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

Abstract

The application relates to a speed control method, device, equipment, medium and program product of a seeding device. The method comprises the following steps: in response to a starting signal of the seeding device, acquiring travel speed data of a traveling device; determining a first travel speed of the traveling device within a first preset time period before a current time according to the travel speed data; 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 smaller than the second time length corresponding to the second preset time period; determining a travel speed prediction value of the traveling device according to the first travel speed and the second travel speed; determining seeding speed control data of 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. The method can improve the seeding precision of the seeding operation.

Description

Technical Field

[0001] This application relates to the field of seeding control technology, and in particular to a speed control method, device, equipment, medium, and program product for seeding equipment. Background Technology

[0002] With the development of sowing technology, sowing methods are shifting from traditional manual operation to intelligent and automated processes. Sowing equipment, through automated sowing, improves the efficiency of sowing operations, reduces reliance on manual labor, and enables large-scale operations.

[0003] However, traditional seed control often employs a fixed seeding speed control strategy. With this approach, as the travel speed increases or decreases, a mismatch between the seeding speed and the travel speed can easily occur, leading to uneven seeding. Summary of the Invention

[0004] Therefore, it is necessary to provide a speed control method, device, equipment, medium, and program product for seeding equipment to address the above-mentioned technical problems and improve the seeding accuracy of seeding operations.

[0005] In a first aspect, this application provides a speed control method for a seeding device, applied to a seeding device including a traveling device for moving and a seeding device for sowing; the method includes:

[0006] In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired;

[0007] 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;

[0008] The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed.

[0009] 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 seeds based on the sowing speed control data.

[0010] In one embodiment, determining the predicted travel speed of the traveling device based on the first travel speed and the second travel speed includes: determining a travel speed compensation value; the travel speed compensation value is a first speed difference 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 based on the first speed difference and a preset correction factor to obtain the predicted travel speed of the traveling device.

[0011] In one embodiment, the preset sowing information includes the target plant spacing, the number of holes in the sowing disc of the sowing device, and the deceleration ratio; accordingly, based on the predicted travel speed and the preset sowing information, sowing speed control data for the sowing device is determined, including: determining the number of seed rings based on the ratio of the deceleration ratio to the number of holes in the sowing disc; determining the sowing frequency based on the predicted travel speed and the target plant spacing; and determining the sowing speed control data for the sowing device based on the number of seed rings and the sowing frequency.

[0012] In one embodiment, the traveling device includes at least one ground wheel; correspondingly, acquiring the traveling speed data of the traveling device includes: for each ground wheel, acquiring 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, wherein the target traveling speed is greater than the candidate traveling speeds of each ground wheel; and using the target traveling speeds at different sampling times as the traveling speed data of the traveling device.

[0013] In one embodiment, the method further includes: for the same sampling time, obtaining the maximum and minimum travel speeds from candidate travel speeds of different wheels; determining a second speed difference between the maximum and minimum travel speeds; and outputting wheel abnormality information if the second speed difference is greater than a preset speed threshold.

[0014] In one embodiment, a speed sensor is mounted on the ground wheel via a mounting device. The speed sensor includes a fixed part and a collection part rotatably connected to the fixed part. The speed sensor is used to collect candidate travel speeds of the ground wheel at different sampling times. The mounting device includes: a mounting housing with at least one limiting part, and a floating space for limiting the fixed part is formed between the limiting parts; a connecting shaft rotatably mounted on the mounting housing along its own axis; the connecting shaft is coaxially connected to the collection part; the connecting shaft is coaxially connected to the main shaft of the ground wheel; and a support member including 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.

[0015] Secondly, this application also provides a speed control device for a seeding device, configured on the seeding device, which includes a traveling device for traveling and a seeding device for seeding; the speed control device for the seeding device includes:

[0016] The first acquisition module is used to acquire the travel speed data of the traveling device in response to the start signal of the seeding equipment;

[0017] 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 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 used to determine the predicted value of the travel speed of the traveling device based on the first travel speed and the second travel speed;

[0019] The first control module is used to determine the seeding speed control data for the seeding device based on the predicted travel speed and preset seeding information; and to control the seeding device to sow seeds based on the seeding speed control data.

