[0113] In an alternative embodiment, step S2 specifically includes:

[0114] In the case where the operation process is the low-speed stable process in the speed stability process, it is determined that the first weight coefficient is greater than the second weight coefficient;

[0115] In the case where the operation process is the high-speed stable process in the speed stability process, it is determined that the first weight coefficient is less than the second weight coefficient.

[0116] Understandably, a critical speed is pre-stored in the processor 1. The critical speed is the product obtained by multiplying the average rotational speed value required for the ground wheel of the seeder to rotate one circle within the set unit time t by the circumference of the ground wheel. In the case where the seeder is in the speed stability process, when the traveling speed of the tractor towing the seeder is less than or equal to the critical speed, it is determined that the seeder is in the low-speed stable process. When the traveling speed of the tractor is greater than the critical speed, it is determined that the seeder is in the high-speed stable process.

[0117] For example, when the seeder is in the low-speed stable process, make the first weight coefficient ≥ 0.6 and the second weight coefficient ≤ 0.4. When the seeder is in the high-speed stable process, make the second weight coefficient ≥ 0.6 and the first weight coefficient ≤ 0.4.

[0118] In an alternative embodiment, step S2 specifically includes:

[0119] In the case where the operation process is the U-turn operation process in the speed rapid change process, it is determined that the first weight coefficient is 0.

[0120] Understandably, in the case where the seeder is in the U-turn operation process, the seeder is lifted and the ground wheel is in a stationary state. The first speed sensor 2 cannot accurately detect the speed of the seeder. Setting the first weight coefficient to 0 can ensure the accuracy of the finally obtained operation speed.

[0121] In an alternative embodiment, step S2 specifically includes:

[0122] In the case where the operation process is a braking deceleration process during a rapid speed change process, determine that the first weight coefficient is 0.

[0123] It can be understood that when the seeder is in the braking deceleration process, it is in a low-speed state. The speed measured by the second speed sensor 3 is inaccurate, and the speed measured by the first speed sensor 2 is relatively accurate. Setting the second weight coefficient to 0 can ensure the accuracy of the finally obtained operation speed.

[0124] The second exemplary embodiment of the present invention provides a processor 1, which is configured to execute the operation speed determination method of the seeder described above.

[0125] The third exemplary embodiment of the present invention provides a control device, and the control device includes the above-mentioned processor 1.

[0126] The fourth exemplary embodiment of the present invention provides a seeder, and the seeder includes the above-mentioned control device.

[0127] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0128] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0129] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0130] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for determining the operating speed of a seed drill, characterized in that: The planter includes a plurality of first speed sensors capable of accurately detecting the speed of the planter when it is in a low-speed operation state and a plurality of second speed sensors capable of accurately detecting the speed of the planter when it is in a high-speed operation state, and the operation speed determination method includes: Determining the operating state of the seed drill, wherein the operating state of the seed drill includes a low-speed operating state and a high-speed operating state; determining the operating status of a plurality of said first speed sensors; determining the operating status of a plurality of said second speed sensors; According to the working state of the planter, the working states of the plurality of first speed sensors and the working states of the plurality of second speed sensors, respectively determine the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors, wherein the sum of the plurality of weight coefficients is 1; The current operating speed of the planter is determined through weight fusion calculation according to the speeds measured by the plurality of first speed sensors, the speeds measured by the plurality of second speed sensors, and the plurality of weight coefficients.

2. The method for determining the working speed of a seed drill according to claim 1, characterized in that: The method of determining the current operating speed of the planter by weight fusion calculation based on the speeds measured by the plurality of first speed sensors, the speeds measured by the plurality of second speed sensors, and the plurality of weight coefficients comprises: The speeds respectively measured by the plurality of the first speed sensors and the plurality of the second speed sensors are multiplied by their respective corresponding weight coefficients and then summed up, and the obtained sum is determined as the current operating speed of the planter.

3. The method for determining the working speed of a seed drill according to claim 1, characterized in that: The step of determining the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors respectively according to the operation state of the planter, the working states of the plurality of first speed sensors, and the working states of the plurality of second speed sensors comprises: Determine that at least one of the first speed sensors is operating normally and has a normal signal, and multiple second speed sensors are faulty, when the working state of the seeder is a high-speed working state, the seeder is decelerated to a low-speed working state, and when the working state of the seeder is a low-speed working state, the weight coefficient of the speed measured by the faulty second speed sensor is set to 0, and the weight coefficient of the speed measured by the first speed sensor that is operating normally and has a normal signal is made consistent; and / or, Determine that at least one of the second speed sensors is operating normally and has normal signals, and when multiple first speed sensors are faulty, when the operating state of the seeder is a low-speed operating state, the seeder is accelerated to a high-speed operating state, and when the operating state of the seeder is a high-speed operating state, the weight coefficient of the speed measured by the faulty first speed sensor is set to 0, and the weight coefficient of the speed measured by the second speed sensor that is operating normally and has normal signals is set to be consistent.

