Speed control method, device, equipment, medium and program product of seeding equipment

Abstract

The invention relates to a speed control method, device and equipment of seeding equipment, a medium and a program product. The method comprises the following steps: acquiring advancing speed data of an advancing device in response to a starting signal of seeding equipment; according to the traveling speed data, determining a first traveling speed of the traveling device within a first preset time period before the current moment; determining a second advancing speed of the advancing device in a second preset time period before the current moment; a first time length corresponding to the first preset time period is smaller than a second time length corresponding to the second preset time period; determining an advancing speed predicted value of the advancing device according to the first advancing speed and the second advancing speed; determining seeding speed control data for the seeding device according to the advancing speed predicted value and preset seeding information; and controlling the seeding device to sow according to the seeding speed control data. By adopting the method, the seeding precision of seeding operation can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seeding control, and in particular to a speed control method, device, equipment, medium and program product of a seeding device. BACKGROUND

[0002] With the development of seeding technology, the seeding mode is changing from traditional manual operation to intelligent and automated operation. Seeding equipment improves seeding efficiency and reduces manpower dependence while realizing large-scale operation through automated seeding.

[0003] However, the traditional seeding control often adopts a fixed seeding speed control strategy. In this way, as the travel speed increases or slows down, the seeding speed and the travel speed are likely to be mismatched, resulting in uneven seeding. SUMMARY

[0004] Therefore, it is necessary to provide a speed control method, device, equipment, medium and program product of a seeding device to improve the seeding accuracy of seeding operation in view of the above technical problems.

[0005] In a first aspect, the present application provides a speed control method of a seeding device, applied to the seeding device, the seeding device comprising a travel device for traveling and a seeding device for seeding; the method comprising:

[0006] in response to a start signal of the seeding device, obtaining travel speed data of the travel device;

[0007] determining a first travel speed of the travel device within a first preset time period before the current time according to the travel speed data; and determining a second travel speed of the travel device within a second preset time period before the current time; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period;

[0008] determining a travel speed prediction value of the travel device according to the first travel speed and the second travel speed;

[0009] determining seeding speed control data for the seeding device according to the travel speed prediction value and preset seeding information; and controlling the seeding device to seed according to the seeding speed control data.

[0010] In one embodiment, the travel speed prediction value of the travel device is determined according to the first travel speed and the second travel speed, comprising: determining a travel speed compensation value; the travel speed compensation value is a first speed difference value between the first travel speed and the second travel speed; obtaining a reference travel speed of the travel device; and correcting the reference travel speed according to the first speed difference value and a preset correction factor to obtain the travel speed prediction value of the travel device.

[0011] In one of the embodiments, the preset seeding information comprises a target plant spacing, and a number of seeding disc holes of the seeding device and a reduction ratio; accordingly, the seeding speed control data for the seeding device is determined according to the travel speed prediction value and the preset seeding information, comprising: determining the number of seed circles according to the ratio of the reduction ratio and the number of seeding disc holes; determining the seeding frequency according to the travel speed prediction value and the target plant spacing; and determining the seeding speed control data for the seeding device according to the number of seed circles and the seeding frequency.

[0012] In one of the embodiments, the travel device comprises at least one ground wheel; accordingly, the travel speed data of the travel device is obtained by: for each ground wheel, obtaining a candidate travel speed of the ground wheel at different sampling time points; for each sampling time point, selecting a target travel speed from the candidate travel speeds of different ground wheels at the sampling time point, the target travel speed being greater than the candidate travel speeds of the ground wheels; and taking the target travel speeds at different sampling time points as the travel speed data of the travel device.

[0013] In one of the embodiments, the above method further comprises: for the same sampling time point, obtaining a maximum travel speed and a minimum travel speed from the candidate travel speeds of different ground wheels; determining a second speed difference between the maximum travel speed and the minimum travel speed; and in the case that the second speed difference is greater than a preset speed threshold, outputting a ground wheel abnormality information.

[0014] In one of the embodiments, the ground wheel is provided with a speed sensor through a mounting device, the speed sensor comprising a fixed part and a collection part rotationally connected with the fixed part; the speed sensor is used to collect the candidate travel speeds of the ground wheel at different sampling time points; the mounting device comprises: a mounting shell, at least one limiting part on the mounting shell, a floating space for limiting the fixed part being formed between the limiting parts; a connecting shaft rotatably mounted on the mounting shell along an axis thereof; the connecting shaft is coaxially connected with the collection part; the connecting shaft is coaxially connected with a ground wheel main shaft of the ground wheel; a support member comprising a fixed support body and a rotating body rotationally connected with the fixed support body; the fixed support body is connected with the mounting shell, and the rotating body is coaxially connected with the connecting shaft.

[0015] In a second aspect, the application further provides a speed control device of a seeding device, configured to the seeding device, the seeding device comprising a travel device for traveling and a seeding device for seeding; the speed control device of the seeding device comprises:

[0016] a first obtaining module, configured to obtain travel speed data of the travel device in response to a start signal of the seeding device;

[0017] The first determining module is configured to determine a first travel speed of the travel device in a first preset time period before the current time according to the travel speed data, and determine a second travel speed of the travel device in a second preset time period before the current time; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period;

[0018] The second determining module is configured to determine a travel speed prediction value of the travel device according to the first travel speed and the second travel speed.

