Control system of electrically-driven precision seeder

Abstract

The invention discloses a control system of an electrically-driven precision seeder, and the system comprises a data processing module which is used for obtaining and preprocessing operation parameters and speed information; the parameter configuration module is used for setting sowing crop types, plant spacing and fertilizing amount and calling configuration of a seed disc and a fertilizing motor; the seeding control module is used for generating a control instruction and driving a servo motor to realize multi-ridge independent seeding; the fertilization adjusting module is used for collecting soil humidity, adjusting the rotating speed of a motor and driving a screw pump to realize dynamic fertilization; the state monitoring module is used for monitoring the running state of the motor in real time and executing shutdown and alarming when the motor is abnormal; the seeding calculation module is used for calculating the unicast rate, the miss-seeding rate and the re-seeding rate and displaying the seeding quality in a histogram; and the seed cleaning execution module is used for controlling the motor to reversely rotate to clean seeds, comparing the residual quantity and recording seeding data. According to the invention, high-precision seeding, dynamic fertilization, real-time monitoring and seed cleaning closed loop are realized, and the working efficiency and the seeding quality are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery automation control, and in particular to a control system for an electric precision seeder. Background Technology

[0002] Against the backdrop of rapid development in modern agricultural machinery and equipment, precision seeding technology has become a key means to improve crop yield and the level of agricultural machinery intelligence. Currently, most commonly used precision seeders employ a mechanical transmission structure, relying on tractor power output and using chains, gears, or shaft systems to achieve seeding operations. However, due to the slow response, high inertia, and complex coupling of the mechanical structure, it is easily affected by factors such as terrain undulations and fluctuations in operating speed. This makes it difficult to achieve independent control of multiple rows and highly consistent seeding, leading to frequent occurrences of plant spacing deviations, overlapping seeding, or missed seeding, seriously affecting the uniform emergence rate of crops and the efficiency of subsequent mechanized management.

[0003] Existing fertilization devices are mostly passive or quantitative synchronous structures with limited adjustment capabilities. They cannot dynamically control the amount of fertilizer applied based on real-time soil conditions, making it difficult to balance the precision of crop nutrient requirements with differences in soil fertility. Furthermore, information such as crop type and plot parameters lacks systematic management during operation. Equipment control relies on manual settings and adjustments, resulting in complex operation, high labor intensity, low levels of intelligence, and a lack of complete data collection and traceability mechanisms. This makes it difficult to meet the application requirements of high-precision operation and closed-loop data management in smart agriculture.

[0004] While existing electric-driven seeders incorporate servo control and motor units, most still rely on a unified control signal output, failing to achieve independent adjustment and error feedback control for each row's seed metering device. Consequently, seeding synchronization and accuracy still need improvement. Furthermore, current monitoring systems are limited to simple voltage and current alarms for the seed metering motor's operating status, lacking a multi-parameter joint judgment mechanism based on real-time speed, temperature, and current fluctuations, thus failing to achieve millisecond-level response and fault prediction.

[0005] In addition, the current seed cleaning process after sowing generally relies on manual dismantling and dumping, which is time-consuming and labor-intensive. The residual seeds are not completely removed, which can easily lead to incomplete sowing data and affect subsequent operation statistics and agricultural big data analysis.

[0006] Therefore, how to provide a control system for an electrically driven precision seeder is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] One objective of this invention is to propose a control system for an electrically driven precision seeder. This invention fully integrates BeiDou high-precision positioning and multi-source fusion speed measurement technology, a multi-row servo motor seeding method driven by PWM control, a dynamic fertilization control algorithm based on soil moisture, a real-time motor status monitoring and intelligent fault response mechanism, and an automated control strategy for the seed cleaning process. It describes in detail the intelligent control process for achieving highly consistent seeding, highly adaptable fertilization, and full-process data visualization management, and has the advantages of high seeding accuracy, high fertilization efficiency, strong operational reliability, and convenient operation.

[0008] A control system for an electrically driven precision seeder according to an embodiment of the present invention includes:

[0009] The data processing module is used to acquire the operating parameters and speed information of the seeder and perform preprocessing.

[0010] The parameter configuration module is used to receive fusion speed values ​​and operation parameters, set the crop type, plant spacing target value and fertilizer target amount, and call the corresponding seed tray parameters and fertilizer motor configuration.

[0011] The seed metering control module is used to generate control commands for the servo motors of each ridge based on the fusion speed value and the target plant spacing value. It controls the servo motors to drive the seed metering device through PWM signals to achieve independent sowing in multiple ridges.

[0012] The fertilization adjustment module is used to collect soil moisture data, perform correlation calculations with the fertilization target amount, adjust the speed of the dual-compartment fertilization motor, and output fertilization control commands to drive the screw pump to achieve dynamic fertilization.

[0013] The status monitoring module is used to monitor the speed, current, voltage and temperature of the seeding motor and fertilizer motor in real time, and to execute shutdown control and audible and visual alarms in abnormal conditions.

[0014] The sowing calculation module is used to calculate the single-sowing rate, missed sowing rate and double sowing rate of each ridge based on the rotation speed and seed quantity fed back by the seed metering motor, and to display the sowing quality indicators in the form of a bar chart on the human-computer interaction interface.

[0015] The seed clearing execution module is used to trigger a seed clearing command after the sowing task is completed, control the seed metering motor to reverse and empty the seed box, compare the number of residual seeds with a preset threshold, record the sowing data and confirm the seed clearing status.

[0016] Optionally, modules can be integrated using the following methods:

[0017] S1. Obtain the operating parameters and speed information of the seeder, and perform preprocessing;

[0018] S2. Input the fusion speed value and operation parameters to the control terminal, set the crop type, plant spacing target value and fertilizer target amount, and call the corresponding seed tray parameters and fertilizer motor configuration;

[0019] S3. Based on the set target plant spacing and fusion speed, generate control instructions for the servo motors of each ridge, and control each servo motor with a PWM signal to drive the seed metering device at a set speed to achieve independent sowing of multiple ridges.

