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, the operation speed determination method comprises the following steps: determining the current operation process of the seeder, the operation process comprising a speed stable change process, a speed sudden change process and a speed stabilization process; according to the operation process, first weight coefficients of the speed measured by the first speed sensor are determined, second weight coefficients of the speed measured by the second speed sensor are determined, and the sum of the multiple first weight coefficients and the multiple second weight coefficients is 1; and according to the speeds currently measured by the plurality of first speed sensors, the speeds currently measured by the plurality of second speed sensors, the first weight coefficient and the second weight coefficient, determining the current operation speed of the seeder through weight fusion calculation. 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, and specifically, 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 the existing electric-driven seeder, it is usually towed by a tractor and moves while the seed metering disc is rotated by a driving motor to achieve seeding. In order to make the operating speed of the seeder match the rotational speed of the seed metering disc, a speed sensor is used to detect the operating speed of the seeder in real time, and the detected operating speed is converted into the rotational speed of the driving motor according to a preset corresponding relationship, and the driving motor is controlled to operate according to the converted rotational speed. In practical applications, during different operation processes of the seeder, obtaining the operating speed of the seeder through a single speed sensor and controlling the rotation of the seed metering disc according to the operating speed have poor reliability and accuracy, resulting in the rotational speed of the seed metering disc not being accurately matched with the actual operating speed of the seeder, and ultimately leading to the problem of uneven seeding spacing. Summary of the Invention

[0003] In view of the above 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 controlling the seed metering disc and ensure the consistency of seeding 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 a low-speed operation state and a plurality of second speed sensors capable of accurately detecting the speed of the seeder in a high-speed operation state. The method for determining the operating speed includes:

[0005] Determine the current operation process of the seeder, where the operation process includes a speed steady change process, a speed rapid change process, and a speed stable process;

[0006] According to the operation process, determine a first weight coefficient of the speed measured by the first speed sensors, and determine a second weight coefficient of the speed measured by the second speed sensors, where the sum of the plurality of first weight coefficients and the plurality of second weight coefficients is 1;

[0007] According to the speeds currently measured by the plurality of first speed sensors, the speeds currently measured by the plurality of second speed sensors, the first weight coefficient, and the second weight coefficient, determine the current operating speed of the seeder through weighted fusion calculation.

[0008] Optionally, determining the current working speed of the seeder by weighted fusion calculation according to the speeds currently measured by the multiple first speed sensors, the speeds currently measured by the multiple second speed sensors, the first weight coefficient, and the second weight coefficient includes:

[0009] Multiply the speeds currently measured by the multiple first speed sensors by the first weight coefficient respectively and sum them to obtain a first sum value, multiply the speeds currently measured by the multiple second speed sensors by the second weight coefficient respectively and sum them to obtain a second sum value, and 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.

[0010] Optionally, determining the first weight coefficient of the speed measured by the first speed sensor and the second weight coefficient of the speed measured by the second speed sensor according to the operation process includes:

[0011] In the case where the operation process is an instantaneous acceleration process or an instantaneous deceleration process in the speed steady change process, determine the second weight coefficient to be 0.

[0012] Optionally, determining the first weight coefficient of the speed measured by the first speed sensor and the second weight coefficient of the speed measured by the second speed sensor according to the operation process includes:

[0013] In the case where the operation process is a smooth acceleration process or a smooth deceleration process in the speed steady change process, the second weight coefficient is calculated by the following formula:

[0014]

[0015] where σ H is the second weight coefficient, v t is the speed currently measured by the second speed sensor, σ m is the critical value at which the second weight coefficient transitions from the smooth acceleration stage to the speed stable process or the critical value at which the speed stable process transitions to the smooth deceleration stage, v0 is the initial speed of the smooth acceleration stage or the final speed of the smooth deceleration stage, v m is the final speed of the smooth acceleration stage or the initial speed of the smooth deceleration stage.

[0016] Optionally, determining the first weight coefficient of the speed measured by the first speed sensor and the second weight coefficient of the speed measured by the second speed sensor according to the operation process includes:

[0017] When the operation process is the low-speed stable process in the speed stable process, it is determined that the first weight coefficient is greater than the second weight coefficient;

[0018] When the operation process is the high-speed stable process in the speed stable process, it is determined that the first weight coefficient is less than the second weight coefficient.