[0019] The first control module is configured to determine seeding speed control data for the seeding device according to the travel speed prediction value and preset seeding information, and control the seeding device to seed according to the seeding speed control data.

[0020] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0021] In response to a starting signal of the seeding device, travel speed data of the travel device is acquired;

[0022] The first travel speed of the travel device in a first preset time period before the current time is determined according to the travel speed data, and the second travel speed of the travel device in a second preset time period before the current time is determined; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period.

[0023] The travel speed prediction value of the travel device is determined according to the first travel speed and the second travel speed.

[0024] The seeding speed control data for the seeding device is determined according to the travel speed prediction value and preset seeding information, and the seeding device is controlled to seed according to the seeding speed control data.

[0025] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0026] In response to a starting signal of the seeding device, travel speed data of the travel device is acquired;

[0027] The first travel speed of the travel device in a first preset time period before the current time is determined according to the travel speed data, and the second travel speed of the travel device in a second preset time period before the current time is determined; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period.

[0028] The travel speed prediction value of the travel device is determined according to the first travel speed and the second travel speed.

[0029] determine seeding speed control data for the seeding device according to the travel speed prediction value and preset seeding information; and control the seeding device to seed according to the seeding speed control data.

[0030] In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the following steps:

[0031] obtain travel speed data of the travel device in response to a start signal of the seeding device;

[0032] determine a first travel speed of the travel device within a first preset time period before the current time according to the travel speed data; and determine a second travel speed of the travel device within a second preset time period before the current time; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period;

[0033] determine a travel speed prediction value of the travel device according to the first travel speed and the second travel speed;

[0034] determine seeding speed control data for the seeding device according to the travel speed prediction value and preset seeding information; and control the seeding device to seed according to the seeding speed control data.

[0035] The seeding device speed control method, device, equipment, medium program product, by responding to the start signal of the seeding device, obtaining the travel speed data of the travel device, thereby providing basic data support for the subsequent travel speed prediction process. By determining the first travel speed of the travel device within a first preset time period before the current time and the second travel speed within a second preset time period before the current time according to the travel speed data, the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period, thereby the travel speed prediction value of the travel device can be determined in combination with the short-term travel speed and the long-term speed. By determining the seeding speed control data for the seeding device according to the travel speed prediction value and the preset seeding information, and controlling the seeding device to seed according to the seeding speed control data, the dynamic adaptation of the seeding speed and the travel speed can be realized, thereby improving the precision of the seeding operation and ensuring the uniformity of crop growth. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0037] Figure 1 Flow chart of the speed control method of the seeding device in one embodiment;

[0038] Figure 2 Flow chart of the speed data acquisition step in one embodiment;

[0039] Figure 3A Schematic diagram of the connection structure of the mounting device in one embodiment;

[0040] Figure 3B Schematic diagram of the front view structure of the mounting device in one embodiment;

[0041] Figure 3C Schematic diagram of the sectional structure of the connection structure in one embodiment in the A-A direction; Figure 3B

[0042] Figure 3D Schematic diagram of the sectional structure of the mounting device in one embodiment;

[0043] Figure 3E Schematic diagram of the front view structure of the ground wheel in one embodiment;

[0044] Figure 3F Schematic diagram of the side view structure of the ground wheel in one embodiment;

[0045] Figure 3G Schematic diagram of the sectional structure of the ground wheel in one embodiment in the G-G direction; Figure 3F

[0046] Figure 3G Schematic diagram of the enlarged structure of the C part area in one embodiment; Figure 3H

[0047] Flow chart of the speed control method of the seeding device in another embodiment; Figure 3G

[0048] Block diagram of the speed control method device of the seeding device in one embodiment; Figure 4

[0049] Internal structure diagram of the computer device in one embodiment. Figure 5 DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0051] In one embodiment, as shown in Figure 6 ​​​As shown, a speed control method of a seeding device is provided, and in this embodiment, the method is applied to a terminal for example, and it can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction of the terminal and the server. In this embodiment, the method includes:

[0052] S110, in response to a start signal of the seeding device, acquiring travel speed data of the traveling device.

[0053] The seeding device includes a traveling device for traveling and a seeding device for seeding.

[0054] For example, the traveling device includes at least one ground wheel. Optionally, the traveling device itself can provide the ground wheel with driving force for traveling. Optionally, an external traveling device can also provide the traveling device with driving force for forward traveling. For example, the traveling device can be mounted on a tractor. For example, the traveling device can be mounted on the tail of the tractor.

[0055] The travel speed data can be understood as data for characterizing the speed of the seeding device.

[0056] For example, the ground wheel of the traveling device can be provided with a speed sensor for collecting travel speed data of the traveling device. Optionally, the speed sensor can include a Hall rotation speed sensor. Correspondingly, the rotation speed of the ground wheel collected by the Hall rotation speed sensor can be converted into travel speed data.

[0057] For example, the unit of the rotation speed of the ground wheel can be r / s or r / min; and the unit of the travel speed data can be m / s or km / h. The specific sensor type of the speed sensor and the specific measurement unit of the travel speed data are not limited in the present application.

[0058] For example, the speed sensor can collect the rotation direction of the ground wheel, including forward rotation and reverse rotation. Correspondingly, the seeding device can be prohibited from performing a seeding task when the rotation direction of the ground wheel is reverse.