[0020] S4. Collect soil moisture data, correlate the moisture data with the target amount of fertilizer, adjust the speed of the dual-compartment fertilizer motor, output fertilizer control commands, and drive the screw pump to achieve dynamic fertilization.

[0021] S5. Real-time monitoring of the speed, current, voltage and temperature of the seeding motor and fertilizer motor; judgment of the operating status of each motor based on the monitoring data; and execution of shutdown and alarm operations in abnormal conditions.

[0022] S6. Based on the rotation speed and seed quantity fed back by the seeding motor of each ridge, calculate the single-sowing rate, missed sowing rate and double sowing rate of each ridge, and display the sowing quality indicators of each ridge in the form of a bar chart on the human-computer interaction interface.

[0023] S7. After the operation is completed, trigger the one-click seed clearing command according to the seeding task status, control the seed metering motor to reverse and empty the seed box, and compare the number of residual seeds with the preset threshold to complete the seeding data recording and seed clearing status confirmation.

[0024] Optionally, the operating parameters include the type of crop to be sown, the target plant spacing, the target amount of fertilizer, and the seed tray parameter configuration. The speed information is collected simultaneously by the Beidou positioning device and the ground wheel sensor, and fused using the Kalman filter algorithm to generate a fused speed value.

[0025] Optionally, the preprocessing includes matching and verifying the crop type and corresponding seed tray parameters, detecting the legality of the plant spacing and fertilizer application range, and denoising, aligning, and verifying the consistency of the speed information.

[0026] Optionally, S3 specifically includes:

[0027] S31. The fusion speed value and the target plant spacing value are synchronously input into the sowing control process. The fusion speed value is obtained by fusing Beidou positioning and ground wheel speed measurement signals. The target plant spacing value is set through the human-machine interface.

[0028] S32. Calculate the target speed of the servo motor by combining the real-time speed, the number of holes in the seed tray, the drive radius and the reduction transmission ratio. The target speed is used to guide the servo motor of each ridge to drive the seed metering device to perform the sowing action.

[0029] S33. Collect the current speed data fed back by the servo motor of each ridge position, compare it with the target speed in real time, and use the proportional-integral adjustment method to calculate the duty cycle of the servo motor control signal in the current cycle. The proportional-integral adjustment method dynamically adjusts the control signal according to the cumulative value of the speed error to achieve stable output.

[0030] S34. Apply the duty cycle to the PWM signal controller, output a fixed frequency pulse signal to the drive controller, drive the corresponding seed metering device to run, and use the communication clock to perform microsecond-level synchronization of all ridge signals, keeping the sowing start and execution error between each row less than 100 microseconds.

[0031] S35. Continuously record the deviation sequence between the servo motor execution state and the target state, calculate the sowing synchronization fluctuation during the continuous sowing period, and compare it with the set threshold. When the cumulative deviation exceeds the set threshold, generate the adjustment coefficient correction signal, and dynamically adjust the proportional adjustment coefficient and integral adjustment coefficient to enhance system stability.

[0032] Optionally, the PWM signal controller constructs corresponding duty cycle signals based on the target speeds of the servo motor and the fertilizer motor, and outputs them using a fixed frequency pulse sequence. The drive controller receives the duty cycle signals output by the PWM signal controller and synchronously distributes the execution commands of the multi-row planting motor and the fertilizer motor according to the communication clock to control the smooth operation of each motor.

[0033] Optionally, S4 specifically includes:

[0034] S41. Soil moisture data is acquired in real time through moisture acquisition devices deployed along the work path. The soil moisture data mainly consists of the water content of the surface soil at the work point, which serves as an environmental variable input for fertilizer application adjustment.

[0035] S42. Obtain the fertilizer target amount set by the user, and combine the soil moisture data with the fertilizer target amount to calculate and form the fertilizer correction coefficient for the current operation section. The correction coefficient is adjusted proportionally according to the degree to which the actual moisture value deviates from the reference moisture value.

[0036] S43. Multiply the fertilization correction coefficient with the fertilization target amount to obtain the actual output fertilization amount;

[0037] S44. Based on the single-cycle fertilizer output volume parameters of the screw pump in the current fertilization device and the sowing operation cycle time, calculate the target speed of the fertilization motor to guide the screw pump to accurately deliver fertilizer.

[0038] S45. Set corresponding target motor speeds for the two fertilizer compartments on the left and right sides respectively. Based on the difference between the target speed and the current feedback value, generate the duty cycle of the PWM control signal in real time, and transmit the PWM control signal to the drive controller to drive the twin screw pump to complete the dynamic fertilization operation, ensuring stable fertilization output in each sowing cycle and controlling the consistency of fertilization on the left and right sides within the specified deviation range.

[0039] Optionally, S5 specifically includes:

[0040] S51. Collect the speed data, current data, voltage data and drive temperature information of each seeding motor and fertilizer applicator motor according to a fixed sampling period, and bind the current time with the corresponding four data items to generate a data structure with timestamps.

[0041] S52. Set corresponding upper and lower threshold values ​​for each collected index. Rotation speed, current, voltage and temperature each have a maximum allowable value and a minimum allowable value, forming a complete state judgment boundary.

[0042] S53. In each sampling period, the currently collected motor state value is compared with the corresponding threshold one by one. If any item exceeds the set boundary, the sampling period is determined to be an abnormal state and marked as a fault sampling point; otherwise, it is a normal state.

