Intelligent monitoring and control method for minimum tillage corn seeding

Abstract

This invention discloses an intelligent monitoring and control method for low-tillage maize sowing, belonging to the field of intelligent agricultural equipment technology. During sowing, a speed acquisition module obtains the operating speed, determines the seed metering speed and fertilizer application speed, and the seed metering and fertilizer application systems perform sowing and fertilization operations. A seed metering monitoring module monitors the seed placement position and provides real-time feedback on the plant spacing. A seed and fertilizer quantity monitoring system provides real-time feedback on the remaining seed and fertilizer amounts, and an operation status monitoring system monitors the pressure in the air duct, the pressure of the press wheel, and the sowing depth in real time. A sowing depth control system performs active contouring. The central control system processes the information and transmits it to a human-machine interface system for display, and uploads it to a network storage platform for recording operation information. During seeder operation, a control model is used for multi-dimensional regulation. This invention enables real-time and precise monitoring of the entire sowing process, playing a significant role in improving the transparency and intelligence level of low-tillage maize sowing operations.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural equipment technology, and in particular to an intelligent monitoring and control method for low-tillage corn planting. Background Technology

[0002] Sowing is a crucial step in agricultural production, and the quality of sowing operations is a significant factor affecting the subsequent growth of crops. Appropriate planting density ensures that each crop plant receives optimal soil nutrients, water, and light, which is beneficial for increasing crop yield. Consequently, different planting methods for corn with varying plant spacing have emerged. With the promotion of conservation tillage and the development of intelligent agricultural machinery, intelligent corn seeders with reduced tillage capabilities have been widely adopted.

[0003] During seeder operation, accurate monitoring of the seed metering motor status, real-time plant spacing, seed and fertilizer application, and other operational status parameters is crucial for achieving single-row controllable seeding, operational strategy adjustment, and fault prediction and alarm functions. While existing technologies have explored intelligent control of the seeding process (e.g., patents CN202411324774.X, CN202110689015.3, and CN201610268084.6), their limitations are also significant. These technologies primarily focus on data monitoring and feedback control of single or simple combined stages such as plant spacing, seeding depth, or fertilization. They lack the ability to monitor key operational parameters such as motor operating status, real-time plant spacing, seed and fertilizer application, and fan pressure under complex operating environments, and struggle to achieve comprehensive and coordinated control of multiple parameters. With the efficient integration of agronomy and intelligent agricultural machinery, a smart monitoring and control system and method for corn seeding that adapts to reduced tillage modes and enables single-row control is urgently needed. Summary of the Invention

[0004] The purpose of this invention is to propose an intelligent monitoring and control method for low-tillage maize planting, comprising the following steps:

[0005] Step A: Before sowing, set the operating area, row spacing, relative sowing position, sowing amount, and fertilizer amount for each sowing row in the human-machine interaction system according to the sowing method with the same plant spacing and the dense planting method with different plant spacing.

[0006] Step B: Set the standard operating speed and fertilizer application rate per acre, and determine the fertilizer application speed based on the operating width and the number of operating rows;

[0007] Step C: Adjust the initial angle of the seed metering tray according to the relative sowing position before departure;

[0008] Step D: Using the position of the main Beidou antenna placed on the seeder as the origin, generate X and Y axes in the due east and due north directions as the reference for storing the working position. Record the path during operation based on the angle between the vector pointing from the main Beidou antenna to the due north direction and the heading angle.

[0009] Step E: Sowing operation begins. The speed acquisition module obtains the operation speed and determines the seed metering speed and fertilizer metering speed. The seed metering system and fertilizer metering system carry out sowing and fertilization operations. The seed metering monitoring module monitors the seed placement position and provides feedback on the real-time plant spacing. The seed and fertilizer quantity monitoring system provides feedback on the remaining seed and fertilizer quantity in real time. The operation status monitoring system monitors the air duct pressure, press wheel pressure and sowing depth in real time. The sowing depth control system performs active contouring.

[0010] Step F: After the central control system processes the information, it transmits the data to the human-machine interaction system for display. Combined with the work location in step D, the data is uploaded to the network storage platform for work information recording.

[0011] Step G: Use the control model to perform multi-dimensional control while the seeder is running.