[0019] Optionally, the determining the first weight coefficient of the speed measured by the first speed sensor and the second weight coefficient of the speed measured by the second speed sensor according to the operation process includes:

[0020] When 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.

[0021] Optionally, the determining the first weight coefficient of the speed measured by the first speed sensor and the second weight coefficient of the speed measured by the second speed sensor according to the operation process includes:

[0022] When the operation process is the braking deceleration process in the speed rapid change process, it is determined that the first weight coefficient is 0.

[0023] The present invention also provides a processor, which is configured to execute the above method for determining the operation speed of the seeder.

[0024] The present invention also provides a control device, which includes the above processor.

[0025] The present invention also provides a seeder, which includes the above control device.

[0026] Through the above technical solution, 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 and the second weight coefficient of the speed measured by the second speed sensor are determined, and according to the speeds currently measured by multiple first speed sensors, the speeds currently measured by multiple second speed sensors, the first weight coefficient, and the second weight coefficient, the current operation speed of the seeder is determined by 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. By controlling the seed metering disc according to the operation speed determined by the operation speed determination method of the present invention, the reliability and accuracy of the control of the seed metering disc can be effectively improved, thereby ensuring the consistency of the seeding plant spacing.

[0027] Other features and advantages of the present invention will be described in detail in the subsequent specific embodiment part. Description of the Drawings

[0028] 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.

[0029] In the drawings:

[0030] Figure 1 is a flowchart of a method for determining the operating speed in an embodiment of the present invention;

[0031] Figure 2 is Figure 1 a schematic block diagram of the control device in

[0032] Description of the reference numerals in the drawings:

[0033] 1 Processor

[0034] 2 First speed sensor

[0035] 3 Second speed sensor Detailed Description of the Embodiments

[0036] The following will describe in detail the specific embodiments of the present invention with reference to the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0037] 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.

[0038] In the present invention, unless otherwise stated, the orientation terms such as "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. usually refer to the orientation or positional relationship shown in the 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 cannot be understood as a limitation to the embodiments of the present invention; the orientation terms "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0039] The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0040] Referring to the attached Figure 1 and the attached Figure 2As shown, the first exemplary embodiment of the present invention provides a method for determining the operating speed of a seeder. The seeder includes a plurality of first speed sensors 2 capable of accurately detecting the speed when the seeder is in a low-speed operating state and a plurality of second speed sensors 3 capable of accurately detecting the speed when the seeder is in a high-speed operating state. The method for determining the operating speed includes the following steps:

[0041] Step S1. Determine the current operating process of the seeder, where the operating process includes a speed steady change process, a speed rapid change process, and a speed stable process;

[0042] Step S2. According to the operating process, determine the first weight coefficient of the speed measured by the first speed sensor 2 and the second weight coefficient of the speed measured by the second speed sensor 3, where the sum of the plurality of first weight coefficients and the plurality of second weight coefficients is 1;

[0043] Step S3. 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, determine the current operating speed of the seeder through weighted fusion calculation.

[0044] Specifically, the seeder further includes a processor 1. 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 method for determining the operating speed.

[0045] In this embodiment, during the operation of the seeder, according to the current operating process of the seeder, determine the first weight coefficient of the speed measured by the first speed sensor 2 and the second weight coefficient of the speed measured by the second speed sensor 3, 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, determine the current operating 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 operating speed of the seeder. With such a setting, the accuracy and reliability of determining the operating speed are effectively improved. Controlling the seed metering disc according to the operating speed determined by the method for determining the operating speed in this embodiment can effectively improve the reliability and accuracy of controlling the seed metering disc, thereby ensuring the consistency of the sowing plant spacing.

[0046] Understandably, the operation process of the seeder is to start from a stopped state and accelerate to a predetermined speed under the traction of a 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, operating smoothly at the predetermined speed is the speed stable process, and the turning operation and emergency braking that occur during the operation process are the speed rapid change processes. Critical speeds between various processes are pre-stored in the processor 1. The critical speeds can be obtained through experiments. In practical applications, the operation process of the seeder is determined according to the speed range in which the traveling speed of the tractor towing the seeder is located.