[0043] S54. If multiple consecutive sampling cycles are determined to be in an abnormal state, a motor stop control command will be generated immediately, and an audible and visual alarm signal will be triggered to provide audible and visual prompts. At the same time, the fault sampling points will be cached in the fault record queue for diagnostic analysis.

[0044] Optionally, S6 specifically includes:

[0045] S61. During the sowing operation, continuously collect information on the rotation speed and seed quantity of the seed metering motor in each ridge, and accumulate the rotation speed of each motor and the total number of seeds dispensed within a set statistical period. Calculate the theoretical number of seeds to be dispensed in that period based on the mechanical parameters of the seed metering structure.

[0046] S62. Compare the theoretical number of seeds to be planted with the actual planting data, and combine the planting location distribution recorded by the sensor to perform consistency analysis on the planting spacing. Record the distance between two consecutive seeds within the error allowable range as single planting, the area where no seeds were detected as missed planting, and the area where the planting spacing is less than the threshold as replanting. Then count the number of single plantings, missed plantings and replantings for each ridge, and calculate the corresponding three types of planting quality ratios.

[0047] S63. The single-sowing rate, missed sowing rate and re-sowing rate calculated for each ridge are visualized and encoded, and converted into three types of bar chart elements: green, yellow and red. Color differentiation conditions are set according to the size of sowing error. The visualized bar chart is plotted in real time on the human-computer interaction interface with the ridge as the horizontal axis and the index height as the vertical axis. The refresh cycle is one second, and dynamic scrolling and threshold warning reminders are supported.

[0048] Optionally, S7 specifically includes:

[0049] S71. After the operation is completed, immediately enter the one-click seed clearing process, send reverse drive instructions to all row seeding motors, and freeze the current operation parameters and seed status.

[0050] S72. Control the seed metering motor to run continuously at a preset reverse speed for a period of time. During this period, the seed counting device counts the number of seeds discharged and calculates the current residual quantity based on the estimated number of seeds before the reverse rotation. All residual values ​​are non-negative.

[0051] S73. Compare the number of residual seeds calculated for each row with the preset residual threshold of the seed cleaning process one by one, and set a judgment rule. When the number of residual seeds in a certain row is not higher than the set value, the seed cleaning is deemed qualified; otherwise, it is deemed unqualified.

[0052] S74. When all row clearing and sowing are deemed qualified, immediately generate sowing operation data records. The data structure includes operation start and end time, total number of sowing rows, clearing timestamp, operation area coordinate range, and cache the log to memory block. Refresh the clearing status display area and update the user interface to the "clearing completed" status flag.

[0053] The beneficial effects of this invention are:

[0054] First, by introducing a multi-source fusion algorithm combining BeiDou positioning and wheel speed measurement, high-precision acquisition and real-time correction of sowing speed were achieved, providing a stable and reliable input basis for seed metering control and fertilization adjustment. Simultaneously, a multi-row servo drive method based on finely controlled PWM signals enabled each row seed metering device to operate independently according to the set plant spacing, achieving a highly consistent sowing effect with sowing spacing errors controlled at the centimeter level.

[0055] Secondly, addressing the issue of fertilization process control, this invention constructs a dynamic fertilization strategy based on soil moisture sensing. Combining crop type configuration, target fertilization amount, and sensor feedback, a dual-closed-loop proportional adjustment mechanism precisely adjusts the fertilization motor speed, ensuring fertilizer application better matches actual soil conditions and crop needs, effectively avoiding insufficient or wasted fertilization. Simultaneously, in terms of operation monitoring, the system integrates multi-dimensional features such as speed, current, voltage, and temperature, enabling real-time determination of motor operating status and anomaly response, ensuring equipment safety and stability.

[0056] Finally, the system supports one-click seed clearing after the operation is completed. Combining the reversal of the seed metering motor and the remaining seed quantity estimation algorithm, it automatically judges the seed clearing status and records the sowing data, improving the closed-loop management capability of the operation process. By calculating the single-sowing rate, missed sowing rate, and double-sowing rate during the sowing process and displaying them graphically on the touch interface in real time, users can intuitively grasp the sowing quality of each ridge and achieve refined and visual control of the operation results. Attached Figure Description

[0057] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0058] Figure 1 This is a block diagram of the control system of an electrically driven precision seeder proposed in this invention.

[0059] Figure 2 This is a flowchart of a control system method for an electrically driven precision seeder proposed in this invention.

[0060] Figure 3 This is a flowchart illustrating the seeding quality analysis and feedback control of a control system for an electrically driven precision seeder proposed in this invention. Detailed Implementation

[0061] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0062] refer to Figure 1 A control system for an electrically driven precision seeder includes:

[0063] The data processing module is used to acquire the operating parameters and speed information of the seeder and perform preprocessing.

[0064] The parameter configuration module is used to receive fusion speed values ​​and operation parameters, set the crop type, plant spacing target value and fertilizer target amount, and call the corresponding seed tray parameters and fertilizer motor configuration.

[0065] The seed metering control module is used to generate control commands for the servo motors of each ridge based on the fusion speed value and the target plant spacing value. It controls the servo motors to drive the seed metering device through PWM signals to achieve independent sowing in multiple ridges.

[0066] The fertilization adjustment module is used to collect soil moisture data, perform correlation calculations with the fertilization target amount, adjust the speed of the dual-compartment fertilization motor, and output fertilization control commands to drive the screw pump to achieve dynamic fertilization.

[0067] The status monitoring module is used to monitor the speed, current, voltage and temperature of the seeding motor and fertilizer motor in real time, and to execute shutdown control and audible and visual alarms in abnormal conditions.

[0068] The sowing calculation module is used to calculate the single-sowing rate, missed sowing rate and double sowing rate of each ridge based on the rotation speed and seed quantity fed back by the seed metering motor, and to display the sowing quality indicators in the form of a bar chart on the human-computer interaction interface.

