Mountain land cultivation and soil preparation system and method suitable for oilseed rape aerial seeding mode
By dynamically calculating the initial counterweight of the roller based on soil parameters and adjusting the hydraulic pressure in real time, the feedback control problem of rolling operations in mountainous farming was solved, and the seedling uniformity of rapeseed aerial seeding beds was improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-04
- Publication Date
- 2026-03-31
AI Technical Summary
In existing mountain farming practices, the rolling operation of rapeseed aerial seeding cannot be dynamically adjusted according to soil conditions and the type of previous crop, resulting in a mismatch between rolling intensity and demand, which affects the uniformity of seedbed emergence.
By acquiring soil volumetric water content, previous crop identification, and initial soil compaction, the initial counterweight of the compactor is dynamically calculated, and the hydraulic pressure of the compactor is adjusted in real time using a bulk density monitoring device to achieve feedback control, keeping the soil bulk density within the allowable fluctuation range.
This improved the uniformity of seedling emergence after rapeseed aerial seeding, ensured that the seedbed compaction was within the target range, reduced adjustment oscillations and delays caused by initial setting deviations, and achieved homogeneous control of seedbed quality.
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Figure CN121753564A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mountain farming technology, and more specifically, to a mountain farming system and method suitable for rapeseed aerial seeding. Background Technology
[0002] Mountain farming is an agricultural production activity carried out on undulating terrain. Its core is to achieve effective planting while conserving water and soil. This involves working along contour lines, building terraces to reduce soil erosion, and selecting crop varieties suitable for the slopes. Due to the complex terrain and the difficulty of mechanized operations, mountain farming places particular emphasis on site-specific land preparation methods and conservation tillage techniques to achieve a balance between ecological protection and agricultural production.
[0003] Current mountain rolling operations largely rely on pre-set fixed weights or operator experience, failing to dynamically adjust to changing soil conditions and previous crop types. This extensive control method, when faced with the complex spatial heterogeneity of mountain soils, leads to a mismatch between rolling intensity and actual needs: insufficient rolling in hard or dry areas results in overly loose seedbeds that fail to ensure seed contact with the soil; while in humid areas, over-rolling may cause soil compaction. Therefore, how to achieve feedback control of mountain rolling operations in rapeseed aerial seeding, thereby improving the uniformity of seedbed emergence after rapeseed aerial seeding, has become a challenge for the industry. Summary of the Invention
[0004] This application provides a mountain tillage and preparation system and method suitable for rapeseed aerial seeding, which can realize feedback control of mountain rolling operations in rapeseed aerial seeding, thereby improving the seedling uniformity of rapeseed seedbed after aerial seeding.
[0005] Firstly, this application provides a method for tillage and land preparation in mountainous areas suitable for rapeseed aerial seeding, comprising: When mountain tillage and land preparation operations are started, obtain the soil volumetric moisture content, previous crop identification, and initial soil compaction before mountain tillage and compaction in the target operation area. Based on the previous crop identifier, the target soil bulk density of this mountain tillage and land preparation operation is selected from the mapping relationship of the mountain tillage and land preparation operation. Then, the initial counterweight of the roller in the mountain tillage and land preparation operation is dynamically calculated by the target soil bulk density, the soil volumetric water content and the initial soil compaction, so as to obtain the reference command value of the initial pressure in the hydraulic device of the roller. When the compactor operates according to the reference command value, the bulk density monitoring device behind the compactor is used to measure the real-time soil bulk density of the soil area after compaction. The real-time soil bulk density is compared with the target soil bulk density to obtain the instantaneous bulk density deviation in the current mountain tillage and land preparation operation. The actual pressure value of the hydraulic device of the press is adjusted based on the instantaneous bulk density deviation, so that the actual soil bulk density after mountain tillage and land preparation is within the allowable fluctuation range of the target soil bulk density.
[0006] In some embodiments, selecting the target soil bulk density for the current mountain tillage operation from the mapping relationship of the previous crop identification specifically includes: Obtain the slope information of the current mountain operation and the mapping relationship table between the previous crop and the target bulk density; Based on the previous crop identifier, a query operation is performed in the mapping table to retrieve the corresponding target soil bulk density range; Based on the slope information, pressure loss compensation is performed within the target soil bulk density range to obtain the target soil bulk density for this mountain tillage and land preparation operation.