[0047] 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 operation state, and 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 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, since the speed measured by the second speed sensor 3 is relatively accurate, 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 details, reference can be made to the subsequent embodiments.

[0048] In an alternative embodiment, step S3 specifically includes:

[0049] Multiply the speeds currently measured by multiple first speed sensors 2 by the first weight coefficient 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 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 operation speed of the seeder.

[0050] For example, if the number of both the first speed sensor 2 and the second speed sensor 3 is two, the operation speed can be calculated by the following formula:

[0051] v r =σ L *(v1 + v2)+σ H *(v3 + v4);

[0052] Where, v r is the operation speed, σ L is the first weight coefficient, v1 and v2 are the two first speed sensors 2, σH is the second weight coefficient, and v3 and v4 are two second speed sensors 3.

[0053] In an alternative embodiment, step S2 specifically includes:

[0054] In the case where the operation process is an instantaneous acceleration process or an instantaneous deceleration process during a stable speed change process, determine that the second weight coefficient is 0.

[0055] It can be understood that the moment when the seeder starts to accelerate from the stopped state is an instantaneous acceleration process, and the moment when the seeder decelerates from a stable deceleration process to the stopped state is an instantaneous deceleration process. In 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 final obtained operation speed.

[0056] In an alternative embodiment, step S2 specifically includes:

[0057] In the case where the operation process is a stable acceleration process or a stable deceleration process during a stable speed change process, the second weight coefficient is calculated by the following formula:

[0058]

[0059] where 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 transitioning from the stable acceleration stage to the speed stable process or when transitioning from the speed stable process to the stable deceleration stage, v0 is the initial speed of the stable acceleration stage or the final speed of the stable deceleration stage, v m is the final speed of the stable acceleration stage or the initial speed of the stable deceleration stage.

[0060] It can be understood that when calculating the second weight coefficient by the above formula, when the seeder is in the stable acceleration process, then σ m is the critical value of the second weight coefficient when transitioning from the stable acceleration stage to the speed stable process, v0 is the initial speed of the stable acceleration stage, and v m is the final speed of the stable acceleration stage. When the seeder is in the stable deceleration process, σ m is the critical value when transitioning from the speed stable process to the stable deceleration stage, v0 is the final speed of the stable deceleration stage, and v m is the initial speed of the stable deceleration stage.

[0061] 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.

[0062] In an alternative embodiment, step S2 specifically includes:

[0063] In the case where the operating process is the low-speed stable process during the speed stable process, it is determined that the first weight coefficient is greater than the second weight coefficient;

[0064] In the case where the operating process is the high-speed stable process during the speed stable process, it is determined that the first weight coefficient is less than the second weight coefficient.

[0065] It can be understood that the critical speed is pre-stored in the processor 1. The critical speed is the product of the average rotational speed required for the ground wheel of the seeder to rotate one circle within the set unit time t and its circumference. In the case where the seeder is in the speed stable 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.

[0066] 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.

[0067] In an alternative embodiment, step S2 specifically includes:

[0068] In the case where the operating process is the U-turn operation process during the speed rapid change process, it is determined that the first weight coefficient is 0.

[0069] It can be understood that 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 operating speed.

[0070] In an alternative embodiment, step S2 specifically includes:

[0071] In the case where the operating process is the braking deceleration process during the speed rapid change process, it is determined that the first weight coefficient is 0.

[0072] 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 operating speed.

[0073] In another embodiment of the present invention, the operation speed determination method includes the following steps:

[0074] Step S1. Determine the operation state of the seeder, where the operation state of the seeder includes a low-speed operation state and a high-speed operation state;

[0075] Step S2. Determine the working states of a plurality of first speed sensors 2;

[0076] Step S3. Determine the working states of a plurality of second speed sensors 3;

[0077] Step S4. According to the operation state of the seeder, the working states of a plurality of first speed sensors 2, and the working states of a plurality of second speed sensors 3, respectively determine the weight coefficients of the speeds measured by the plurality of first speed sensors 2 and the plurality of second speed sensors 3, where the sum of the plurality of weight coefficients is 1.

[0078] Step S5. According to the speeds measured by the plurality of first speed sensors 2, the speeds measured by the plurality of second speed sensors 3, and the plurality of weight coefficients, determine the current operation speed of the seeder through weighted fusion calculation.