[0069] The seed clearing execution module is used to trigger a seed clearing command after the sowing task is completed, control the seed metering motor to reverse and empty the seed box, compare the number of residual seeds with a preset threshold, record the sowing data and confirm the seed clearing status.

[0070] This invention achieves high-precision automated control of the entire sowing process by constructing an electric-driven control system that integrates data processing, parameter configuration, seeding control, fertilization adjustment, status monitoring, sowing calculation, and seed cleaning execution functions. This improves sowing accuracy, consistency, and operational efficiency, and significantly reduces the intensity of manual operation and the complexity of equipment maintenance.

[0071] refer to Figure 2-3 In this embodiment, the modules are interconnected using the following method:

[0072] S1. Obtain the operating parameters and speed information of the seeder, and perform preprocessing;

[0073] S2. Input the fusion speed value and operation parameters to the control terminal, set the crop type, plant spacing target value and fertilizer target amount, and call the corresponding seed tray parameters and fertilizer motor configuration;

[0074] S3. Based on the set target plant spacing and fusion speed, generate control instructions for the servo motors of each ridge, and control each servo motor with a PWM signal to drive the seed metering device at a set speed to achieve independent sowing of multiple ridges.

[0075] S4. Collect soil moisture data, correlate the moisture data with the target amount of fertilizer, adjust the speed of the dual-compartment fertilizer motor, output fertilizer control commands, and drive the screw pump to achieve dynamic fertilization.

[0076] S5. Real-time monitoring of the speed, current, voltage and temperature of the seeding motor and fertilizer motor; judgment of the operating status of each motor based on the monitoring data; and execution of shutdown and alarm operations in abnormal conditions.

[0077] S6. Based on the rotation speed and seed quantity fed back by the seeding motor of each ridge, calculate the single-sowing rate, missed sowing rate and double sowing rate of each ridge, and display the sowing quality indicators of each ridge in the form of a bar chart on the human-computer interaction interface.

[0078] S7. After the operation is completed, trigger the one-click seed clearing command according to the seeding task status, control the seed metering motor to reverse and empty the seed box, and compare the number of residual seeds with the preset threshold to complete the seeding data recording and seed clearing status confirmation.

[0079] This invention defines the collaborative process between modules step by step, realizing the full-link control logic from data acquisition, parameter setting, drive control to quality assessment and closed-loop management of operations. This enhances the real-time performance, controllability and process traceability of the system, and improves the overall intelligence level of the operation.

[0080] In this embodiment, the operating parameters include the type of crop to be sown, the target plant spacing, the target fertilization amount, and the seed tray parameter configuration. Specifically: after the type of crop to be sown is selected through the operation interface, the system automatically matches the corresponding seed tray type and extracts the number of holes, reduction ratio, and suitable crop type parameters from the seed tray database; the target plant spacing is a specific value entered by the user on the interface, and the system performs a range validity check between the value and the recommended crop parameters. If the value exceeds the recommended range, a prompt message is issued; the target fertilization amount is determined by the actual situation on site. The system establishes a maximum and minimum range based on the type of crop to be fertilized and historical fertilization data and performs boundary validity verification. Only after the boundary is valid can the fertilization control process begin.

[0081] This invention ensures that the parameters are set accurately and effectively by performing logical validity checks and data consistency verification on operational parameters such as crop type, plant spacing, and fertilizer application rate, thus providing robust data support for control command calculation and equipment operation.

[0082] In this embodiment, the speed information is synchronously collected by the Beidou positioning device and the ground wheel sensor. The Beidou module outputs speed data and positioning coordinate data updated every second through RTK differential positioning, with an accuracy of ±0.1km / h. The ground wheel sensor is installed on the axle of the seeder wheel and detects wheel speed changes through a magneto-electric encoder, outputting a speed sampling value every 50ms with an accuracy of ±0.2km / h. The system aligns the Beidou speed and the ground wheel speed according to a unified timestamp, performs noise reduction processing on their respective speed sequences through a first-order low-pass filter, and then performs data fusion using a weighted Kalman filter algorithm. The fusion weight is dynamically allocated based on signal quality and historical errors. The final fused speed value is input to the control terminal at a frequency of 10Hz as the base speed for seeding and fertilization calculations.

[0083] This invention uses both BeiDou positioning and ground wheel sensors to collect speed information, and then uses a Kalman filter algorithm to generate a high-precision fused speed value. This solves the problem of unstable speed measurement by a single sensor in complex terrain environments, and ensures the accuracy of speed input for sowing and fertilization operations.

[0084] In this embodiment, S3 specifically includes:

[0085] S31, Receive fusion speed value v f Plant spacing target value d s The fusion speed value v f The target plant spacing value d was obtained by fusing BeiDou positioning and ground wheel speed measurement signals. s The target sowing spacing set by the user;

[0086] S32, Based on fusion speed value v f Plant spacing target value d s The target rotational speed ω is calculated by combining the seeding structure parameters. t The calculation formula is as follows:

[0087]

[0088] Where, ω t N represents the target speed of the servo motor. h Indicates the number of holes in the seed tray selected, r e R represents the equivalent rotation radius of the seed disc drive end. r This indicates the reduction gear ratio between the seed disc and the servo motor;

[0089] S33. Real-time reading of the motor feedback speed ω for the i-th ridge position. i (t), ω t With ω i The difference between (t) is used as the input error, and the duty cycle signal is calculated using the improved PI control function, as shown in the following formula:

[0090]

[0091] Among them, D i k represents the duty cycle signal of the i-th servo motor control signal in the current cycle. p k represents the proportional adjustment coefficient. i ω represents the integral adjustment coefficient. i (j) represents the feedback rotational speed at the j-th sampling time, Δt represents the time interval between two sampling times, and n represents the total number of sampling points in the current period;

[0092] S34. Apply the duty cycle signal to the PWM signal controller, output a fixed frequency pulse signal to the drive controller, drive the corresponding seed metering device to run, and use the communication clock to perform microsecond-level synchronization of all ridge signals to keep the sowing start and execution error between each row less than 100 microseconds.