[0059] S120, according to the travel speed data, determining a first travel speed of the traveling device within a first preset time period before the current time; and determining a second travel speed of the traveling device within a second preset time period before the current time; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period.

[0060] It can be understood that the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period, i.e., the first travel speed within the first preset time period can be used to represent the short-term travel speed condition; and the second travel speed within the second preset time period can be used to represent the long-term travel speed condition.

[0061] The first time length and the second time length can be set by the technician according to the need or experience, or determined through a large number of experiments, and the present application does not make any limitation on this. For example, the first time length can be 5s, and the second time length can be 50s.

[0062] In an optional embodiment, the first travel speed can be a first average speed of the travel device in a first preset time period before the current time; and the second travel speed can be a second average speed of the travel device in a second preset time period before the current time.

[0063] In another optional embodiment, the first travel speed can be at least one of a first speed median, a first maximum speed and a first minimum speed of the travel device in a first preset time period before the current time; and the second travel speed can be at least one of a second speed median, a second maximum speed and a second minimum speed of the travel device in a second preset time period before the current time.

[0064] S130, determining a travel speed prediction value of the travel device according to the first travel speed and the second travel speed.

[0065] The travel speed prediction value can be understood as a predicted travel speed of the travel device after the current time based on the historical travel speeds (including the first travel speed and the second travel speed).

[0066] In an optional embodiment, the first travel speed and the second travel speed can be input into a trained travel speed prediction model to obtain the travel speed prediction value of the travel device. The travel speed prediction model can be a machine learning model or a neural network model, and the present application does not make any limitation on this.

[0067] In an optional embodiment, a predicted acceleration / deceleration state of the travel device can be determined according to the first travel speed and the second travel speed; and the travel speed prediction value of the travel device can be determined according to a preset acceleration / deceleration state.

[0068] The predicted acceleration / deceleration state can include a predicted acceleration state and a predicted deceleration state.

[0069] According to the foregoing, the first travel speed in the first preset time period can be used to represent a short-term travel speed condition, and the second travel speed in the second preset time period can be used to represent a long-term travel speed condition. Therefore, when the first speed difference between the first travel speed and the second travel speed is negative, it represents a predicted deceleration state of the travel device, and when the first speed difference between the first travel speed and the second travel speed is positive, it represents a predicted acceleration state of the travel device. For example, the travel speed prediction value of the travel device can be determined according to the first speed difference between the first travel speed and the second travel speed.

[0070] For example, by introducing the predicted acceleration / deceleration state, the travel speed prediction value of the travel device is determined, so that the prediction of the travel speed is realized in the scene of entering or exiting the trench, which is beneficial to improve the uniformity of seeding at the head and tail of the field.

[0071] In an optional embodiment, a travel speed compensation value can be determined, the travel speed compensation value being the first speed difference between the first travel speed and the second travel speed; a reference travel speed of the travel device is obtained; and the reference travel speed is corrected according to the first speed difference and a preset correction factor to obtain the travel speed prediction value of the travel device.

[0072] For example, the product of the first speed difference and the preset correction factor can be used as the speed adjustment amount, and the sum of the reference travel speed and the speed adjustment amount can be used as the travel speed prediction value. It should be noted that the prediction correction factor can be set by the technical personnel according to the needs or experience, or determined through a large number of experiments, and the present application does not make any limitation thereto.

[0073] S140, according to the travel speed prediction value and the preset seeding information, determining seeding speed control data for the seeding device; and according to the seeding speed control data, controlling the seeding device to seed.

[0074] In an optional embodiment, the seeding speed control data can be used to control the rotation speed of the seeding motor in the seeding device. For example, the seeding speed control data can be sent to the controller corresponding to the seeding device through the bus to control the motor of the seeding device to operate according to the seeding speed control data.

[0075] For example, when the seeding device is started, the preset seeding speed control data can be sent to the seeding device to start according to the preset seeding speed control data in the initial state.

[0076] In an alternative embodiment, the predicted seeding information can include a target plant spacing, and a number of seeding disc holes and a reduction ratio of the seeding device; accordingly, the number of seed circles can be determined according to a ratio of the reduction ratio and the number of seeding disc holes; the seeding frequency can be determined according to the predicted value of the traveling speed and the target plant spacing; and the seeding speed control data for the seeding device can be determined according to the number of seed circles and the seeding frequency.

[0077] For example, the seeding frequency can be a ratio of the predicted value of the traveling speed and the target plant spacing.

[0078] For example, the seeding speed control data can be a product of the number of seed circles and the seeding frequency.

[0079] For example, the target plant spacing can be in units of m; the predicted value of the traveling speed can be in units of m / s; the seeding speed control data can be used to represent a motor rotating speed of the seeding device, and the seeding speed control data can be in units of r / s or rpm. It can be understood that in actual determination, unit unification or conversion can be performed, and the specific units of the data used in the calculation of the present application are not limited in any way.

[0080] For the convenience of understanding, the specific determination process of the seeding speed control data is described below. For example, the predicted value of the traveling speed is 8 km / h; the target plant spacing is 20 cm; the number of disc holes is 27; and the reduction ratio is 82.8125.