[0020] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0021] In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired;

[0022] 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;

[0023] The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed.

[0024] 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 seeds based on the sowing speed control data.

[0025] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0026] In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired;

[0027] 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;

[0028] The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed.

[0029] 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 seeds based on the sowing speed control data.

[0030] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0031] In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired;

[0032] 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;

[0033] The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed.

[0034] 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 seeds based on the sowing speed control data.

[0035] The speed control method, device, equipment, and media program product described above acquires the traveling speed data of the traveling device in response to the start signal of the sowing equipment, thereby providing basic data support for the subsequent travel speed prediction process. Based on the travel speed data, the method determines the first traveling speed of the traveling device within a first preset time period before the current moment, and the second traveling speed within a second preset time period before the current moment. The first preset time period corresponds to a first time length that is shorter than the second preset time period, allowing for the determination of the predicted traveling speed value of the traveling device by combining short-term and long-term travel speed conditions. Based on the predicted traveling speed value and preset sowing information, the method determines the sowing speed control data for the sowing device, and controls the sowing device to sow according to the sowing speed control data. This enables dynamic adaptation between the sowing speed and the traveling speed, thereby improving the accuracy of sowing operations and ensuring the uniformity of crop growth. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating the speed control method for a seeding device in one embodiment;

[0038] Figure 2 This is a flowchart illustrating the steps for acquiring travel speed data in one embodiment;

[0039] Figure 3A This is a schematic diagram of the connection structure of the mounting device in one embodiment;

[0040] Figure 3B This is a front view of the mounting device in one embodiment;

[0041] Figure 3C In one embodiment, the connection structure is in Figure 3B A schematic diagram of the cross-sectional structure along the AA direction;

[0042] Figure 3D This is a cross-sectional structural diagram of the mounting device in one embodiment;

[0043] Figure 3E This is a schematic diagram of the front view of the ground wheel in one embodiment;

[0044] Figure 3F This is a side view of the ground wheel structure in one embodiment;

[0045] Figure 3G In one embodiment, the ground wheel is Figure 3F A schematic diagram of the cross-sectional structure along the GG direction;

[0046] Figure 3H In one embodiment Figure 3G Enlarged structural diagram of region C in the middle;

[0047] Figure 4 This is a flowchart illustrating the speed control method for the seeding device in another embodiment;

[0048] Figure 5 This is a structural block diagram of a speed control method device for a given embodiment;

[0049] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] In one embodiment, such as Figure 1As shown, a speed control method for a seeding device is provided. This embodiment illustrates the application of this method to a terminal. It is understood that this method can also be applied to a server, and furthermore, to a system including both a terminal and a server, and is implemented through interaction between the terminal and the server. In this embodiment, the method includes:

[0052] S110: In response to the start signal of the seeding equipment, acquire the travel speed data of the traveling device.

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

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

[0055] Among them, the travel speed data can be understood as data used to characterize how fast the seeding equipment travels.

[0056] For example, a speed sensor can be installed on the ground wheel of the traveling device to collect the traveling speed data of the traveling device. Optionally, the speed sensor may include a Hall effect speed sensor. Accordingly, the ground wheel speed collected by the Hall effect speed sensor can be converted into traveling speed data.

[0057] The unit for the wheel rotation speed can be, for example, r / s or r / min; the unit for the travel speed data can be, for example, m / s or km / h. This application does not impose any restrictions on the specific sensor type of the speed sensor or the specific unit of measurement for the travel speed data.

[0058] For example, the speed sensor can detect the rotation direction of the ground wheel, which can be either clockwise or counterclockwise. Accordingly, if the ground wheel is rotating in the reverse direction, the seeding device can be prevented from performing the seeding task.

[0059] S120. 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.

[0060] It is understandable that the first time length corresponding to the first preset time period is shorter than the second time length corresponding to the second preset time period. That is, the first travel speed within the first preset time period can be used to characterize the short-term travel speed; the second travel speed within the second preset time period can be used to characterize the long-term travel speed.

[0061] The first and second time lengths can be set by technicians according to their needs or experience, or determined through extensive experiments; this application does not impose any limitations on them. For example, the first time length can be 5 seconds, and the second time length can be 50 seconds.