[0012] Furthermore, the formula for calculating the plant spacing d for the same planting method in step A is as follows:

[0013]

[0014] Among them, A m B is the amount of seeds sown per mu (unit of land area), and B is the row spacing.

[0015] Furthermore, in step A, the plant spacing d per row for different dense planting methods... h The calculation formula is as follows:

[0016]

[0017] Where L is the working length, A h This refers to the number of seeds sown per row.

[0018] Furthermore, the relative position of the seeds before sowing in step A is represented by the relative angle α between the seeds before sowing:

[0019]

[0020] α is achieved by adjusting the relative angle β of the seed tray on the upper part of the seeding unit before sowing:

[0021]

[0022] Where n is the number of divisions of the line when a seed is projected onto the line connecting two adjacent seeds, 360 represents the circumferential angle of the seed tray, and N is the number of holes in the seed tray.

[0023] Furthermore, the formula for calculating the fertilizer excretion rate in step B is as follows:

[0024]

[0025] Where, mf v0 represents the standard operating speed, and m represents the fertilizer discharge speed. f The amount of fertilizer applied per mu (unit of land area), v i b is the operating speed, e is the operating width of the seeder, and e is the number of rows the seeder operates.

[0026] Furthermore, the formula for calculating the operation speed in step E is as follows:

[0027]

[0028] Among them, v t This refers to the operating speed, δ1 is the encoder error drift value, δ2 is the lidar error drift value, δ3 is the Beidou antenna error drift value, and v encoder It is the speed obtained by the encoder, v radar It is the speed at which the lidar acquires data, v bds It refers to the speed at which the BeiDou antenna acquires data;

[0029] The formula for calculating the seeding speed is as follows:

[0030]

[0031] Where, ω seed Where d is the seed metering speed, d is the plant spacing, and N is the number of holes in the seed metering tray;

[0032] The formula for calculating the fertilizer discharge speed is as follows:

[0033]

[0034] Where, ω fertilizer For fertilizer discharge rotation speed, m f p represents the fertilizer discharge speed, and p represents the amount of fertilizer discharged per revolution of the fertilizer discharge box.

[0035] The formula for calculating the real-time plant spacing is as follows:

[0036] d work =3.6×v t ×t intercal

[0037] Where, d work For real-time plant spacing, t interval This refers to the interval between plantings;

[0038] The formula for calculating the amount of remaining seed fertilizer is as follows:

[0039]

[0040] Among them, V seed V represents the remaining seed quantity in the seed box. fertilizer The remaining amount of fertilizer in the fertilizer bin, δ c δl δ u and δ i The error drift values ​​V are measured for a capacitive proximity switch, a level gauge, an ultrasonic sensor, and an infrared sensor, respectively. c V l V u and V i The volume state of the object inside the box is determined in advance according to the value states of different sensors based on different box types;

[0041] The following formula can be used to determine whether the pressure in the air duct is safe:

[0042] P i ∩(P min ~P max ) = 1

[0043] Among them, P i For the pressure of a certain ventilation duct, P min P is the minimum safe pressure threshold for the pipeline. max This represents the maximum safe pressure threshold for the pipeline.

[0044] The formula for calculating the pressure of the press wheel is as follows:

[0045] F=k·Δs

[0046] Where F is the pressure of the press wheel, k is the spring stiffness coefficient of the press wheel, and Δs is the spring deformation displacement;

[0047] The formula for calculating seeding depth is as follows:

[0048] Δh=Δγ·L·cosΔγ

[0049] Where Δh is the seeding depth change value, Δγ is the ground wheel swing arm angle change value, and L is the length of the ground wheel swing arm;

[0050] The conditions under which the BeiDou system records the location of seed landing are as follows:

[0051] U i ∩U send =1

[0052] Among them, U i It is the voltage value of the infrared sensor for the seed row, U send It is the voltage matching value for seeding.

[0053] Furthermore, the regulatory model in step G specifically includes:

[0054] Sub-model for regulating seeding speed:

[0055]

[0056] Among them, uω Indicates the adjustment of seeding speed, e ω and e d K represents the deviation between the actual and theoretical values ​​of the seed metering motor speed and plant spacing. p,ω K i,ω K d,ω K is the PID parameter for rotational speed. p,d K i,d K d,d Here, f1 represents the PID parameter for plant spacing, indicating the functional relationship between the seed metering motor speed and plant spacing.