[0093] S35. Continuously record the deviation sequence between the servo motor execution state and the target state, calculate the sowing synchronization fluctuation during the continuous sowing period, and compare it with the set threshold. When the cumulative deviation exceeds the set threshold, generate the adjustment coefficient correction signal, and dynamically adjust the proportional adjustment coefficient and integral adjustment coefficient to enhance system stability.

[0094] This invention calculates the target speed of the servo motor by integrating speed and operating parameters, and constructs a duty cycle signal based on a PI control function, thereby realizing real-time closed-loop control and microsecond-level synchronous sowing of multi-row servo motor drive, effectively improving the consistency of plant spacing and the uniformity of seeding.

[0095] In this embodiment, the PWM signal controller constructs corresponding duty cycle signals based on the target speed of the servo motor and the target speed of the fertilizer motor, and outputs them using a fixed frequency pulse sequence. The drive controller receives the duty cycle signals output by the PWM signal controller and synchronously distributes the execution instructions of the multi-row planting motor and the fertilizer motor according to the communication clock to control the smooth operation of each motor.

[0096] This invention effectively improves the execution accuracy and operational stability of seeding and fertilization processes by constructing a PWM signal controller based on the target rotation speed and realizing synchronous distribution of multiple motors.

[0097] In this embodiment, S4 specifically includes:

[0098] S41. Collect humidity data H in real time from soil moisture sensors deployed along the work path. Humidity data H represents the surface soil moisture content at the current work point, with a value range of 0 to 100.

[0099] S42. Receive the target fertilization amount F0, correlate the humidity data H with the target fertilization amount F0, and construct the fertilization correction coefficient K. f The fertilization correction factor is calculated using an interval proportional gain model, and its expression is:

[0100]

[0101] Among them, K f H represents the correction factor for the current fertilizer application rate, and H represents the currently collected soil moisture value. ref This represents the set humidity reference value, and γ represents the humidity adjustment gain coefficient, which is used to adjust the intensity of the effect of humidity changes on the amount of fertilizer applied.

[0102] S43, Based on the correction factor K f Given the target fertilization amount F0, the actual output fertilization amount F is calculated using a linear gain model.

[0103] F = F0·K f ;

[0104] S44. Based on the actual fertilizer output F and the single-turn fertilizer output volume parameter of the screw pump in the fertilizer applicator, calculate the target speed ω of the fertilizer motor. f The following formula is used:

[0105]

[0106] Where, ω f α represents the target speed of the fertilizer motor, α represents the amount of fertilizer pumped per revolution of the fertilizer screw pump, and T represents the length of the sowing operation cycle per unit time.

[0107] S45. Set the target speed ω for the left and right fertilizer application motors respectively. fL With ω fR The duty cycle signal D is constructed based on the PWM signal controller. fL With D fR The data is input to the drive controller, which drives the twin screw pump to rotate to complete the synchronous adjustment of fertilization, keeping the fertilization error no greater than 2% and the synchronous control deviation no greater than 0.1 seconds.

[0108] This invention achieves precise control of motor speed based on soil moisture and target fertilization amount, combined with the characteristics of screw pumps, and supports independent output adjustment of dual chambers, thereby reducing fertilizer waste and improving resource utilization efficiency while ensuring fertilizer effectiveness.

[0109] In this embodiment, S5 specifically includes:

[0110] S51. Set the state sampling period for each motor to T. s In each cycle, the current rotational speed ω(t), current I(t), voltage U(t), and driving temperature θ(t) are simultaneously collected, and the sampled data are combined into a quadruple M(t) with timestamp t:

[0111] M(t)=[ω(t),I(t),U(t),θ(t)];

[0112] S52. Set the normal parameter range for motor operation and define the upper limit threshold M of the state vector. max and the lower bound threshold M of the state vector min :

[0113] M max =[ω max ,I max U max ,θ max ];

[0114] M min =[ω min ,I min U min ,θ min ];

[0115] Where, ω max ,ω min Indicates the maximum and minimum permissible speeds, I max ,I min U represents the maximum and minimum allowable current. max U min Indicates the maximum and minimum allowable voltages, θ max ,θ min Indicates the maximum and minimum permissible temperatures;

[0116] S53. Compare the quadruple M(t) at each sampling time with the upper and lower limits of the threshold item by item. If there exists a dimension k∈{1,2,3,4} that satisfies the following relationship:

[0117] M k (t)>M max,k Or M k (t) <M min,k ;

[0118] If the motor fault status flag variable F(t) is triggered, then F(t) = 1; otherwise, F(t) = 0.

[0119] S54, when the following conditions are met within n consecutive sampling periods The system will immediately generate a shutdown control command and trigger an audible and visual alarm signal, which consists of a three-color indicator light and a buzzer. At the same time, abnormal data will be cached in the fault record queue for diagnostic analysis.

[0120] This invention collects motor speed, current, voltage and temperature data in real time, and triggers shutdown and alarm signals under continuous abnormal conditions, thereby improving the equipment's safe operation guarantee capability and abnormal response speed.