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

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

[0064] S130. Determine the predicted travel speed of the traveling device based on the first travel speed and the second travel speed.

[0065] The predicted travel speed can be understood as the predicted travel speed of the traveling device after the current moment, based on historical travel speeds (including the first travel speed and the second travel speed).

[0066] In an optional embodiment, the first and second travel speeds can be input into a trained travel speed prediction model to obtain a predicted travel speed value for the traveling device. The travel speed prediction model can be a machine learning model or a neural network model, and this application does not impose any limitations on it.

[0067] In an optional embodiment, the predicted acceleration / deceleration state of the traveling device can be determined based on the first traveling speed and the second traveling speed; and the predicted traveling speed value of the traveling device can be determined based on the preset acceleration / deceleration state.

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

[0069] Referring to the foregoing, the first travel speed within a first preset time period can be used to characterize short-term travel speed; the second travel speed within a second preset time period can be used to characterize long-term travel speed. Therefore, when the first speed difference between the first and second travel speeds is negative, it indicates a predicted deceleration state for the traveling device; when the first speed difference between the first and second travel speeds is positive, it indicates a predicted acceleration state for the traveling device. For example, the predicted travel speed of the traveling device can be determined based on the first speed difference between the first and second travel speeds.

[0070] For example, by introducing a predicted acceleration and deceleration state, the predicted travel speed of the traveling device can be determined, thereby enabling the prediction of travel speed in scenarios of exiting or entering a trench, which is beneficial to improving the uniformity of sowing 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 is a first speed difference between a first travel speed and a second travel speed; a reference travel speed of the travel device is obtained; the reference travel speed is corrected according to the first speed difference and a preset correction factor to obtain a predicted travel speed value of the travel device.

[0072] For example, the product of the first speed difference and a preset correction factor can be used as the speed adjustment amount; the sum of the baseline travel speed and the speed adjustment amount can be used as the predicted travel speed value. It should be noted that the prediction correction factor can be set by a technician according to needs or experience, or determined through a large number of experiments, and this application does not impose any limitations on it.

[0073] S140. 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.

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

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

[0076] In an optional embodiment, the predicted sowing information may include the target plant spacing and the number of holes in the sowing disc of the sowing device and the deceleration ratio; accordingly, the number of seed rings can be determined based on the ratio of the deceleration ratio to the number of holes in the sowing disc; the sowing frequency can be determined based on the predicted travel speed and the target plant spacing; and the sowing speed control data for the sowing device can be determined based on the number of seed rings and the sowing frequency.

[0077] For example, the sowing frequency can be the ratio of the predicted travel speed to the target plant spacing.

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

[0079] For example, the unit of the target plant spacing can be meters (m); the unit of the predicted travel speed can be m / s; the sowing speed control data can be used to characterize the motor speed of the sowing device, and the unit of the sowing speed control data can be r / s or rpm. It is understood that in the actual determination process, unit unification or conversion can be performed, and the specific units of the data substituted into the calculations in this application are not limited in any way.

[0080] To facilitate understanding, the specific process for determining the sowing speed control data is illustrated below. This example uses a predicted travel speed of 8 km / h, a target plant spacing of 20 cm, 27 seed holes, and a reduction ratio of 82.8125.

[0081] First, standardize the units: 8 km / h is (8 / 3.6) m / s; 20 cm is 0.2 m. Second, determine the number of seed rings based on the ratio of the reduction ratio to the number of disc holes, i.e., 27 / 82.8125 ≈ 3.0671296; determine the sowing frequency based on the predicted travel speed and target plant spacing, i.e., (8 / 3.6) / 0.2 ≈ 11.1111111; taking the unit of sowing speed control data as rpm as an example, determine the sowing speed control data for the sowing device based on the number of seed rings and the sowing frequency, i.e.: 11.1111111 * 3.0671296 * 60 ≈ 2044.753086 (rpm).