[0081] First, unit unification is performed: 8 km / h is (8 / 3.6) m / s; and 20 cm is 0.2 m. Second, the number of seed circles can be determined according to a ratio of the reduction ratio and the number of disc holes, i.e., 27 / 82.8125≈3.0671296; the seeding frequency can be determined according to the predicted value of the traveling speed and the target plant spacing, i.e., (8 / 3.6) / 0.2≈11.1111111; and the seeding speed control data for the seeding device can be determined according to the number of seed circles and the seeding frequency, i.e., 11.1111111*3.0671296*60≈2044.753086 (rpm), taking the unit of the seeding speed control data as rpm for example.

[0082] The speed control method of the seeding device, by responding to the starting signal of the seeding device, obtains the traveling speed data of the traveling device, thereby providing basic data support for the subsequent traveling speed prediction process. By determining the first traveling speed of the traveling device within a first preset time period before the current time and the second traveling speed within a second preset time period before the current time according to the traveling speed data, the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period, so that the traveling speed prediction value of the traveling device can be determined by combining the short-term traveling speed condition and the long-term speed condition. By determining the seeding speed control data for the seeding device according to the traveling speed prediction value and the preset seeding information, and controlling the seeding device to seed according to the seeding speed control data, the dynamic adaptation of the seeding speed and the traveling speed can be realized, thereby improving the precision of the seeding operation and ensuring the uniformity of crop growth.

[0083] On the basis of the technical solutions of the above-mentioned embodiments, the application further provides an optional embodiment, in which the acquisition of the traveling speed data is refined. The traveling device includes at least one ground wheel.

[0084] Referring to Figure 1 The traveling speed data acquisition step includes:

[0085] S210, for each ground wheel, acquiring the candidate traveling speed of the ground wheel at different sampling times.

[0086] It should be noted that the application does not limit the number of ground wheels in the traveling device. For example, the number of ground wheels can be two.

[0087] For example, a speed sensor can be installed on each ground wheel, and the speed sensor can be a Hall speed sensor. Accordingly, for each ground wheel, the ground wheel speed data collected by the Hall speed sensor of the ground wheel at different sampling times can be obtained, the ground wheel speed data can be converted into traveling speed, and the candidate traveling speed of the ground wheel at different sampling times can be obtained.

[0088] S220, for each sampling time, selecting a target traveling speed from the candidate traveling speeds of different ground wheels at the sampling time, the target traveling speed being greater than the candidate traveling speeds of the ground wheels.

[0089] For ease of understanding, the traveling device is taken as an example including the ground wheel A and the ground wheel B. The candidate traveling speeds of the ground wheel A at the sampling time points are a1, a2 and a3 in sequence. The candidate traveling speeds of the ground wheel B at the sampling time points are b1, b2 and b3 in sequence. a1 is greater than b1, a2 is greater than b2, and a3 is less than b3. Thus, the target traveling speeds at different sampling time points are a1, a2 and b3 in sequence. It should be noted that the determination of the target traveling speeds is only an example for ease of understanding, and should not be understood as a limitation of the specific sampling number and the specific ground wheel number.

[0090] S230, taking the target traveling speeds at different sampling time points as the traveling speed data of the traveling device.

[0091] With continuous reference to the foregoing, for example, the target traveling speeds at different sampling time points are a1, a2 and b3 in sequence, that is, the traveling speed data of the traveling device is a1, a2 and b3.

[0092] In an optional embodiment, the maximum traveling speed and the minimum traveling speed can be obtained from the candidate traveling speeds of different ground wheels at the same sampling time point. The second speed difference between the maximum traveling speed and the minimum traveling speed is determined. In the case where the second speed difference is greater than a preset speed threshold, the ground wheel abnormal information is output.

[0093] It can be understood that in the case where the second speed difference is large, the ground wheel abnormal information is output so as to check the ground wheel at the first time, to avoid causing greater damage, and to avoid causing subsequent sowing abnormality.

[0094] In the above steps, the candidate traveling speeds of the ground wheel at different sampling time points are obtained for each ground wheel, thereby providing a data basis for determination of the traveling speed data of the traveling device. The target traveling speed is selected from the candidate traveling speeds of different ground wheels at each sampling time point, the target traveling speed is greater than the candidate traveling speed of each ground wheel, and the target traveling speeds at different sampling time points are taken as the traveling speed data of the traveling device, thereby avoiding the problem of speed distortion caused by slippage or idling of a single ground wheel, and being beneficial to the reliability of the finally determined traveling speed data, and providing a reliable and continuous speed reference for determination of subsequent sowing speed control data.

[0095] On the basis of the technical solutions of the above embodiments, an optional embodiment is further provided, in which the traveling device is refined. The speed sensor is installed on the ground wheel through the mounting device, and the speed sensor includes a fixed part and a collection part rotationally connected with the fixed part. The speed sensor is used to collect the candidate traveling speeds of the ground wheel at different sampling time points.

[0096] ReferenceFigure 2 Fig. 1 is a schematic view of a connection structure of an installation device. The installation device 1 is connected with a speed sensor, and the speed sensor is provided with a plug 2. The installation device 1 is connected with a wire harness guard 3 for installing a cable of the speed sensor. The speed sensor can be a Hall speed sensor or other encoder, and the specific type of the speed sensor is not limited in the present application.