[0007] In some embodiments, the initial counterweight of the roller in mountain tillage operations is dynamically calculated using the target soil bulk density, the soil volumetric water content, and the initial soil compaction to obtain the reference command value of the initial pressure in the roller's hydraulic device. Specifically, this includes: Initialize a physical-empirical fusion model based on multivariate nonlinear regression and mountain farming agronomic constraints; The target soil bulk density is used as a decision variable in the physical-empirical fusion model; The soil volumetric water content is used as a plastic state adjustment variable in the physical-empirical fusion model. The initial compaction of the soil is used as the basic compaction resistance variable in the physical-empirical fusion model; The initial counterweight of the roller in mountainous tillage operations was estimated by using a physical experience fusion model, and the reference command value of the initial pressure in the hydraulic device of the roller was obtained.
[0008] In some embodiments, comparing the real-time soil bulk density with the target soil bulk density to obtain the instantaneous bulk density deviation in the current mountain tillage and land preparation operation specifically includes: Obtain the error index of the bulk density monitoring device during current mountain tillage and land preparation operations; Calculate the absolute deviation between the real-time soil bulk density and the target soil bulk density; The absolute deviation value is corrected using the error index to obtain the instantaneous bulk density deviation in the current mountain tillage and land preparation operation.
[0009] In some embodiments, the actual pressure value of the hydraulic device of the ballast is adjusted based on the instantaneous bulk density deviation, so that the actual soil bulk density after tillage and land preparation in mountainous areas is within the allowable fluctuation range of the target soil bulk density. Specifically, this includes: Based on the magnitude and trend of the instantaneous bulk density deviation, the pressure gain parameters of the hydraulic device of the ballast are adjusted to obtain multiple gain adjustment parameters of the actual pressure in the hydraulic device of the ballast. Based on various gain adjustment parameters, the actual pressure of the ballast hydraulic device is corrected, and the pressure correction amount of the ballast hydraulic device is output. The pressure correction value is superimposed on the reference command value of the initial pressure to obtain the actual pressure value that should be applied at present, and the hydraulic device is instructed to execute it, thereby forming a closed-loop control.
[0010] In some embodiments, a time domain reflectometer with integrated GPS positioning information is used to obtain the soil volumetric water content of the target work area.
[0011] In some embodiments, the bulk density monitoring device is an in-situ soil bulk density sensor using gamma rays.
[0012] Secondly, this application provides a mountain tillage and land preparation system suitable for rapeseed aerial seeding, comprising: The acquisition module is used to acquire the soil volumetric moisture content, previous crop identification, and initial soil compaction before hilling and compaction of the target operation area when hilling and land preparation operations are started. The processing module is used to filter the target soil bulk density of the current mountain tillage and land preparation operation from the mapping relationship of the previous crop identification, and then dynamically calculate the initial counterweight of the roller in the mountain tillage and land preparation operation by means of the target soil bulk density, the soil volumetric water content and the initial soil compaction, so as to obtain the reference command value of the initial pressure in the hydraulic device of the roller. The processing module is also used to measure the real-time soil bulk density of the soil area after compaction using a bulk density monitoring device behind the compactor when the compactor is operating according to the reference command value, and to compare the real-time soil bulk density with the target soil bulk density to obtain the instantaneous bulk density deviation in the current mountain tillage and land preparation operation. The execution module is used to adjust the actual pressure value of the hydraulic device of the press based on the instantaneous bulk density deviation, so that the actual soil bulk density after the mountain tillage and land preparation operation is within the allowable fluctuation range of the target soil bulk density.
[0013] Thirdly, this application provides a computer device, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, so that the computer device performs the above-described method for tillage and land preparation suitable for rapeseed aerial seeding.
[0014] Fourthly, this application provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the above-mentioned method for tilling and preparing mountainous land suitable for rapeseed aerial seeding.