[0082] The speed control method for the aforementioned sowing equipment acquires the traveling speed data of the traveling device in response to the start signal of the sowing equipment, thereby providing basic data support for the subsequent travel speed prediction process. Based on the traveling speed data, the method determines the first traveling speed of the traveling device within a first preset time period before the current moment, and the second traveling speed within a second preset time period before the current moment. The first preset time period corresponds to a first time length that is shorter than the second preset time period, allowing for the determination of a predicted traveling speed value by combining short-term and long-term travel speed conditions. Based on the predicted traveling speed value and preset sowing information, the method determines the sowing speed control data for the sowing device, and controls the sowing device to sow according to this data. This enables dynamic adaptation between the sowing speed and the traveling speed, thereby improving the accuracy of sowing operations and ensuring the uniformity of crop growth.

[0083] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the acquisition of travel speed data is refined. The travel device includes at least one ground wheel.

[0084] See Figure 2 The steps for obtaining the travel speed data shown include:

[0085] S210. For each ground wheel, obtain the candidate travel speed of the ground wheel at different sampling times.

[0086] It should be noted that this 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, which can be a Hall effect speed sensor, can be installed on each wheel. Accordingly, for each wheel, the wheel rotation speed data collected by the Hall effect speed sensor at different sampling times can be obtained, and the wheel rotation speed data can be converted into a traveling speed to obtain the candidate traveling speed of the wheel at different sampling times.

[0088] S220. For each sampling time, select a target speed from the candidate speeds of different wheels at the sampling time. The target speed is greater than the candidate speeds of the wheels at each location.

[0089] For ease of understanding, the following example illustrates the traveling device, comprising wheel A and wheel B. The candidate traveling speeds of wheel A at each sampling time are a1, a2, and a3, respectively; the candidate traveling speeds of wheel B at each sampling time are b1, b2, and b3, respectively; a1 is greater than b1, a2 is greater than b2, and a3 is less than b3. Therefore, the target traveling speeds at different sampling times are, in order: a1, a2, and b3. It should be noted that the above steps for determining the target traveling speed are merely illustrative for ease of understanding and should not be construed as limiting the specific number of samples or the specific number of wheels.

[0090] S230. The target speed at different sampling times is used as the speed data of the traveling device.

[0091] Referring back to the previous text, for example, the target speeds at different sampling times are a1, a2 and b3, that is, the speed data of the traveling device are a1, a2 and b3.

[0092] In an optional embodiment, for the same sampling time, the maximum and minimum travel speeds can be obtained from the candidate travel speeds of different wheels; a second speed difference between the maximum and minimum travel speeds can be determined; and if the second speed difference is greater than a preset speed threshold, wheel abnormality information can be output.

[0093] Understandably, when the second speed difference is large, outputting abnormal information about the ground wheel allows for immediate inspection of the ground wheel, preventing further damage and avoiding subsequent seeding abnormalities.

[0094] In the above steps, by acquiring the candidate travel speed of each ground wheel at different sampling times, a data foundation is provided for determining the travel speed data of the traveling device. By selecting a target travel speed from the candidate travel speeds of different ground wheels at each sampling time, where the target travel speed is greater than the candidate travel speeds of each ground wheel, and using the target travel speed at different sampling times as the travel speed data of the traveling device, the problem of rotational speed distortion caused by slippage or idling of a single ground wheel can be avoided. This improves the reliability of the finally determined travel speed data and provides a reliable and continuous speed benchmark for determining subsequent seeding speed control data.

[0095] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the traveling device is further refined. In this optional embodiment, a speed sensor is mounted on the ground wheel via a mounting device. The speed sensor includes a fixed part and a data acquisition part rotatably connected to the fixed part; the speed sensor is used to acquire candidate traveling speeds of the ground wheel at different sampling times.

[0096] refer to Figure 3A The diagram shows the connection structure of the mounting device. The mounting device 1 is connected to a speed sensor, which has a plug 2. A wire harness cover 3 is connected to the mounting device 1 for mounting the speed sensor's cable. For example, the speed sensor can be a Hall effect speed sensor or other encoder; this application does not limit the specific type of speed sensor.

[0097] refer to Figure 3B The diagram shown is a front view of the mounting device. The mounting device 1 includes a mounting housing 11, on which at least one limiting part 12 is provided, and a floating space for limiting the fixed part is formed between each limiting part 12.