[0121] In this embodiment, S6 specifically includes:

[0122] S61. During each sowing cycle, the feedback speed ω of the seeding motor in each ridge is collected. i (t) and the number of seeds discharged n i (t) represents the total number of seeds sown (N) over the sowing period. i Total revolutions C i And calculate the theoretical number of seeds to be cast using the formula:

[0123]

[0124] Among them, T i C represents the theoretical number of seeds that should be planted in the i-th ridge position. i N represents the cumulative number of revolutions of the motor in the i-th row. h R indicates the number of holes in the seed tray used. rThis indicates the reduction gear ratio between the seed disc and the servo motor;

[0125] S62. According to the theory, the number of seeds T should be used. i Compared with the actual number of seeds N i Based on the continuous seeding sequence provided by the seeding monitoring sensor, a consistency analysis of the seeding interval was performed, and the judgment rules were set as follows:

[0126] If the distance between two consecutive seeds is within the error tolerance δ d Within the specified range, it is denoted as unicast;

[0127] If no seeds are found in a certain detection area, it is recorded as a missed seeding;

[0128] If the seed spacing is significantly less than the lower limit of the theoretical plant spacing, it is considered a reseeding.

[0129] Based on the aforementioned judgment rule, the number of unicasts S is counted respectively. i Missed broadcasts L i Replay count U i Calculate the following quality indicators:

[0130]

[0131] in, This represents the single-cast rate of the i-th monolith. This represents the under-sowing rate of the i-th ridge. This represents the replay rate of the i-th row;

[0132] S63. Convert the three indicators calculated for each row into bar chart data, corresponding to three categories of sowing quality status: green, yellow, and red. Set the color thresholds as follows:

[0133] when and The time marker is green;

[0134] when or The time marker is yellow;

[0135] when or The time marker is red;

[0136] The final bar chart uses each row as the X-axis coordinate and draws three colored bars in the corresponding vertical direction. It is displayed in real time in the update area of ​​the human-computer interaction interface, with a refresh cycle of 1 second.

[0137] Based on feedback data of the seed metering motor speed and the number of seeds, this invention statistically calculates the single-sowing rate, missed-sowing rate and double-sowing rate of each ridge, and displays them in real time on the human-machine interface in a bar chart, which enhances the visualization of the sowing process and the intuitiveness of quality assessment.

[0138] In this embodiment, S7 specifically includes:

[0139] S71. Mark the sowing task status as variable B. end When the variable value satisfies B end When = 1, the one-click seed clearing process is initialized; during initialization, the operating status of the seeding motors in each row is locked, control signals are sent to each motor, and the reversal time window T is set. c ;

[0140] S72, Control the seeding motors in each ridge to rotate at a reverse speed ω r Operation, operation duration is T c During this process, each seeding motor outputs an estimated number of remaining seeds. The total number of seeds dispensed in reverse is counted by the seeding counting device, and the remaining seed quantity is estimated by combining the seed tray parameters.

[0141]

[0142] Among them, R i V represents the estimated number of residual seeds in the i-th ridge. i This represents the estimated number of seeds before the reversal. This indicates the number of seeds detected by the counting sensor during the reversal process;

[0143] S73, the number of remaining seeds R in each ridge i With the preset residual threshold R th Compare and set judgment conditions:

[0144]

[0145] Among them, C i This indicates the seeding confirmation flag for the i-th row, with a value of 1 indicating compliance and a value of 0 indicating non-compliance.

[0146] S74, when all ridge positions satisfy C i When =1, record the sowing data log. The data structure includes the start and end time of the operation, the total number of sowing rows, the clearing timestamp, and the coordinate range of the operation area. The log is cached in the memory block, the clearing status display area is refreshed, and the user interface is updated to the "clearing completed" status flag.

[0147] This invention automatically reverses the seed metering device to empty the seed box after the sowing operation is completed, and uses sensor feedback to determine whether the seed clearing is qualified, generating sowing log data to ensure the integrity of the operation data and the accuracy of subsequent analysis.

[0148] Example 1:

[0149] To verify the feasibility of this invention in practice, it was applied to a corn spring planting scenario. The plot was of medium size, with typical neutral loam soil and some surface undulations, making it an area with high precision planting requirements. Traditional mechanical planting equipment often encounters problems such as uneven plant spacing, missed planting, insufficient fertilization, or waste when operating on such plots. This is especially true in areas with large speed fluctuations or turning points, where planting consistency is even worse, failing to meet the needs of precise management in later agronomic operations.

[0150] In this operational scenario, the electric precision seeder control system described in this invention is used for the entire seeding process. Before operation, the crop to be sown is set to corn via the touch interface, with a target plant spacing of 32 cm and a target fertilizer application rate of 18 kg per acre. Based on the selected corn-specific seed tray parameters (48 holes, reduction ratio of 45.6:1), the system automatically configures the seeding logic and fertilization control model. After enabling one-click initialization, the system activates the BeiDou positioning and ground wheel sensor speed measurement device, and outputs the fused speed value in real time through a Kalman filter algorithm to control the servo motor to accurately respond to changes in the actual ground travel speed.

[0151] During sowing, each row's seed metering motor operates independently. The system adjusts the PWM control signal in real time according to the set plant spacing and speed to ensure the seed meterer operates at the target speed. For minor speed fluctuations in different rows, the control system maintains a synchronization error of no more than 80 microseconds, effectively avoiding local double-seeding or missed sowing. Simultaneously, a humidity sensor collects the surface soil moisture content of the work area every 30 seconds. When the detected humidity is below 15%, the system automatically increases the fertilizer application rate by 10%, and vice versa, achieving dynamically adjustable fertilization. The left and right fertilizer application motors maintain a speed deviation of no more than 1.2% during operation, and the fertilizer dispensing error of the left and right screw pumps remains below 2.1%.