[0097] Referring to Figure 3A Fig. 2 is a schematic view of a front structure of the installation device. The installation device 1 includes an installation housing 11, and the installation housing 11 is provided with at least one limiting portion 12, and a floating space for limiting the fixed portion is formed between the limiting portions 12.

[0098] Referring to Figure 3B Fig. 3 is a schematic view of a cross-sectional structure of the connection structure in the A-A direction. Figure 3C Fig. 4 is a schematic view of a B portion of the connection structure in the A-A direction. Figure 3B Fig. 5 is a schematic view of a cross-sectional structure of the installation device. The installation device can include:

[0099] Referring to Figure 3C Fig. 6 is a schematic view of a cross-sectional structure of the installation device. The installation device can include:

[0100] The installation housing 11 is provided with at least one limiting portion 12, and a floating space for limiting the fixed portion is formed between the limiting portions 12;

[0101] The connecting shaft 13 is rotatably installed on the installation housing 11 along the axis of the connecting shaft 13; the connecting shaft 13 is coaxially connected with the collecting portion 22; and the connecting shaft 13 is coaxially connected with a ground wheel main shaft (not shown in the figure) of the ground wheel.

[0102] The support 14 includes a fixed support body 141 and a rotating body 142 rotatably connected with the fixed support body 141; the fixed support body 141 is connected with the installation housing 11, and the rotating body 142 is coaxially connected with the connecting shaft 13.

[0103] It can be understood that, in the process of rotating the ground wheel main shaft of the ground wheel, the collecting portion 22 is coaxially rotated to collect the candidate traveling speed of the ground wheel at different sampling moments. The support 14 provides basic support for the collecting portion 22, and the floating space formed by the at least one limiting portion 12 in the installation housing 11 realizes the position constraint of the fixed portion 21, so that the fixed portion 21 can float in a small range (such as installation error and ground wheel vibration), thereby avoiding damage to the connection structure (such as a shaft coupling).

[0104] The support 14 can include a bearing.

[0105] Referring to Figure 3DThe diagram shows the main structural view of the ground wheel 4. A mounting device 1 is installed on the ground wheel 4 for mounting a speed sensor.

[0106] refer to Figure 3E The diagram shown is a side view of the ground wheel 4. It can be seen that the mounting device 1 is installed on at least one side of the ground wheel 4.

[0107] refer to Figure 3F The image shows the ground wheel in... Figure 3G A schematic diagram of the cross-sectional structure along the GG direction. Among them, Figure 3F The C section is a cross-sectional structure corresponding to the mounting device in the GG direction.

[0108] refer to Figure 3G As shown Figure 3H An enlarged structural diagram of section C. The connecting shaft 13 is coaxially connected to the ground wheel main shaft 41 of the ground wheel.

[0109] Based on the above embodiments, the speed control method of the seeding equipment is described in detail.

[0110] refer to Figure 3G The diagram shown is a flowchart illustrating a speed control method for a seeding device in another embodiment, including:

[0111] S410: In response to the start signal of the seeding equipment, acquire the travel speed data of the traveling device.

[0112] S420. Based on the travel speed data, determine the first travel speed of the travel device within a first preset time period before the current time; and determine the second travel speed of the travel device within a second preset time period before the current time; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period.

[0113] S430. Determine the travel speed compensation value; the travel speed compensation value is the first speed difference between the first travel speed and the second travel speed.

[0114] S440, Obtain the reference travel speed of the traveling device.

[0115] S450. Based on the first speed difference and the preset correction factor, the reference travel speed is corrected to obtain the predicted travel speed value of the travel device.

[0116] S460. Determine the number of seed rings based on the ratio of the reduction ratio of the seeding device to the number of holes in the seeding disc.

[0117] S470. Determine the sowing frequency based on the predicted travel speed and target plant spacing.

[0118] S480, determining seeding speed control data for the seeding device according to the seedling number and the seeding frequency.

[0119] S490, controlling the seeding device to seed according to the seeding speed control data.

[0120] It should be understood that, although each step in the flowchart involved in each embodiment as described above is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be alternately executed with at least part of other steps or steps or stages in other steps.

[0121] Based on the same inventive concept, the embodiments of the present application also provide a speed control device of a seeding device for implementing the speed control method of the seeding device involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more speed control device embodiments of the seeding device provided below can refer to the limitations of the speed control method of the seeding device described above, and will not be repeated here.

[0122] In an exemplary embodiment, as shown in Figure 4 a speed control device of a seeding device is provided, comprising: a first acquisition module 510, a first determination module 520, a second determination module 530, and a first control module 540, wherein:

[0123] The first acquisition module 510 is configured to acquire travel speed data of the traveling device in response to a start signal of the seeding device;

[0124] The first determination module 520 is configured to determine a first travel speed of the traveling device within a first preset time period before the current time according to the travel speed data, and determine a second travel speed of the traveling device within a second preset time period before the current time; the first preset time period corresponds to a first time length, and the second preset time period corresponds to a second time length, wherein the first time length is less than the second time length.

[0125] The second determination module 530 is configured to determine a travel speed prediction value of the traveling device according to the first travel speed and the second travel speed;

[0126] The first control module 540 is configured to determine seeding speed control data for the seeding device according to the travel speed prediction value and preset seeding information, and control the seeding device to seed according to the seeding speed control data.