[0098] refer to Figure 3C The connection structure is shown in Figure 3B A schematic diagram of the cross-sectional structure along the AA direction. The wire harness guard plate includes a guard plate base 31 and a wire harness strip 32 mounted on the guard plate base 31. Figure 3C The B section corresponds to the cross-sectional structure of the installation device in the AA direction.

[0099] refer to Figure 3D The diagram shown is a cross-sectional view of the mounting device. The mounting device may include:

[0100] Mounting housing 11, with at least one limiting part 12 on the mounting housing 111, and a floating space for limiting the fixed part is formed between each limiting part 12;

[0101] A connecting shaft 13 is rotatably mounted on the mounting housing 11 along its own axis; the connecting shaft 13 is coaxially connected to the acquisition unit 22; the connecting shaft 13 is coaxially connected to the main shaft of the ground wheel (not shown in the figure);

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

[0103] Understandably, during the rotation of the ground wheel's main shaft, the acquisition unit 22 is driven to rotate coaxially, collecting the candidate travel speed of the ground wheel at different sampling times. The support member 14 provides basic support for the acquisition unit 22, while the floating space formed by at least one limiting part 12 in the mounting housing 11 constrains the position of the fixed part 21, allowing it to float within a small range (e.g., due to installation errors and ground wheel vibration), thus avoiding damage to the connecting structure (e.g., coupling).

[0104] For example, support 14 may include bearings.

[0105] refer to Figure 3EThe 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 3F 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 3G The image shows the ground wheel in... Figure 3F A schematic diagram of the cross-sectional structure along the GG direction. Among them, Figure 3G The C section is a cross-sectional structure corresponding to the mounting device in the GG direction.

[0108] refer to Figure 3H As shown Figure 3G 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 4 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. Determine the seeding speed control data for the seeding device based on the number of seed rings and the seeding frequency.

[0119] S490. Control the sowing device to sow seeds according to the sowing speed control data.

[0120] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0121] Based on the same inventive concept, this application also provides a speed control device for a seeding device to implement the speed control method for the seeding device described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the speed control device for a seeding device provided below can be found in the limitations of the speed control method for the seeding device described above, and will not be repeated here.

[0122] In one exemplary embodiment, such as Figure 5 As shown, a speed control device for a seeding apparatus 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 used to acquire the travel speed data of the traveling device in response to the start signal of the seeding equipment;

[0124] The first determining module 520 is used 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 length corresponding to the first preset time period is less than the second time length corresponding to the second preset time period;

[0125] The second determining module 530 is used to determine the predicted value of the travel speed of the traveling device based on the first travel speed and the second travel speed;

[0126] The first control module 540 is used to determine the 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.

[0127] In one embodiment, the second determining module 530 includes: a first determining unit, configured to determine a travel speed compensation value; the travel speed compensation value is a first speed difference between a first travel speed and a second travel speed; a first acquiring unit, configured to acquire a reference travel speed of the traveling device; and a correction unit, configured to correct the reference travel speed according to the first speed difference and a preset correction factor to obtain a predicted travel speed value of the traveling device.

[0128] In one embodiment, the preset sowing information includes the target plant spacing, the number of holes in the sowing disc of the sowing device, and the deceleration ratio; correspondingly, the first control module 540 includes: a second determining unit for determining the number of seed rings based on the ratio of the deceleration ratio to the number of holes in the sowing disc; a third determining unit for determining the sowing frequency based on the predicted travel speed and the target plant spacing; and a fourth determining unit for determining sowing speed control data for the sowing device based on the number of seed rings and the sowing frequency.

[0129] In one embodiment, the traveling 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, candidate traveling speeds of the ground wheel at different sampling times; and a selection unit, configured to, for each sampling time, select a target traveling speed from the candidate traveling speeds of different ground wheels at the sampling time, wherein the target traveling speed is greater than the candidate traveling speeds of each ground wheel; and use the target traveling speeds at different sampling times as traveling speed data of the traveling device.

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

[0131] In one embodiment, a speed sensor is mounted on the wheel via a mounting device. The speed sensor includes a fixed part and a data acquisition part rotatably connected to the fixed part. The speed sensor is used to acquire candidate travel speeds of the wheel at different sampling times. The mounting device includes: a mounting housing with at least one limiting part, and a floating space for limiting the fixed part is formed between the limiting parts; a connecting shaft rotatably mounted on the mounting housing along its own axis; the connecting shaft is coaxially connected to the data acquisition part; the connecting shaft is coaxially connected to the wheel's main shaft; and a support member including 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.