[0057] Sub-model for regulating fertilizer excretion speed:

[0058]

[0059] Among them, u f This indicates the adjustment of the fertilizer discharge speed, e f K represents the deviation between the actual and ideal speed of the fertilizer discharge motor. fp K fi K fd For PID parameters;

[0060] Sub-model for regulating fan speed:

[0061]

[0062] Among them, u b Indicates adjusting the fan speed, e b K represents the deviation between the actual pressure in the air duct and the ideal pressure. bp K bi K bd For PID parameters, f2 represents the functional relationship between fan speed and duct pressure;

[0063] Deep-seated active shape mimicry model:

[0064]

[0065] Among them, u L Indicates the adjustment of the hydraulic cylinder extension length, e L e γ e h and e p K represents the deviation between the actual and theoretical values ​​of the hydraulic cylinder extension length, ground wheel swing arm angle, pitching depth, and pressure. p,L K i,L K d,L For the PID parameters of the hydraulic cylinder, K p,γ K i,γ K d,γ K is the PID parameter for the depth-limiting angle. p,h K i,hK d,h For the PID parameters of the broadcast depth, K p,p K i,p K d,p For the pressure PID parameters, f3, f4, and f5 represent the functional relationships between the hydraulic cylinder extension length and the angle, depth, and pressure value deviation of the ground wheel swing arm, respectively.

[0066] The beneficial effects of this invention are as follows:

[0067] 1. This invention utilizes multi-sensor fusion technology to achieve real-time and precise monitoring of the entire sowing process. The system can comprehensively acquire key data such as operating speed, seed distribution effect, remaining seed and fertilizer, fan pressure, rolling pressure, sowing depth, and seed placement location, providing reliable data support for controlling operation quality and providing early warning of faults. This plays a significant role in improving the transparency and intelligence level of corn sowing operations with reduced tillage.

[0068] 2. This invention, based on advanced mathematical models and intelligent algorithms, enables precise and dynamic control of sowing operations. The system can quickly adjust key parameters such as seed metering, fertilizer application, fan speed, and sowing depth according to real-time monitoring data, ensuring that the operation meets preset standards. This intelligent control method not only improves the accuracy and stability of sowing operations but also effectively copes with complex terrain and changing working conditions, providing strong support for the quality of low-tillage corn sowing and the growth of the crop after sowing. Attached Figure Description

[0069] Figure 1 This is a flowchart illustrating the intelligent control method for reduced-tillage corn planting in this invention.

[0070] Figure 2 This is a structural diagram of the intelligent monitoring and control system for reduced-tillage corn planting in this invention.

[0071] Figure 3 This is a schematic diagram of the seeding disc position monitoring module in this invention.

[0072] Figure 4 This is a schematic diagram of the seeding monitoring module and the seed placement location recording structure and principle in this invention.

[0073] Figure 5 This is a structural diagram of the seed and fertilizer quantity monitoring system in this invention.

[0074] Figure 6 This is a simplified diagram illustrating the principle and structure of the fan pressure monitoring module in this invention.

[0075] Figure 7 This is a schematic diagram illustrating the principle and structure of the pressure monitoring module in this invention.

[0076] Figure 8 This is a schematic diagram illustrating the principle and structure of the seeding depth control system in this invention.

[0077] Figure 9 This is a schematic diagram of the intelligent control model for reduced-tillage corn planting in this invention.

[0078] Figure 10 This is a schematic diagram illustrating the cloud storage principle of seeding information in this invention. Detailed Implementation

[0079] This invention proposes an intelligent monitoring and control method for low-tillage corn planting. The invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0080] Figure 1 This is a flowchart illustrating the intelligent control method for reduced-tillage corn planting in this invention, specifically including the following steps:

[0081] Step A: Before sowing, set the operating area, row spacing, relative sowing position, sowing amount, and fertilizer amount for each sowing row in the human-machine interaction system according to the sowing method with the same plant spacing and the dense planting method with different plant spacing.