[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: This application provides a mountain tillage and preparation system and method suitable for rapeseed aerial seeding. When the mountain tillage and preparation operation begins, the system acquires the soil volumetric moisture content, previous crop identification, and initial soil compaction before hill compaction in the target area. Based on the previous crop identification, the target soil bulk density for this mountain tillage and preparation operation is selected from the mapping relationship of the operation. Then, the initial counterweight of the roller during the mountain tillage and preparation operation is dynamically adjusted using the target soil bulk density, the soil volumetric moisture content, and the initial soil compaction. The initial pressure of the hydraulic device of the compactor is calculated to obtain the reference command value. When the compactor operates according to the reference command value, the real-time soil bulk density of the compacted soil area is measured using a bulk density monitoring device behind the compactor. The real-time soil bulk density is compared with the target soil bulk density to obtain the instantaneous bulk density deviation in the current mountain tillage operation. Based on the instantaneous bulk density deviation, the actual pressure value of the hydraulic device of the compactor is adjusted to ensure that the actual soil bulk density after the mountain tillage operation is within the allowable fluctuation range of the target soil bulk density.
[0016] Therefore, in this application, the actual pressure value of the hydraulic device of the compactor is adjusted based on the instantaneous bulk density deviation, ensuring that the actual soil bulk density after tillage and land preparation in mountainous areas remains within the allowable fluctuation range of the target soil bulk density. Firstly, determining the baseline command value yields a precise initial working point for the compaction operation, thus establishing a high starting point for closed-loop control and improving system response speed. The compactor outputs an initial pressure highly matched to real-time soil conditions and agronomic requirements at startup, significantly reducing subsequent adjustment oscillations and delays caused by excessive initial setting deviations. This not only lays a stable and accurate baseline for the subsequent closed-loop feedback control, significantly reducing the adjustment burden on the control system, but also effectively curbs macroscopic regional imbalances in seedbed compaction from the initial stage of operation, providing a foundation for subsequent seedling uniformity. The system ensures the uniformity of seedbed quality. Then, by determining the instantaneous bulk density deviation, a precise quantitative signal representing the dynamic difference between the compaction effect and the set target can be obtained. This enables online optimization of the compaction process and homogenized control of seedbed quality, transforming a one-time, static quality inspection into a continuous, dynamic process quality control. The instantaneous bulk density deviation quantifies the microscopic difference between the actual compaction effect and the ideal state at each moment. Based on this instantaneous bulk density deviation, the hydraulic pressure is dynamically corrected, actively compensating for uneven compaction caused by factors such as minor ground undulations, local variations in soil texture, or fluctuations in operating speed. This ensures that the compaction of the seedbed throughout the operating area can be stably maintained within the allowable fluctuation range of the target bulk density, ultimately achieving spatial homogenization of the seedbed structure. This provides a consistent germination and growth environment for rapeseed seeds, directly contributing to improved seedling uniformity. In summary, based on the above scheme, feedback control of mountain compaction operations in rapeseed aerial seeding can be achieved, thereby improving the seedling uniformity of rapeseed after aerial seeding. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is an exemplary flowchart of a mountain tillage and land preparation method suitable for rapeseed aerial seeding, according to some embodiments of this application; Figure 2 This is a flowchart illustrating the determination of instantaneous bulk density deviation according to some embodiments of this application; Figure 3 This is a schematic diagram of the structure of a mountain tillage and land preparation system suitable for rapeseed aerial seeding, according to some embodiments of this application; Figure 4This is a schematic diagram of the structure of a computer device for implementing a mountain tillage and land preparation method suitable for rapeseed aerial seeding, according to some embodiments of this application. Detailed Implementation
[0019] To better understand the technical solution of this application, the technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0020] refer to Figure 1 The figure is an exemplary flowchart of a mountain tillage and land preparation method suitable for rapeseed aerial seeding, according to some embodiments of this application. The mountain tillage and land preparation method suitable for rapeseed aerial seeding mainly includes the following steps: In step 101, when the mountain tillage and land preparation operation is started, the soil volumetric moisture content, previous crop identification, and initial soil compaction before mountain tillage and compaction of the target operation area are obtained.
[0021] It should be noted that in this application, a time domain reflectometer integrating Global Positioning System (GPS) positioning information is used to obtain the soil volumetric water content of the target operation area; soil volumetric water content is a physical quantity that characterizes the proportion of water in a unit volume of undisturbed soil; the previous crop identifier is a standardized code used to uniquely identify and distinguish the type of crop planted in the previous season; and the initial soil compaction is a mechanical index that measures the ability of the soil surface to resist penetration or compression deformation before the implementation of compaction operations.