[0132] The various modules in the speed control device of the aforementioned seeding equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0133] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a speed control method for a seeding device. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0134] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0135] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0136] In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired;

[0137] 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;

[0138] The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed.

[0139] 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 seeds based on the sowing speed control data.

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

[0141] In one embodiment, the processor, when executing the computer program, also performs the following steps: determining the number of seed rings based on the ratio of the reduction ratio to the number of holes in the seeding disc; determining the seeding frequency based on the predicted travel speed and the target plant spacing; and determining seeding speed control data for the seeding device based on the number of seed rings and the seeding frequency.

[0142] In one embodiment, when the processor executes the computer program, it further implements the following steps: for each ground wheel, acquiring 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, wherein the target travel speed is greater than the candidate travel speeds of each ground wheel; and using the target travel speeds at different sampling times as travel speed data of the traveling device.

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

[0144] In one embodiment, a speed sensor is mounted on the wheel via a mounting device. The speed sensor includes a fixed part and a data acquisition part rotatably connected to the fixed part. The speed sensor is used to acquire candidate travel speeds of the wheel at different sampling times. The mounting device includes: a mounting housing with at least one limiting part, and a floating space for limiting the fixed part is formed between the limiting parts; a connecting shaft rotatably mounted on the mounting housing along its own axis; the connecting shaft is coaxially connected to the data acquisition part; the connecting shaft is coaxially connected to the wheel's main shaft; and a support member including 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.

[0145] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0146] In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired;

[0147] 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;

[0148] The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed.

[0149] 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 seeds based on the sowing speed control data.

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

[0151] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the number of seed rings based on the ratio of the reduction ratio to the number of holes in the seeding disc; determining the seeding frequency based on the predicted travel speed and the target plant spacing; and determining seeding speed control data for the seeding device based on the number of seed rings and the seeding frequency.

[0152] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each ground wheel, acquiring 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, wherein the target travel speed is greater than the candidate travel speeds of each ground wheel; and using the target travel speeds at different sampling times as travel speed data of the traveling device.

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

[0154] In one embodiment, a speed sensor is mounted on the wheel via a mounting device. The speed sensor includes a fixed part and a data acquisition part rotatably connected to the fixed part. The speed sensor is used to acquire candidate travel speeds of the wheel at different sampling times. The mounting device includes: a mounting housing with at least one limiting part, and a floating space for limiting the fixed part is formed between the limiting parts; a connecting shaft rotatably mounted on the mounting housing along its own axis; the connecting shaft is coaxially connected to the data acquisition part; the connecting shaft is coaxially connected to the wheel's main shaft; and a support member including 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.

[0155] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0156] In response to the start signal of the seeding equipment, the traveling speed data of the traveling device is acquired;

[0157] 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;

[0158] The predicted travel speed of the traveling device is determined based on the first travel speed and the second travel speed.

[0159] 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 seeds based on the sowing speed control data.

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

[0161] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the number of seed rings based on the ratio of the reduction ratio to the number of holes in the seeding disc; determining the seeding frequency based on the predicted travel speed and the target plant spacing; and determining seeding speed control data for the seeding device based on the number of seed rings and the seeding frequency.

[0162] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each ground wheel, acquiring 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, wherein the target travel speed is greater than the candidate travel speeds of each ground wheel; and using the target travel speeds at different sampling times as travel speed data of the traveling device.

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

[0164] In one embodiment, a speed sensor is mounted on the wheel via a mounting device. The speed sensor includes a fixed part and a data acquisition part rotatably connected to the fixed part. The speed sensor is used to acquire candidate travel speeds of the wheel at different sampling times. The mounting device includes: a mounting housing with at least one limiting part, and a floating space for limiting the fixed part is formed between the limiting parts; a connecting shaft rotatably mounted on the mounting housing along its own axis; the connecting shaft is coaxially connected to the data acquisition part; the connecting shaft is coaxially connected to the wheel's main shaft; and a support member including 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.

[0165] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0166] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0167] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by 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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