[0082] Step B: Set the standard operating speed and fertilizer application rate per acre, and determine the fertilizer application speed based on the operating width and the number of operating rows;

[0083] Step C: Adjust the initial angle of the seed metering tray according to the relative sowing position before departure;

[0084] Step D: Using the position of the main Beidou antenna placed on the seeder as the origin, generate X and Y axes in the due east and due north directions as the reference for storing the working position. Record the path during operation based on the angle between the vector pointing from the main Beidou antenna to the due north direction and the heading angle.

[0085] Step E: Sowing operation begins. The speed acquisition module obtains the operation speed and determines the seed metering speed and fertilizer metering speed. The seed metering system and fertilizer metering system carry out sowing and fertilization operations. The seed metering monitoring module monitors the seed placement position and provides feedback on the real-time plant spacing. The seed and fertilizer quantity monitoring system provides feedback on the remaining seed and fertilizer quantity in real time. The operation status monitoring system monitors the air duct pressure, press wheel pressure and sowing depth in real time. The sowing depth control system performs active contouring.

[0086] Step F: After the central control system processes the information, it transmits the data to the human-machine interaction system for display. Combined with the work location in step D, the data is uploaded to the network storage platform for work information recording.

[0087] Step G: Use the control model to perform multi-dimensional control while the seeder is running.

[0088] Figure 2The diagram shows the structure of the intelligent monitoring and control system for reduced-tillage maize sowing in this invention. The intelligent monitoring and control system for reduced-tillage maize sowing mainly includes: a central control system, a speed acquisition module, a seed metering system, a fertilizer metering system, a seed and fertilizer quantity monitoring system, an operation status monitoring system, a sowing depth control system, a human-computer interaction system, and a network cloud storage system. The central control system is connected to all system modules and is used to control the start and stop of system operation, monitor data processing, and issue execution commands. The speed acquisition module includes an encoder, lidar, and Beidou antenna, all three used to acquire operating speed. The seed metering system includes a seed metering disc position monitoring module, a seed metering drive module, and a seed metering monitoring module. Seed metering disc position monitoring uses a diffuse reflection photoelectric switch to record the position of the seed metering disc's angle groove and measure different angles of the seed metering disc to determine the initial position. The seed metering drive module uses a stepper motor to drive the seed metering disc to rotate and acquire the rotation speed. The seed metering detection module uses an infrared sensor to record the seed falling in the seed metering tube to determine the sowing effect. The fertilizer dispensing system includes a fertilizer dispensing drive module, mainly used to drive the fertilizer box groove wheels. The seed and fertilizer quantity monitoring system includes a seed box remaining quantity monitoring subsystem and a fertilizer box remaining quantity monitoring subsystem. The seed box remaining quantity monitoring subsystem includes a capacitive proximity switch, a level gauge, an ultrasonic probe, and an infrared module. The fertilizer box remaining quantity monitoring subsystem includes a capacitive proximity switch and an ultrasonic module, both used for multi-dimensional monitoring of remaining quantity. The operation status monitoring system includes fan pressure monitoring and adjustment... The system comprises a control module, a pressure monitoring module, a seeding depth monitoring module, and a position monitoring module. The fan pressure monitoring and control module utilizes a pressure sensor integrated with the ductwork to adjust fan speed when pressure is unsuitable. The pressure monitoring module uses an ultrasonic sensor to measure the spring deformation of the pressure roller. The seeding depth detection module uses a patch-type angle sensor placed on the ground wheel cantilever to determine the depth limit angle. The position monitoring module uses the Beidou antenna described in the speed acquisition module to record the seeding position of each seeding unit. The seeding depth control system includes a hydraulic cylinder mechanism combined with a parallel four-bar linkage and a patch-type pressure sensor. The hydraulic mechanism, combined with seeding depth and pressure monitoring, actively performs contouring during seeder operation. The human-machine interface system consists of a human-machine interface screen connected to the central control system. It is mainly used for setting parameters before operation, including seeding method and site overview, and also for displaying monitoring data to understand the operation status and prevent malfunctions. The network cloud storage system includes a data transmission unit (DTU) and a self-built network storage platform for cloud recording and callback of information such as operation location and seeding rate.

[0089] Before sowing, parameters need to be set. There are two sowing modes: sowing at the same plant spacing and dense planting at different plant spacings. If the former is selected, the sowing amount A per acre needs to be set. m The planting row spacing B is determined by the formula:

[0090]

[0091] Once the plant spacing d is obtained, staggered sowing near the row can be selected, such as diamond sowing, etc. Using the sowing method as a reference, through...