[0079] 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 operation speed determination method.

[0080] The critical speed is pre-stored in the processor 1, and the critical speed is the product of the average rotational speed required for the ground wheel of the seeder to rotate one circle within the 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 the low-speed operation state. When the traveling speed of the tractor is greater than the critical speed, it is determined that the seeder is in the high-speed operation state.

[0081] Step S1, step S2, and step S3 can be carried out simultaneously or in a preset order and the order between them can be interchanged.

[0082] It can be understood that the working states of the first speed sensor 2 and the second speed sensor 3 specifically include a normal operation state, a fault state, and a signal anomaly state. The normal operation 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 show abnormal phenomena such as abnormal jumps and momentary spikes. According to the working states of the speed sensors, corresponding weights are given to the speed sensors, which can effectively improve the accuracy of operation speed determination. The specific weight distribution can refer to the subsequent embodiments.

[0083] In actual application, the first speed sensor 2 can be arranged on the ground wheel of the seeder or the wheel of the tractor to accurately detect the speed of the seeder when it is operating at a low speed, and the second speed sensor 3 can be arranged on the frame of the seeder to accurately detect the speed of the seeder when it is operating at a high speed. Different weights are given to the first speed sensor 2 and the second speed sensor 3 in different operating states, which can effectively improve the accuracy of determining the operating speed. The specific weight distribution can refer to the subsequent embodiments.

[0084] During the operation of the seeder, according to the operating state of the seeder, the working states of multiple first speed sensors 2, and the working states 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 respectively determined, and 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 operating 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 operating speed of the seeder. With such a setting, the accuracy and reliability of determining the operating speed are effectively improved. In the case of partial speed sensor failures or abnormal signals, the impact of this situation on the accuracy of the detected operating speed can be greatly reduced.

[0085] In the process of actual application, the processor 1 can convert the operating speed determined by the operating speed determination method in this embodiment into the target 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 speed. In this way, the rotation speed of the seed metering disc can be kept matching with the operating speed of the seeder, thereby ensuring the consistency of the sowing spacing.

[0086] In an optional embodiment, step S5 specifically includes:

[0087] The sum obtained by multiplying the speeds measured by the multiple first speed sensors 2 and the multiple second speed sensors 3 by their respective corresponding weight coefficients is determined as the current operating speed of the seeder.

[0088] In an optional embodiment, step S4 specifically includes:

[0089] When it is determined that at least one first speed sensor 2 is operating normally and the signal is normal, and multiple second speed sensors 3 are all faulty, when the working state of the seeder is in the low-speed working 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. When the working state of the seeder is in the high-speed working state, the seeder is then decelerated to the low-speed working state. By doing so, the accuracy and reliability of the working speed detection can be effectively improved. When all the sensors corresponding to the current working state are faulty, the working state is switched to ensure the accuracy of the working speed detection, effectively guaranteeing the consistency between the actual working speed and the seeding speed.

[0090] 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 signal is normal, and the two second speed sensors 3 are all faulty, when the working state of the seeder is in the low-speed working 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 0.5. When the working state of the seeder is in the high-speed working state, the seeder is then decelerated to the low-speed working 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.

[0091] In an alternative embodiment, step S4 specifically includes:

[0092] When it is determined that at least one of the second speed sensors is operating normally and the signal is normal, and multiple first speed sensors are all faulty, when the working state of the seeder is in the high-speed working 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 working state of the seeder is in the low-speed working state, the seeder is then accelerated to the high-speed working state. By doing so, the accuracy and reliability of the working speed detection can be effectively improved. When all the sensors corresponding to the current working state are faulty, the working state is switched to ensure the accuracy of the working speed detection, effectively guaranteeing the consistency between the actual working speed and the seeding speed.

[0093] 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 accelerated to the 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.

[0094] In actual application, when both the first speed sensor 2 and the second speed sensor 3 are faulty, the seeder is made to keep running at the current traveling speed unchanged to ensure that the actual seeding speed is always consistent with the driving speed and the plant spacing is stable.

[0095] In an alternative embodiment, step S4 includes:

[0096] When the operating state of the seeder is a 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 all of the multiple second speed sensors 3 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 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.

[0097] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When the operating state of the seeder is a 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 of the two 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.