[0127] In one embodiment, the second determination module 530 includes a first determination unit configured to determine a travel speed compensation value, the travel speed compensation value being a first speed difference value between the first travel speed and the second travel speed; a first acquisition unit configured to acquire a reference travel speed of the travel device; and a correction unit configured to correct the reference travel speed according to the first speed difference value and a preset correction factor to obtain the travel speed prediction value of the travel device.

[0128] In one embodiment, the preset seeding information includes a target plant spacing, and a number of seeding disc holes and a speed reduction ratio of the seeding device; correspondingly, the first control module 540 includes a second determination unit configured to determine a number of seed circles according to a ratio of the speed reduction ratio and the number of seeding disc holes; a third determination unit configured to determine a seeding frequency according to the travel speed prediction value and the target plant spacing; and a fourth determination unit configured to determine the seeding speed control data for the seeding device according to the number of seed circles and the seeding frequency.

[0129] In one embodiment, the travel device includes at least one ground wheel; correspondingly, the first acquisition module 510 includes a first acquisition unit configured to acquire, for each ground wheel, a candidate travel speed of the ground wheel at different sampling moments; and a selection unit configured to select, for each sampling moment, a target travel speed from the candidate travel speeds of different ground wheels at the sampling moment, the target travel speed being greater than the candidate travel speeds of the ground wheels; and the target travel speeds at different sampling moments are taken as the travel speed data of the travel device.

[0130] In one embodiment, the method further includes a second acquisition module configured to acquire, for the same sampling moment, a maximum travel speed and a minimum travel speed from the candidate travel speeds of different ground wheels; a third determination module configured to determine a second speed difference value between the maximum travel speed and the minimum travel speed; and an output module configured to output a ground wheel abnormality information in a case where the second speed difference value is greater than a preset speed threshold.

[0131] In one embodiment, a speed sensor is installed on the ground wheel through a mounting device, the speed sensor comprises a fixed part and a collection part rotationally connected with the fixed part; the speed sensor is used to collect candidate traveling speeds of the ground wheel at different sampling moments; the mounting device comprises a mounting shell, at least one limiting part on the mounting shell, a floating space for limiting the fixed part formed between the limiting parts, a connecting shaft rotatably mounted on the mounting shell along an axis of the connecting shaft, the connecting shaft coaxially connected with the collection part, the connecting shaft coaxially connected with a ground wheel main shaft of the ground wheel, and a support comprising a fixed support body and a rotating body rotationally connected with the fixed support body; the fixed support body is connected with the mounting shell, and the rotating body is coaxially connected with the connecting shaft.

[0132] The above-mentioned modules in the speed control device of the seeding device can be implemented by software, hardware, or a combination thereof, in whole or in part. The above-mentioned modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform the operations corresponding to the above-mentioned modules.

[0133] In one exemplary embodiment, a computer device, which can be a terminal, has an internal structure diagram as shown in Figure 5 The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals, and the wireless communication can be achieved through WIFI, mobile cellular network, near field communication (NFC), or other technologies. The computer program is executed by the processor to implement a speed control method of a seeding device. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or can be a key, a trackball, or a touchpad arranged on the shell of the computer device, or can be an external keyboard, a touchpad, a mouse, or the like.

[0134] Those skilled in the art can understand that,Figure 6 Figure 6 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0135] In one exemplary embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0136] In response to a start signal of the seeding device, obtaining travel speed data of the traveling device;

[0137] According to the travel speed data, determining a first travel speed of the traveling device within a first preset time period before the current time; and determining a second travel speed of the traveling device within a second preset time period before the current time; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period;

[0138] According to the first travel speed and the second travel speed, determining a travel speed prediction value of the traveling device;

[0139] According to the travel speed prediction value and the preset seeding information, determining seeding speed control data for the seeding device; and controlling the seeding device to seed according to the seeding speed control data.

[0140] In one embodiment, the processor further implements the following steps when executing the computer program: determining a travel speed compensation value; the travel speed compensation value being a first speed difference value between the first travel speed and the second travel speed; obtaining a reference travel speed of the traveling device; and correcting the reference travel speed according to the first speed difference value and a preset correction factor to obtain the travel speed prediction value of the traveling device.

[0141] In one embodiment, the processor further implements the following steps when executing the computer program: determining a seed circle number according to a ratio of the deceleration ratio and the number of seeding disc holes; determining a seeding frequency according to the travel speed prediction value and a target plant spacing; and determining the seeding speed control data for the seeding device according to the seed circle number and the seeding frequency.

[0142] In one embodiment, the processor further implements the following steps when executing the computer program: for each ground wheel, obtaining candidate travel speeds of the ground wheel at different sampling times; for each sampling time, selecting a target travel speed from the candidate travel speeds of different ground wheels at the sampling time, the target travel speed being greater than the candidate travel speeds of the ground wheels; and taking the target travel speeds at different sampling times as the travel speed data of the traveling device.

[0143] In one embodiment, the processor further implements the following steps when executing the computer program: obtaining a maximum travel speed and a minimum travel speed from the candidate travel speeds of the different ground wheels for the same sampling time; determining a second speed difference between the maximum travel speed and the minimum travel speed; and outputting ground wheel abnormal information when the second speed difference is greater than a preset speed threshold.