[0092]

[0093] Determine the relative angle α of the seeds before they take flight, and then...

[0094]

[0095] Determine the relative angle β of the seeding tray before the start of the seeding process. Figure 3 This is a schematic diagram of the seed metering tray position monitoring module. A diffuse reflection photoelectric switch is placed at a specific position inside the seed metering tray's outer shell. Different relative sowing angles are achieved by measuring the position of the specially designed angle grooves on the seed metering tray. If the latter option is selected, the working length L and the sowing amount per row A must be set. h ,pass

[0096]

[0097] The plant spacing d in each row is calculated. h Fertilizer application rate is another important parameter in sowing operations. Similarly, before sowing, with the standard operating speed v0 set, the fertilizer application rate per acre is M. f The working speed is v i Fertilizer discharge rate per seedling (m) f Depend on

[0098]

[0099] Confirmed; after parameter settings are completed, the seed metering motor rotates and adjusts, and the seeder generates a coordinate system in the due east and due north directions for position storage; after operation begins, the speed acquisition module acquires multi-source speed through the encoder, lidar, and Beidou system, and then...

[0100]

[0101] Determine the overall operation speed v t The seeding system then...

[0102]

[0103] Determine the seed metering motor speed ω seed To achieve uniform sowing at varying speeds, the seeding process uses an infrared sensor on the seeding tube to capture the time interval between two adjacent seeds at the same electrical level, thus confirming the seed placement interval.

[0104] d work =3.6×v t ×t interval

[0105] Obtain the actual plant spacing for adjustment; the fertilizer application system should be adjusted accordingly.

[0106]

[0107] Determine the speed ω of the fertilizer discharge motor fertilizer Capacitive proximity switches, level gauges, ultrasonic sensors, and infrared sensors are selected and installed at different locations in the seed box and fertilizer box. Figure 4 This document describes the structure and schematic diagram of the seed dispensing monitoring module and seed placement recording system. The seed box is equipped with an upper-mounted capacitive proximity switch, an upper-mounted ultrasonic sensor, and a side-mounted level gauge for seed quantity measurement. Considering the corrosiveness of fertilizer, the fertilizer box uses an upper-mounted capacitive proximity switch and an upper-mounted ultrasonic sensor for fertilizer quantity measurement. The volume of objects inside the box corresponding to different sensor readings under different installation methods is determined beforehand. Then, the data is processed...

[0108]

[0109] Obtain the remaining amount of seeds and fertilizer during the operation; for the pressure of the air duct, Figure 5 This is a structural diagram of a seed and fertilizer quantity monitoring system. Pressure sensors are embedded in the ductwork to monitor pressure values ​​in real time. Before operation, a minimum safe pressure threshold P for the pipeline is set. min and the highest threshold P max ,pass

[0110] P i ∩(P min ~P max ) = 1

[0111] Determine the pipeline pressure P i Whether to select an alarm for safety; for pressure monitoring of the press wheel, Figure 6 This is a simplified diagram illustrating the principle and structure of the wind turbine pressure monitoring module. An ultrasonic sensor is installed parallel to the deformation direction of the pressure wheel spring. The spring deformation is measured using ultrasound, and Hooke's law is applied.

[0112] F=k·Δs

[0113] Calculate the pressure; for seeding depth monitoring, determine the angle values ​​corresponding to different seeding depth levels before operation. Figure 7 The diagram illustrates the principle and structure of the pressure monitoring module. A patch-type angle sensor is mounted on the ground wheel cantilever. During operation, it monitors the angle changes in real time as the terrain undulates and the ground wheel vibrates.

[0114] Δh=Δγ·L·cosΔγ

[0115] Calculate the change in sowing depth Δh; for the seeding location record, Figure 8 The diagram illustrates the principle and structure of the seeding depth control system. A recording command is triggered by an infrared sensor when...

[0116] U i ∩U send =1

[0117] At that time, the infrared sensor voltage value (U) of the sowing row i Matching the seeding voltage (U) send At that time, the BeiDou system records and transmits the location information to the DTU; Figure 9 The diagram illustrates the principle of an intelligent control model for reduced-tillage corn planting. The central control system receives and aggregates the operational status and location information monitored by various systems and modules via a serial port protocol, and transmits it to the DTU using the RS485 protocol. The DTU then uses the MQTT protocol to upload data to the cloud service platform, and data callback is achieved in the storage platform through network address mapping.