[0152] Regarding motor operation, the system collects the current, voltage, and temperature of each motor in real time and calculates the stability of each indicator through the controller's edge algorithm. During 8 hours of continuous operation, no drive abnormalities or alarm events occurred. After the operation was completed, the operator triggered the "sowing" command, and all row seeders reversed their motors to discharge residual seeds. The number of residual seeds in each row, as recorded by the counter, did not exceed 30, far below the system's set threshold of 50 seeds, achieving a 100% seed removal success rate. All operational data was automatically recorded, generating a sowing report that included statistics on plant spacing consistency, missed sowing rate, reseeding rate, motor operation logs, and seed removal confirmation status, facilitating later analysis and management.

[0153] Data shows that, in this actual operating scenario, the present invention achieved a missed seeding rate of 0.7%, a double seeding rate of 0.5%, and a single seeding rate of 98.6%. The average navigation path deviation was 2.7 cm, the average fertilization error was 1.3%, and the average seed cleaning time was only 3.2 minutes, saving more than 60% of seed cleaning time. Compared with traditional mechanical seeding equipment under the same conditions, seeding uniformity was improved by more than 30%, fertilizer utilization rate was improved by about 21%, and energy consumption was reduced by 25.4%.

[0154] Table 1 Comparison of Field Application Performance Data of Electric-Driven Precision Seeding Control System

[0155]

[0156]

[0157] As can be seen from this embodiment, the present invention not only solves the problems of inaccurate plant spacing control, unstable fertilization, and low seed cleaning efficiency in traditional sowing systems, but also achieves a high degree of intelligence and data visualization in the operation process, greatly improving the precision operation capability and data management level of modern agriculture.

[0158] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A control system for an electrically driven precision seeder, characterized in that, include: The data processing module is used to acquire the operating parameters and speed information of the seeder and perform preprocessing. The parameter configuration module is used to receive fusion speed values ​​and operation parameters, set the crop type, plant spacing target value and fertilizer target amount, and call the corresponding seed tray parameters and fertilizer motor configuration. The seed metering control module is used to generate control commands for the servo motors of each ridge based on the fusion speed value and the target plant spacing value. It controls the servo motors to drive the seed metering device through PWM signals to achieve independent sowing in multiple ridges. The fertilization adjustment module is used to collect soil moisture data, perform correlation calculations with the fertilization target amount, adjust the speed of the dual-compartment fertilization motor, and output fertilization control commands to drive the screw pump to achieve dynamic fertilization. The status monitoring module is used to monitor the speed, current, voltage and temperature of the seeding motor and fertilizer motor in real time, and to execute shutdown control and audible and visual alarms in abnormal conditions. The sowing calculation module is used to calculate the single-sowing rate, missed sowing rate and double sowing rate of each ridge based on the rotation speed and seed quantity fed back by the seed metering motor, and to display the sowing quality indicators in the form of a bar chart on the human-computer interaction interface. The seed clearing execution module is used to trigger a seed clearing command after the sowing task is completed, control the seed metering motor to reverse and empty the seed box, compare the number of residual seeds with a preset threshold, record the sowing data and confirm the seed clearing status.

2. The control system of an electrically driven precision seeder according to claim 1, characterized in that, The modules are connected in the following way: S1. Obtain the operating parameters and speed information of the seeder, and perform preprocessing; S2. Input the fusion speed value and operation parameters to the control terminal, set the crop type, plant spacing target value and fertilizer target amount, and call the corresponding seed tray parameters and fertilizer motor configuration; S3. Based on the set target plant spacing and fusion speed, generate control instructions for the servo motors of each ridge, and control each servo motor with a PWM signal to drive the seed metering device at a set speed to achieve independent sowing of multiple ridges. S4. Collect soil moisture data, correlate the moisture data with the target amount of fertilizer, adjust the speed of the dual-compartment fertilizer motor, output fertilizer control commands, and drive the screw pump to achieve dynamic fertilization. S5. Real-time monitoring of the speed, current, voltage and temperature of the seeding motor and fertilizer motor; judgment of the operating status of each motor based on the monitoring data; and execution of shutdown and alarm operations in abnormal conditions. S6. Based on the rotation speed and seed quantity fed back by the seeding motor of each ridge, calculate the single-sowing rate, missed sowing rate and double sowing rate of each ridge, and display the sowing quality indicators of each ridge in the form of a bar chart on the human-computer interaction interface. S7. After the operation is completed, trigger the one-click seed clearing command according to the seeding task status, control the seed metering motor to reverse and empty the seed box, and compare the number of residual seeds with the preset threshold to complete the seeding data recording and seed clearing status confirmation.

3. The control system of an electrically driven precision seeder according to claim 2, characterized in that, The operational parameters include the type of crop to be sown, the target plant spacing, the target amount of fertilizer, and the seed tray parameter configuration. The speed information is collected simultaneously by the Beidou positioning device and the ground wheel sensor, and then fused using the Kalman filter algorithm to generate a fused speed value.

4. The control system of an electrically driven precision seeder according to claim 2, characterized in that, The preprocessing includes matching and verification of the crop type and corresponding seed tray parameters, detection of the legality of the plant spacing and fertilizer application range, and noise reduction, alignment and fusion consistency verification of speed information.

5. The control system of an electrically driven precision seeder according to claim 2, characterized in that, S3 specifically includes: S31. The fusion speed value and the target plant spacing value are synchronously input into the sowing control process. The fusion speed value is obtained by fusing Beidou positioning and ground wheel speed measurement signals. The target plant spacing value is set through the human-machine interface. S32. Calculate the target speed of the servo motor by combining the real-time speed, the number of holes in the seed tray, the drive radius and the reduction transmission ratio. The target speed is used to guide the servo motor of each ridge to drive the seed metering device to perform the sowing action. S33. Collect the current speed data fed back by the servo motor of each ridge position, compare it with the target speed in real time, and use the proportional-integral adjustment method to calculate the duty cycle of the servo motor control signal in the current cycle. The proportional-integral adjustment method dynamically adjusts the control signal according to the cumulative value of the speed error to achieve stable output. S34. Apply the duty cycle to the PWM signal controller, output a fixed frequency pulse signal to the drive controller, drive the corresponding seed metering device to run, and use the communication clock to perform microsecond-level synchronization of all ridge signals, keeping the sowing start and execution error between each row less than 100 microseconds. S35. Continuously record the deviation sequence between the servo motor execution state and the target state, calculate the sowing synchronization fluctuation during the continuous sowing period, and compare it with the set threshold. When the cumulative deviation exceeds the set threshold, generate the adjustment coefficient correction signal, and dynamically adjust the proportional adjustment coefficient and integral adjustment coefficient to enhance system stability.