[0144] In one embodiment, a speed sensor is mounted on the ground wheel by a mounting device, the speed sensor comprising a fixed part and a collection part rotationally connected to the fixed part; the speed sensor is configured to collect candidate travel speeds of the ground wheel at different sampling times; the mounting device comprises a mounting shell, at least one limiting part on the mounting shell, a floating space for limiting the fixed part being formed between the limiting parts, a connecting shaft rotatably mounted on the mounting shell along an axis thereof, the connecting shaft being coaxially connected to the collection part, the connecting shaft being coaxially connected to a ground wheel main shaft of the ground wheel, and a support member comprising a fixed support body and a rotating body rotationally connected to the fixed support body, the fixed support body being connected to the mounting shell, and the rotating body being coaxially connected to the connecting shaft.

[0145] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, the computer program being executed by a processor to implement the following steps:

[0146] In response to a start signal of the seeding device, obtaining travel speed data of the travel device;

[0147] According to the travel speed data, determining a first travel speed of the travel device within a first preset time period before the current time, and determining a second travel speed of the travel device within a second preset time period before the current time; the first preset time period corresponds to a first time length which is less than a second time length corresponding to the second preset time period;

[0148] According to the first travel speed and the second travel speed, determining a travel speed prediction value of the travel device;

[0149] According to the travel speed prediction value and preset seeding information, determining seeding speed control data for the seeding device; and controlling the seeding device to seed according to the seeding speed control data.

[0150] In one embodiment, the computer program is executed by the processor to further implement the following steps: determining a travel speed compensation value; the travel speed compensation value being a first speed difference between the first travel speed and the second travel speed; obtaining a reference travel speed of the travel device; and modifying the reference travel speed according to the first speed difference and a preset correction factor to obtain the travel speed prediction value of the travel device.

[0151] In one embodiment, the computer program, when executed by the processor, further implements the following steps: determining the number of seed circles according to the ratio of the speed reduction ratio and the number of holes of the seed plate; determining the seeding frequency according to the predicted value of the traveling speed and the target plant spacing; and determining the seeding speed control data for the seeding device according to the number of seed circles and the seeding frequency.

[0152] In one embodiment, the computer program, when executed by the processor, further implements the following steps: for each ground wheel, obtaining the candidate traveling speeds of the ground wheel at different sampling times; for each sampling time, selecting a target traveling speed from the candidate traveling speeds of different ground wheels at the sampling time, the target traveling speed being greater than the candidate traveling speeds of the ground wheels; and taking the target traveling speeds at different sampling times as the traveling speed data of the traveling device.

[0153] In one embodiment, the computer program, when executed by the processor, further implements the following steps: for the same sampling time, obtaining the maximum traveling speed and the minimum traveling speed from the candidate traveling speeds of different ground wheels; determining a second speed difference between the maximum traveling speed and the minimum traveling speed; and outputting the ground wheel abnormal information in the case that the second speed difference is greater than a preset speed threshold.

[0154] In one embodiment, the speed sensor is installed on the ground wheel through a mounting device, the speed sensor comprises a fixed part and a collection part rotationally connected with the fixed part; the speed sensor is used to collect the candidate traveling speeds of the ground wheel at different sampling times; the mounting device comprises a mounting shell, at least one limiting part on the mounting shell, a floating space for limiting the fixed part being formed between the limiting parts, a connecting shaft rotatably mounted on the mounting shell along an axis of the connecting shaft, the connecting shaft being coaxially connected with the collection part, the connecting shaft being coaxially connected with a ground wheel main shaft of the ground wheel, and a support member comprising a fixed support body and a rotating body rotationally connected with the fixed support body, the fixed support body being connected with the mounting shell, and the rotating body being coaxially connected with the connecting shaft.

[0155] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0156] In response to a starting signal of the seeding device, obtaining the traveling speed data of the traveling device;

[0157] According to the traveling speed data, determining a first traveling speed of the traveling device within a first preset time period before the current time, and determining a second traveling speed of the traveling device within a second preset time period before the current time; a first time length corresponding to the first preset time period is less than a second time length corresponding to the second preset time period;

[0158] According to the first traveling speed and the second traveling speed, determining a predicted value of the traveling speed of the traveling device;

[0159] determining seeding speed control data for the seeding device according to the travel speed prediction value and the preset seeding information; and controlling the seeding device to seed according to the seeding speed control data.

[0160] In one embodiment, the computer program, when executed by the processor, further implements the following steps: determining a travel speed compensation value; the travel speed compensation value being a first speed difference value between the first travel speed and the second travel speed; obtaining a reference travel speed of the travel device; and correcting the reference travel speed according to the first speed difference value and a preset correction factor to obtain the travel speed prediction value of the travel device.

[0161] In one embodiment, the computer program, when executed by the processor, further implements the following steps: determining the number of seed circles according to the ratio of the speed reduction ratio and the number of seeding disc holes; determining the seeding frequency according to the travel speed prediction value and the target plant spacing; and determining the seeding speed control data for the seeding device according to the number of seed circles and the seeding frequency.