[0098] In an alternative embodiment, step S4 includes:

[0099] When the working state of the seeder is the high-speed working 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 all of the multiple first speed sensors 2 are operating normally with normal signals or some are faulty and some are operating normally with normal signals, set the weight coefficients of the speeds measured by the faulty first speed sensor 2 and the faulty second speed sensor 3 to 0, make the weight coefficients of the speeds measured by the first speed sensors 2 that are operating normally with normal signals consistent, make the weight coefficients of the speeds measured by the second speed sensors 3 that are operating normally with normal signals consistent, and make the sum of the weight coefficients of the speeds measured by the second speed sensors 3 that are operating normally with normal signals 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.

[0100] 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 one of the two second speed sensors 3 is faulty and the other is operating normally with normal signals, and both of the two first speed sensors 2 are operating normally with normal signals, set the weight coefficient of the speed measured by the faulty second speed sensor 3 to 0, make the weight coefficients of the speeds measured by the two first speed sensors 2 consistent, and make the weight coefficient of the speed measured by the second speed sensor 3 that is operating normally with normal signals 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 needs. For example, the weight coefficient of the speed measured by the second speed sensor 3 that is operating normally with normal signals can be 0.6, and the weight coefficients of the speeds measured by the two first speed sensors 2 are 0.2 respectively.

[0101] In an alternative embodiment, step S5 includes:

[0102] When the signal of the first speed sensor 2 is normal, make the speed measured by the first speed sensor 2 the currently measured speed;

[0103] When the signal of the first speed sensor 2 is abnormal, make the speed measured by the first speed sensor 2 the speed measured at the previous moment when the signal was normal;

[0104] When the signal of the second speed sensor 3 is normal, make the speed measured by the second speed sensor 3 the currently measured speed;

[0105] When the signal of the second speed sensor 3 is abnormal, make the speed measured by the second speed sensor 3 the speed measured at the previous moment when the signal was normal.

[0106] 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 sensor.

[0107] In an alternative embodiment, step S4 includes:

[0108] When the operating state of the seeder is in a low-speed operating state, and it is determined that at least one first speed sensor 2 is operating normally but with abnormal signals, and at least one second speed sensor 3 is operating normally and with normal signals, keep the weight coefficients of the first speed sensors that are operating normally but with abnormal signals consistent, keep the weight coefficients of the speeds measured by the second speed sensors that are operating normally and with normal signals consistent, and make the sum of the weight coefficients of the speeds measured by one or more first speed sensors greater than the sum of the weight coefficients of the speeds measured by one or more second speed sensors.

[0109] In an alternative embodiment, step S4 includes:

[0110] When the operating state of the seeder is in a high-speed operating state, and it is determined that at least one second speed sensor 3 is operating normally but with abnormal signals, and at least one first speed sensor 2 is operating normally and with normal signals, keep the weight coefficients of the second speed sensors that are operating normally but with abnormal signals consistent, keep the weight coefficients of the speeds measured by the first speed sensors that are operating normally and with normal signals consistent, and make the sum of the weight coefficients of the speeds measured by one or more second speed sensors greater than the sum of the weight coefficients of the speeds measured by one or more first speed sensors.

[0111] In an alternative embodiment, step S4 includes:

[0112] When the operating state of the seeder is in a low-speed operating state, and it is determined that multiple first speed sensors 2 are all operating normally and with normal signals, and multiple second speed sensors 3 are all operating normally and with normal signals, keep the weight coefficients of the speeds measured by the multiple second speed sensors consistent, keep 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 first speed sensors greater than the sum of the weight coefficients of the speeds measured by the multiple second speed sensors.

[0113] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When the operating state of the seeder is in the low-speed operating 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, the sum of the weight coefficients of the speeds measured by the two first speed sensors 2 is made 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.

[0114] In an alternative embodiment, step S4 includes:

[0115] When the operating state of the seeder is in the high-speed operating state, and it is determined that all of the multiple first speed sensors 2 are operating normally and the signals are normal, and all of the multiple second speed sensors 3 are operating normally and the signals are normal, the weight coefficients of the speeds measured by the multiple second speed sensors 3 are made consistent, the weight coefficients of the speeds measured by the multiple first speed sensors 2 are made consistent, and the sum of the weight coefficients of the speeds measured by the multiple second speed sensors 3 is made greater than the sum of the weight coefficients of the speeds measured by the multiple first speed sensors 2.