[0118] Figure 10 This diagram illustrates the principle of cloud storage for sowing information. The intelligent control model for reduced-tillage maize sowing primarily relies on the controlled variable and related variables. It employs PID control through direct correlation and function transformation, focusing on four key aspects: seed metering speed, fertilizer metering speed, fan speed, and active contouring of sowing depth. For seed metering speed, it mainly considers two factors: the actual speed of the seed metering motor and the actual plant spacing.

[0119]

[0120] Adjustments are made; for the fertilizer discharge speed, the actual speed of the fertilizer discharge motor is the primary consideration, and adjustments are made through...

[0121]

[0122] Adjustments will be made; regarding fan speed, the main consideration is pipeline pressure. When the overall pipeline pressure does not meet safety requirements, adjustments will be made through...

[0123]

[0124] Adjustments should be made; for active contouring with depth-based propagation, such as Figure 7 As shown, the hydraulic cylinder extension distance, the ground wheel swing arm angle, and the contour wheel pressure are measured in real time to adjust the seeding depth, and then...

[0125]

[0126] Adjust the extension length of the hydraulic cylinder to ensure accurate contouring.

[0127] This invention, through multi-sensor fusion technology, enables real-time and precise monitoring of the entire sowing process, playing a crucial role in improving the transparency and intelligence of reduced-tillage maize sowing operations. Based on advanced mathematical models and intelligent algorithms, it achieves precise and dynamic control of sowing operations and effectively copes with complex terrain and changing working conditions, providing strong support for the quality of reduced-tillage maize sowing operations and the growth of crops after sowing.

Claims

1. A method for intelligent monitoring and control of low-tillage corn planting, characterized in that, Includes the following steps: Step A: Before sowing, set the operating area, row spacing, relative sowing position, sowing amount, and fertilizer amount for each sowing row in the human-machine interaction system according to the sowing method with the same plant spacing and the dense planting method with different plant spacing. Step B: Set the standard operating speed and fertilizer application rate per acre, and determine the fertilizer application speed based on the operating width and the number of operating rows; Step C: Adjust the initial angle of the seed metering tray according to the relative sowing position before departure; Step D: Using the position of the main Beidou antenna placed on the seeder as the origin, generate X and Y axes in the due east and due north directions as the reference for storing the working position. Record the path during operation based on the angle between the vector pointing from the main Beidou antenna to the due north direction and the heading angle. Step E: Sowing operation begins. The speed acquisition module obtains the operation speed and determines the seed metering speed and fertilizer metering speed. The seed metering system and fertilizer metering system carry out sowing and fertilization operations. The seed metering monitoring module monitors the seed placement position and provides feedback on the real-time plant spacing. The seed and fertilizer quantity monitoring system provides feedback on the remaining seed and fertilizer quantity in real time. The operation status monitoring system monitors the air duct pressure, press wheel pressure and sowing depth in real time. The sowing depth control system performs active contouring. Step F: After the central control system processes the information, it transmits the data to the human-machine interaction system for display. Combined with the work location in step D, the data is uploaded to the network storage platform for work information recording. Step G: Utilize the control model for multi-dimensional control during the operation of the seeder; The regulation model in step G specifically includes: Sub-model for regulating seeding speed: ； in, This indicates the adjustment of the seeding speed. and This indicates the deviation between the actual and theoretical values ​​of the seed metering motor speed and plant spacing. , , For the PID parameters of the rotational speed, , , Plant spacing PID parameters, This represents the functional relationship between the speed of the seed metering motor and the plant spacing. Sub-model for regulating fertilizer excretion speed: ； in, This indicates the adjustment of the fertilizer discharge speed. K represents the deviation between the actual and ideal speed of the fertilizer discharge motor. fp K fi K fd For PID parameters; Sub-model for regulating fan speed: ； in, This indicates the adjustment of the fan speed. K represents the deviation between the actual pressure in the air duct and the ideal pressure. bp K bi K bd For PID parameters, This represents the functional relationship between the fan speed and the pressure in the air duct; Deep-seated active shape mimicry model: ； in, This indicates the adjustment of the hydraulic cylinder extension length. , , and This indicates the deviation between the actual and theoretical values ​​of the hydraulic cylinder extension length, ground wheel swing arm angle, pitching depth, and pressure. , , For the PID parameters of the hydraulic cylinder, , , For the depth-limiting angle PID parameters, , , For the PID parameters of the seeding depth, , , For pressure PID parameters, , , These represent the functional relationships between the hydraulic cylinder extension length and the angle, depth, and pressure value deviation of the ground wheel swing arm, respectively.