4. The method for determining the working speed of a seed drill according to claim 1, characterized in that: The step of determining the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors respectively according to the operation state of the planter, the working states of the plurality of first speed sensors, and the working states of the plurality of second speed sensors comprises: When the operation state of the seed drill is a low-speed operation state, and it is determined that some of the first speed sensors are faulty and some are operating normally with normal signals, and some of the second speed sensors are all operating normally with normal signals, or some of the faulty and some are operating normally with normal signals, the weight coefficients of the speeds respectively measured by the faulty first speed sensor and the faulty second speed sensor are set to 0, the weight coefficients of the speeds measured by the first speed sensor operating normally and with normal signals are made consistent, the weight coefficients of the speeds measured by the second speed sensor operating normally and with normal signals are made consistent, and the sum of the weight coefficients of the speeds measured by the first speed sensors operating normally and with normal signals is greater than the sum of the weight coefficients of the speeds measured by the second speed sensors operating normally and with normal signals; and / or, When the operating state of the seed drill is a high-speed operating state, and it is determined that some of the second speed sensors are faulty and some are operating normally and the signals are normal, and some of the first speed sensors are all operating normally and the signals are normal, or some of the faults are operating normally and the signals are normal, the weight coefficients of the speeds measured by the faulty first speed sensor and the faulty second speed sensor are respectively set to 0, the weight coefficients of the speeds measured by the first speed sensor operating normally and with normal signals are made consistent, the weight coefficients of the speeds measured by the second speed sensors operating normally and with normal signals are made consistent, and the sum of the weight coefficients of the speeds measured by the second speed sensors operating normally and with normal signals is greater than the sum of the weight coefficients of the speeds measured by the first speed sensors operating normally and with normal signals.

5. The method for determining the working speed of a seed drill according to claim 3 or 4, characterized in that: The method of determining the current operating speed of the planter by weight fusion calculation based on the speeds measured by the plurality of first speed sensors, the speeds measured by the plurality of second speed sensors, and the plurality of weight coefficients comprises: When the signal of the first speed sensor is normal, the speed measured by the first speed sensor is set to be the currently measured speed; In the case where the signal of the first speed sensor is abnormal, the speed measured by the first speed sensor is made the speed measured when the signal was normal at the previous moment; When the signal of the second speed sensor is normal, the speed measured by the second speed sensor is set to be the currently measured speed; When the signal of the second speed sensor is abnormal, the speed measured by the second speed sensor is set to be the speed measured when the signal was normal at the last moment.

6. The method for determining the working speed of a seed drill according to claim 5, characterized in that: The step of determining the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors respectively according to the operation state of the planter, the working states of the plurality of first speed sensors, and the working states of the plurality of second speed sensors comprises: When the planter is in a low-speed operating state and it is determined that at least one of the first speed sensors operates normally but has an abnormal signal, and at least one of the second speed sensors operates normally and has a normal signal, the weight coefficients of the first speed sensor that operates normally but has an abnormal signal are kept consistent, the weight coefficients of the speeds measured by the second speed sensors that operate normally and have a normal signal are made consistent, and the sum of the weight coefficients of the speeds measured by one or more of the first speed sensors is greater than the sum of the weight coefficients of the speeds measured by one or more of the second speed sensors; and / or, When the operating state of the seed drill is a high-speed operating state, and it is determined that at least one of the second speed sensors is operating normally but the signal is abnormal, and at least one of the first speed sensors is operating normally and the signal is normal, the weight coefficients of the second speed sensor that is operating normally but the signal is abnormal are made consistent, the weight coefficients of the speeds measured by the first speed sensor that is operating normally and has a normal signal are made consistent, and the sum of the weight coefficients of the speeds measured by one or more of the second speed sensors is greater than the sum of the weight coefficients of the speeds measured by one or more of the first speed sensors.

7. The method for determining the working speed of a seed drill according to claim 1, characterized in that: The step of determining the weight coefficients of the speeds measured by the plurality of first speed sensors and the plurality of second speed sensors respectively according to the operation state of the planter, the working states of the plurality of first speed sensors, and the working states of the plurality of second speed sensors comprises: When the planter is in a low-speed operation state and it is determined that all of the first speed sensors are operating normally and the signals are normal, and all of the second speed sensors are operating normally and the signals are normal, the weight coefficients of the speeds measured by the plurality of second speed sensors are made consistent, the weight coefficients of the speeds measured by the plurality of first speed sensors are made consistent, and the sum of the weight coefficients of the speeds measured by the plurality of first speed sensors is made greater than the sum of the weight coefficients of the speeds measured by the plurality of second speed sensors; and / or, When the operating state of the seed drill is a high-speed operating state, and it is determined that all of the multiple first speed sensors are operating normally and the signals are normal, and all of the multiple second speed sensors are operating normally and the signals are normal, the weight coefficients of the speeds measured by the multiple second speed sensors are made consistent, the weight coefficients of the speeds measured by the multiple first speed sensors are made consistent, and the sum of the weight coefficients of the speeds measured by the multiple second speed sensors is greater than the sum of the weight coefficients of the speeds measured by the multiple first speed sensors.

8. A processor, characterized in that: The processor is configured to execute the method for determining a working speed of a seed drill according to any one of claims 1 to 7.

9. A control device, characterized in that: The control device comprises a processor according to claim 8.

10. A seed drill, characterized in that: The seed drill comprises a control device according to claim 9.

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