[0116] For example, the seeder includes two first speed sensors 2 and two second speed sensors 3. When the operating state of the seeder is in the high-speed operating state, and it is determined that both of the two second speed sensors 3 are operating normally and the signals are normal, and both of the 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 both be 0.3, and the weight coefficients of the speeds measured by the two first speed sensors 2 can both be 0.2.

[0117] The second exemplary embodiment of the present invention provides a processor 1, and the processor 1 is configured to execute the above-mentioned method for determining the operating speed of the seeder.

[0118] The third exemplary embodiment of the present invention provides a control device, and the control device includes the above-mentioned processor 1.

[0119] The fourth exemplary embodiment of the present invention provides a seeder, and the seeder includes the above-mentioned control device.

[0120] 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 construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, 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 of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0121] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. 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.

[0122] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means 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 may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0123] 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: Determine the current operation process of the seed drill, wherein the operation process includes a speed steady change process, a speed sudden change process and a speed steady process; According to the operation process, determining a first weight coefficient of the speed measured by the first speed sensor, and determining a second weight coefficient of the speed measured by the second speed sensor, wherein a sum of a plurality of the first weight coefficients and a sum of a plurality of the second weight coefficients is 1; The current operating speed of the planter is determined through weight fusion calculation according to the speeds currently measured by the plurality of first speed sensors, the speeds currently measured by the plurality of second speed sensors, the first weight coefficient, and the second weight coefficient.

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 according to the speeds currently measured by the plurality of first speed sensors, the speeds currently measured by the plurality of second speed sensors, the first weight coefficient, and the second weight coefficient comprises: The speeds currently measured by the multiple first speed sensors are multiplied by the first weight coefficient and the sum is calculated to obtain a first sum value; the speeds currently measured by the multiple second speed sensors are multiplied by the second weight coefficient and the sum is calculated to obtain a second sum value; the first sum value and the second sum value are summed, and the third sum value obtained 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: Determining a first weight coefficient of the speed measured by the first speed sensor and determining a second weight coefficient of the speed measured by the second speed sensor according to the operation process includes: When the operation process is an instantaneous acceleration process or an instantaneous deceleration process in the speed steady change process, the second weight coefficient is determined to be 0.

4. The method for determining the working speed of a seed drill according to claim 1, characterized in that: Determining a first weight coefficient of the speed measured by the first speed sensor and determining a second weight coefficient of the speed measured by the second speed sensor according to the operation process includes: When the operation process is a steady acceleration process or a steady deceleration process in the speed steady change process, the second weight coefficient is calculated by the following formula: Among them, σ H is the second weight coefficient, v t is the speed currently measured by the second speed sensor, σ m is the critical value of the second weight coefficient when the smooth acceleration phase is converted to the speed stabilization process or when the speed stabilization process is converted to the smooth deceleration phase, v0 is the initial speed of the smooth acceleration phase or the final speed of the smooth deceleration phase, v m It is the final speed of the smooth acceleration phase or the initial speed of the smooth deceleration phase.

5. The method for determining the working speed of a seed drill according to claim 1, characterized in that: Determining a first weight coefficient of the speed measured by the first speed sensor and determining a second weight coefficient of the speed measured by the second speed sensor according to the operation process includes: When the operation process is a low-speed stable process in the speed stable process, determining that the first weight coefficient is greater than the second weight coefficient; When the operation process is a high-speed stable process in the speed stable process, the first weight coefficient is determined to be smaller than the second weight coefficient.

6. The method for determining the working speed of a seed drill according to claim 1, characterized in that: Determining a first weight coefficient of the speed measured by the first speed sensor and determining a second weight coefficient of the speed measured by the second speed sensor according to the operation process includes: When the operation process is a U-turn operation process during the rapid speed change process, the first weight coefficient is determined to be 0.

7. The method for determining the working speed of a seed drill according to claim 1, characterized in that: Determining a first weight coefficient of the speed measured by the first speed sensor and determining a second weight coefficient of the speed measured by the second speed sensor according to the operation process includes: When the operation process is a braking deceleration process during the rapid speed change process, the first weight coefficient is determined to be 0.

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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