2. The intelligent monitoring and control method for reduced-tillage maize planting according to claim 1, characterized in that, The formula for calculating the plant spacing d in step A with the same plant spacing sowing method is as follows: ； Among them, A m B is the amount of seeds sown per mu (unit of land area), and B is the row spacing.

3. The intelligent monitoring and control method for reduced-tillage maize planting according to claim 1, characterized in that, In step A, the plant spacing d per row for different dense planting methods is... h The calculation formula is as follows: ； Where L is the working length, A h This refers to the number of seeds sown per row.

4. The intelligent monitoring and control method for reduced-tillage maize planting according to claim 2, characterized in that, In step A, the relative position of the seeds before sowing is represented by the relative angle α between the seeds before sowing: ； α is achieved by adjusting the relative angle β of the seed tray on the upper part of the seeding unit before sowing: ； Where n is the number of divisions of the line when a seed is projected onto the line connecting two adjacent seeds, 360 represents the circumferential angle of the seed tray, and N is the number of holes in the seed tray.

5. The intelligent monitoring and control method for reduced-tillage maize planting according to claim 1, characterized in that, The formula for calculating the fertilizer discharge rate in step B is as follows: ； Where, m f v0 represents the standard operating speed, and m represents the fertilizer discharge speed. f The amount of fertilizer applied per mu (unit of land area), v i b is the operating speed, e is the operating width of the seeder, and e is the number of rows the seeder operates.

6. The intelligent monitoring and control method for reduced-tillage maize planting according to claim 1, characterized in that, The formula for calculating the operation speed in step E is as follows: ； Among them, v t This refers to the operating speed, δ1 is the encoder error drift value, δ2 is the lidar error drift value, δ3 is the Beidou antenna error drift value, and v encoder It is the speed obtained by the encoder, v radar It is the speed at which the lidar acquires data, v bds It refers to the speed at which the BeiDou antenna acquires data; The formula for calculating the seeding speed is as follows: ； in, Where d is the seed metering speed, d is the plant spacing, and N is the number of holes in the seed metering tray; The formula for calculating the fertilizer discharge speed is as follows: ； in, For fertilizer discharge rotation speed, m f p represents the fertilizer discharge speed, and p represents the amount of fertilizer discharged per revolution of the fertilizer discharge box. The formula for calculating the real-time plant spacing is as follows: ； Where, d work For real-time plant spacing, t interval This refers to the interval between sowing seeds; The formula for calculating the amount of remaining seed fertilizer is as follows: ； ； Among them, V seed V represents the remaining seed quantity in the seed box. fertilizer The remaining amount of fertilizer in the fertilizer bin, δ c δ l δ u and δ i The error drift values ​​V are measured for a capacitive proximity switch, a level gauge, an ultrasonic sensor, and an infrared sensor, respectively. c V l V u and V i The volume state of the object inside the box is determined in advance according to the value states of different sensors based on different box types; The following formula can be used to determine whether the pressure in the air duct is safe: ； Among them, P i For the pressure of a certain ventilation duct, P min P is the minimum safe pressure threshold for the pipeline. max This represents the maximum safe pressure threshold for the pipeline. The formula for calculating the pressure of the press wheel is as follows: ； Where F is the pressure of the press wheel, and k is the spring constant of the press wheel. This represents the spring deformation displacement; The formula for calculating seeding depth is as follows: ； in, It is the value of seeding depth variation. is the change in the angle of the ground wheel swing arm, and L is the length of the ground wheel swing arm; The conditions under which the BeiDou system records the location of seed landing are as follows: ； Among them, U i It is the voltage value of the infrared sensor for the seed row, U send It is the voltage matching value for seeding.

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