Positioning and trajectory planning control method suitable for precision seeder

Abstract

The invention discloses a positioning and trajectory planning control method suitable for a precision seeder, and the method achieves the high-precision trajectory control of the field operation of the seeder through the cooperative positioning of a beacon and a terminal in combination with a real-time communication and dynamic correction algorithm. The method can significantly improve the seeding uniformity and reduce the manual dependence, and is suitable for large-scale intelligent agricultural scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a positioning and trajectory planning control method for a precision seeder, aiming to solve the problems of low positioning accuracy and unstable trajectory planning during field operation of the seeder, and to improve the seeding uniformity and intelligence level. Background Art

[0002] Mechanized sowing is different from the subsequent mechanized field management and mechanized harvesting. For mechanized field management and mechanized harvesting, even if there is a certain position error, normal harvesting can be carried out as long as the position error is kept small.

[0003] During mechanized sowing, if the spacing between plants and rows is not standardized, even a small error will directly affect the yield. At the same time, sowing is an important link in the early stage of agricultural mechanization. The quality of sowing directly affects the subsequent field management machinery and harvesting machinery operations. Therefore, it is necessary to ensure that the errors in the spacing between plants and rows are controlled within a very small range.

[0004] When operating in the field, existing seed drills mainly rely on the driver's experience to control the sowing spacing and row spacing, resulting in low sowing accuracy and poor stability. The current mainstream technology for controlling the plant spacing and row spacing of mechanized sowing lacks high-precision positioning and dynamic trajectory correction capabilities, and it is difficult to meet the needs of modern agriculture for unmanned and intelligent operations.

[0005] With the development of agricultural mechanization, agricultural machinery will inevitably be further improved to be unmanned and intelligent.

[0006] In summary, the prior art mainly has the following defects:

[0007] 1. Positioning relies on manual experience: The stability of sowing spacing and row spacing is greatly affected by the driver’s skills and is prone to errors.

[0008] 2. Lack of dynamic correction mechanism: Operating equipment is prone to deviate from the preset trajectory in complex terrain and cannot be adjusted in real time.

[0009] 3. Insufficient intelligence level: It is difficult to achieve full automation and high-precision control of field operations.

[0010] Therefore, there is an urgent need for an intelligent control method that can combine real-time positioning, dynamic trajectory planning and error correction, and use it to perform field positioning of agricultural machinery and path planning during operation. Summary of the invention

[0011] The present invention aims to solve the problems of low positioning accuracy, unstable trajectory planning and lack of real-time correction mechanism during field operation of a precision seeder, and to provide a high-precision and highly adaptable positioning and trajectory planning control method.

[0012] To achieve the above object, the present invention provides the following technical solution: a positioning and trajectory planning control method suitable for a precision seeder, comprising the following steps:

[0013] (1) Establish a two-dimensional coordinate system through beacons arranged in the field and upload it to the terminal;

[0014] (2) The planter's real-time positioning data interacts with the terminal, which generates and sends the planned trajectory;

[0015] (3) The trajectory deviation is corrected in real time by comparing the beacon feedback with the algorithm, and the error threshold is ≤1cm.

[0016] Preferably, the beacon adopts wireless radio frequency technology and supports multi-band signal transmission.

[0017] Preferably, the trajectory planning algorithm is a dynamic window method, which is adapted to complex terrain conditions.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. High-precision positioning: Combining beacons and satellite positioning, the positioning error is ≤1cm, which significantly improves the uniformity of sowing.

[0020] 2. Dynamic trajectory correction: real-time monitoring and correction of deviations, adapting to complex terrain, and reducing missed broadcasts or replays.

[0021] 3. Intelligent operation: realize unmanned operation, reduce dependence on manual experience, and improve operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 : Schematic diagram of system architecture. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. All other embodiments obtained by ordinary technicians in the field without making creative work based on the embodiments of the present invention shall fall within the scope of protection of the present invention.

[0024] As an embodiment of the present invention:

[0025] A positioning and trajectory planning control method suitable for precision seeder is mainly implemented through two parts: hardware and software, among which:

[0026] 1. Hardware configuration:

[0027] Beacon: It is placed at the four corners of the field and key nodes, and has a built-in wireless transmission module using wireless radio frequency technology.

[0028] Working implement: Integrated with a high-precision positioning module, a control unit, a steering motor, and a speed adjustment device.

[0029] Terminal: Equipped with trajectory planning software, supporting multi-machine collaborative operation.

[0030] 2. Software algorithms:

[0031] Positioning fusion algorithm: Combines beacon signals and satellite data to improve positioning stability.

[0032] Dynamic window method: Dynamic trajectory planning, adjusts the path in real time according to soil humidity and terrain slope.

[0033] Specific working process:

[0034] 1. Initialization: Mainly for establishing the field coordinate system. Multiple beacons are arranged at the boundaries of the operation area. The two-dimensional coordinate system of the field is established through beacon positioning technology, and the data is uploaded to the terminal.

[0035] 2. Operation stage: Mainly for real-time positioning and data transmission. The terminal generates the operation trajectory according to the sowing requirements (plant spacing, row spacing) and sends it to the working implement;

[0036] The working implement is equipped with a positioning module (such as GPS / Beidou and beacon-assisted positioning). During the operation of the working implement, signals of a specified frequency are continuously emitted for positioning. After the beacon receives the signals, it feeds back to the terminal, that is, the real-time position is synchronized to the terminal through wireless communication technology (such as 5G / LoRA);

[0037] When the working implement is running in the field, parameter exchange is carried out with the terminal through the above real-time communication technology, and the position of the working implement is synchronized to the terminal in real time;

[0038] The terminal compares the position of the working implement with the preset trajectory in real time through the trajectory planning algorithm (such as AI algorithm or dynamic window method), judges whether there is an error in the movement trajectory of the working implement and what the error value is. And synchronizes the trajectory parameters of the implement operation from the terminal to the working implement through the specific trajectory planning algorithm;

[0039] 3. Correction stage: Mainly for trajectory planning and correction: After the terminal compares the position information of the implement with the planned movement trajectory, if it is found that the error exceeds 1 cm, correction parameters are immediately generated and sent to the working implement; The working implement adjusts the steering and traveling speed according to the correction parameters to ensure that the actual trajectory is consistent with the planned trajectory and the error of the movement trajectory ≤ 1 cm.

[0040] The specific embodiments described above further elaborate on the objective, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only for the specific embodiments of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A positioning and trajectory planning control method suitable for a precision seeder, characterized in that: The following steps are involved: (1) Establish a two-dimensional coordinate system through beacons arranged in the field and upload it to the terminal; (2) The planter's real-time positioning data interacts with the terminal, which generates and sends the planned trajectory; (3) The trajectory deviation is corrected in real time by comparing the beacon feedback with the algorithm, and the error threshold is ≤1cm.

2. The method according to claim 1, characterized in that The beacon adopts wireless radio frequency technology and supports multi-band signal transmission.

3. The method according to claim 1, characterized in that The trajectory planning algorithm is a dynamic window method, which is adapted to complex terrain conditions.

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