[0162] In one embodiment, the computer program, when executed by the processor, further implements the following steps: for each ground wheel, obtaining candidate travel speeds of the ground wheel at different sampling times; for each sampling time, selecting a target travel speed from the candidate travel speeds of the different ground wheels at the sampling time, the target travel speed being greater than the candidate travel speeds of the ground wheels; and taking the target travel speeds at the different sampling times as the travel speed data of the travel device.

[0163] In one embodiment, the computer program, when executed by the processor, further implements the following steps: for the same sampling time, obtaining a maximum travel speed and a minimum travel speed from the candidate travel speeds of the different ground wheels; determining a second speed difference value between the maximum travel speed and the minimum travel speed; and outputting ground wheel abnormal information in a case where the second speed difference value is greater than a preset speed threshold.

[0164] In one embodiment, the speed sensor is installed on the ground wheel through a mounting device, the speed sensor comprising a fixed part and a collection part rotationally connected to the fixed part; the speed sensor is used to collect the candidate travel speeds of the ground wheel at different sampling times; the mounting device comprises a mounting shell, at least one limiting part on the mounting shell, a floating space for limiting the fixed part being formed between the limiting parts, a connecting shaft rotatably mounted on the mounting shell along an axis of the connecting shaft, the connecting shaft being coaxially connected to the collection part, the connecting shaft being coaxially connected to a ground wheel main shaft of the ground wheel, a support member comprising a fixed support body and a rotating body rotationally connected to the fixed support body, the fixed support body being connected to the mounting shell, and the rotating body being coaxially connected to the connecting shaft.

[0165] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0166] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0167] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A speed control method for a seeding device, characterized in that, The method is applied to a seeding device, which includes a traveling device for movement and a seeding device for sowing; the method includes: In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired; Based on the travel speed data, a first travel speed of the travel device within a first preset time period before the current time is determined; and a second travel speed of the travel device within a second preset time period before the current time is determined; the first time length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period; The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed. Based on the predicted travel speed and preset sowing information, determine the sowing speed control data for the sowing device; and control the sowing device to sow according to the sowing speed control data.

2. The method according to claim 1, characterized in that, Determining the predicted travel speed of the traveling device based on the first travel speed and the second travel speed includes: Determine the travel speed compensation value; the travel speed compensation value is the first speed difference between the first travel speed and the second travel speed; Obtain the reference travel speed of the traveling device; Based on the first speed difference and a preset correction factor, the reference travel speed is corrected to obtain the predicted travel speed value of the travel device.

3. The method according to claim 1, characterized in that, The preset sowing information includes the target plant spacing, the number of holes in the sowing disc of the sowing device, and the reduction ratio; correspondingly, determining the sowing speed control data for the sowing device based on the predicted travel speed and the preset sowing information includes: The number of seed rings is determined based on the ratio of the reduction ratio to the number of holes in the seeding disc; The sowing frequency is determined based on the predicted travel speed and the target plant spacing; Based on the number of seed rings and the sowing frequency, the sowing speed control data for the sowing device is determined.

4. The method according to any one of claims 1-3, characterized in that, The traveling device includes at least one ground wheel; correspondingly, acquiring the traveling speed data of the traveling device includes: For each ground wheel, obtain the candidate travel speed of the ground wheel at different sampling times; For each sampling time, a target speed is selected from the candidate speeds of different wheels at the sampling time, and the target speed is greater than the candidate speeds of each wheel. The target speed at different sampling times is used as the speed data of the traveling device.

5. The method according to claim 4, characterized in that, The method further includes: For the same sampling time, the maximum and minimum travel speeds are obtained from the candidate travel speeds of different ground wheels; Determine a second speed difference between the maximum travel speed and the minimum travel speed; If the second speed difference is greater than a preset speed threshold, output ground wheel abnormality information.

6. The method according to claim 4, characterized in that, A speed sensor is mounted on the ground wheel by a mounting device. The speed sensor includes a fixing part and a data acquisition part that is rotatably connected to the fixing part. The speed sensor is used to collect candidate travel speeds of the ground wheel at different sampling times; the installation device includes: The mounting housing has at least one limiting part, and a floating space is formed between each limiting part to limit the floating part of the fixing part; A connecting shaft is rotatably mounted on the mounting housing along its own axis; the connecting shaft is coaxially connected to the collection unit; the connecting shaft is coaxially connected to the main shaft of the ground wheel; The support includes a fixed support body and a rotating body rotatably connected to the fixed support body; the fixed support body is connected to the mounting housing, and the rotating body is coaxially connected to the connecting shaft.

7. A speed control device for a seeding apparatus, characterized in that, It is configured in a seeding device, which includes a traveling device for traveling and a seeding device for seeding; The speed control device of the seeding equipment includes: The first acquisition module is used to acquire the travel speed data of the traveling device in response to the start signal of the sowing equipment; The first determining module is configured to determine, based on the travel speed data, a first travel speed of the traveling device within a first preset time period before the current time; and to determine a second travel speed of the traveling device within a second preset time period before the current time; wherein the first time period corresponds to a first time length that is less than the second time length that corresponds to the second preset time period; The second determining module is used to determine the predicted travel speed of the traveling device based on the first travel speed and the second travel speed. The first control module is configured to determine seeding speed control data for the seeding device based on the predicted travel speed value and preset seeding information; and to control the seeding device to sow seeds based on the seeding speed control data.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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