6. The control system of an electrically driven precision seeder according to claim 5, characterized in that, In this embodiment, the PWM signal controller constructs corresponding duty cycle signals based on the target speed of the servo motor and the target speed of the fertilizer motor, and outputs them using a fixed frequency pulse sequence. The drive controller receives the duty cycle signals output by the PWM signal controller and synchronously distributes the execution instructions of the multi-row planting motor and the fertilizer motor according to the communication clock to control the smooth operation of each motor.

7. The control system of an electrically driven precision seeder according to claim 2, characterized in that, S4 specifically includes: S41. Soil moisture data is acquired in real time through moisture acquisition devices deployed along the work path. The soil moisture data mainly consists of the water content of the surface soil at the work point, which serves as an environmental variable input for fertilizer application adjustment. S42. Obtain the fertilizer target amount set by the user, and combine the soil moisture data with the fertilizer target amount to calculate and form the fertilizer correction coefficient for the current operation section. The correction coefficient is adjusted proportionally according to the degree to which the actual moisture value deviates from the reference moisture value. S43. Multiply the fertilization correction coefficient with the fertilization target amount to obtain the actual output fertilization amount; S44. Based on the single-cycle fertilizer output volume parameters of the screw pump in the current fertilization device and the sowing operation cycle time, calculate the target speed of the fertilization motor to guide the screw pump to accurately deliver fertilizer. S45. Set corresponding target motor speeds for the two fertilizer compartments on the left and right sides respectively. Based on the difference between the target speed and the current feedback value, generate the duty cycle of the PWM control signal in real time, and transmit the PWM control signal to the drive controller to drive the twin screw pump to complete the dynamic fertilization operation, ensuring stable fertilization output in each sowing cycle and controlling the consistency of fertilization on the left and right sides within the specified deviation range.

8. The control system of an electrically driven precision seeder according to claim 2, characterized in that, S5 specifically includes: S51. Collect the speed data, current data, voltage data and drive temperature information of each seeding motor and fertilizer applicator motor according to a fixed sampling period, and bind the current time with the corresponding four data items to generate a data structure with timestamps. S52. Set corresponding upper and lower threshold values ​​for each collected index. Rotation speed, current, voltage and temperature each have a maximum allowable value and a minimum allowable value, forming a complete state judgment boundary. S53. In each sampling period, the currently collected motor state value is compared with the corresponding threshold one by one. If any item exceeds the set boundary, the sampling period is determined to be an abnormal state and marked as a fault sampling point; otherwise, it is a normal state. S54. If multiple consecutive sampling cycles are determined to be in an abnormal state, a motor stop control command will be generated immediately, and an audible and visual alarm signal will be triggered to provide audible and visual prompts. At the same time, the fault sampling points will be cached in the fault record queue for diagnostic analysis.

9. The control system of an electrically driven precision seeder according to claim 2, characterized in that, S6 specifically includes: S61. During the sowing operation, continuously collect information on the rotation speed and seed quantity of the seed metering motor in each ridge, and accumulate the rotation speed of each motor and the total number of seeds dispensed within a set statistical period. Calculate the theoretical number of seeds to be dispensed in that period based on the mechanical parameters of the seed metering structure. S62. Compare the theoretical number of seeds to be planted with the actual planting data, and combine the planting location distribution recorded by the sensor to perform consistency analysis on the planting spacing. Record the distance between two consecutive seeds within the error allowable range as single planting, the area where no seeds are detected as missed planting, and the area where the planting spacing is less than the threshold as replanting. Then count the number of single plantings, missed plantings and replantings for each ridge, and calculate the corresponding three types of planting quality ratios. S63. The single-sowing rate, missed sowing rate and re-sowing rate calculated for each ridge are visualized and encoded, and converted into three types of bar chart elements: green, yellow and red. Color differentiation conditions are set according to the size of sowing error. The visualized bar chart is plotted in real time on the human-computer interaction interface with the ridge as the horizontal axis and the index height as the vertical axis. The refresh cycle is one second, and dynamic scrolling and threshold warning reminders are supported.

10. The control system of an electrically driven precision seeder according to claim 2, characterized in that, Specifically, S7 includes: S71. After the operation is completed, immediately enter the one-click seed clearing process, send reverse drive command to all row seeding motors, and freeze the current operation parameters and seed status. S72. Control the seed metering motor to run continuously at a preset reverse speed for a period of time. During this period, the seed counting device counts the number of seeds discharged and calculates the current residual quantity based on the estimated number of seeds before the reverse rotation. All residual values ​​are non-negative. S73. Compare the number of residual seeds calculated for each row with the preset residual threshold of the seed cleaning process one by one, and set a judgment rule. When the number of residual seeds in a certain row is not higher than the set value, the seed cleaning is deemed qualified; otherwise, it is deemed unqualified. S74. When all row clearing and sowing are deemed qualified, immediately generate sowing operation data records. The data structure includes operation start and end time, total number of sowing rows, clearing timestamp, operation area coordinate range, and cache the log to memory block. Refresh the clearing status display area and update the user interface to the "clearing completed" status flag.

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