[0022] In practice, firstly, a work implement equipped with a time-domain reflectometer (TDRI) is driven into the target work area. Without stopping the machine, the metal probe of the TDRI is inserted into the soil. The device calculates the dielectric constant of the soil by emitting electromagnetic waves and detecting their propagation speed in the soil medium. Then, the built-in calibration model converts the dielectric constant into the soil volumetric water content of the target work area. Next, the operator selects the corresponding previous crop name from a preset crop list based on the morphological characteristics of residual crop straw in the field through the human-machine interface of the work implement. The control module converts this name into the previous crop identifier for the target work area. Finally, a soil compaction sensor is installed directly in front of the compactor roller of the work implement. Just before the compactor contacts the soil to be compacted, the conical probe of the sensor is inserted into the soil surface at a constant rate and measures the resistance it experiences in real time. This resistance value is processed and converted into units before being recorded as the initial soil compaction value of the target work area.
[0023] In step 102, the target soil bulk density for this mountain tillage and land preparation operation is selected from the mapping relationship of the previous crop identification. Then, the initial counterweight of the roller in the mountain tillage and land preparation operation is dynamically calculated by the target soil bulk density, the soil volumetric water content and the initial soil compaction, so as to obtain the reference command value of the initial pressure in the hydraulic device of the roller.
[0024] In some embodiments, the target soil bulk density for the current mountain tillage operation can be determined from the mapping relationship of the previous crop identification using the following steps: Obtain the slope information of the current mountain operation and the mapping relationship table between the previous crop and the target bulk density; Based on the previous crop identifier, a query operation is performed in the mapping table to retrieve the corresponding target soil bulk density range; Based on the slope information, pressure loss compensation is performed within the target soil bulk density range to obtain the target soil bulk density for this mountain tillage and land preparation operation.
[0025] It should be noted that in this application, the target soil bulk density is the soil bulk density allowed to offset the decrease in effective positive pressure of the roller caused by the slope; the slope information is a geometric parameter used to quantify the degree of inclination of the ground surface at the operation point; the mapping table is a data structure used to store the optimal soil bulk density range corresponding to different previous crop identifiers; and the target soil bulk density range is used to define the upper and lower limits of soil bulk density allowed to create an ideal seedbed for rapeseed aerial sowing under the current previous crop conditions.
[0026] In specific implementation, firstly, obtaining the slope information of the current mountain operation and the mapping relationship table between the previous crop and the target bulk density can be achieved in the following way: The tilt angle of the machine body relative to the horizontal plane is measured in real time by an inclination sensor integrated on the machine, and this tilt angle is calculated as the slope information of the surface at the operation point. Simultaneously, the mapping relationship table between the previous crop and the target bulk density, pre-defined by agronomic experts based on the characteristics of different previous crops, is retrieved from the built-in memory of the machine control module. Finally, the real-time measured slope information and the mapping relationship table retrieved from memory serve as the input basis for subsequent bulk density target query and compensation operations. Then, a query operation is performed in the mapping relationship table based on the previous crop identifier to retrieve the corresponding target soil bulk density range. This can be achieved in the following way: The control module uses the previous crop identifier as the query keyword and performs a matching search in the retrieved mapping relationship table between the previous crop and the target bulk density. The data record associated with the identifier is located, and the corresponding lower and upper limits of bulk density are extracted from the record to determine a range of bulk density values. This range is then used as the basic target soil bulk density range before slope compensation. Finally, pressure loss compensation is performed on the target soil bulk density range based on the slope information. The target soil bulk density for this mountain tillage operation can be achieved in the following way: The control module queries a preset slope-bulk density compensation table based on the slope information obtained in step one. This table defines the additional bulk density compensation value that should be added to the basic target bulk density range to compensate for pressure loss in different slope intervals. A benchmark value (e.g., median or upper limit) is selected within the target soil bulk density range, and the queried bulk density compensation value is added to it. The result is arithmetic addition, and the single bulk density value determined after compensation calculation is used as the final target soil bulk density for this mountain tillage operation.
[0027] In some embodiments, the initial counterweight of the roller in mountain tillage operations is dynamically calculated based on the target soil bulk density, the soil volumetric water content, and the initial soil compaction. The reference command value for the initial pressure in the hydraulic device of the roller can be obtained by the following steps: Initialize a physical-empirical fusion model based on multivariate nonlinear regression and mountain farming agronomic constraints; The target soil bulk density is used as a decision variable in the physical-empirical fusion model; The soil volumetric water content is used as a plastic state adjustment variable in the physical-empirical fusion model. The initial compaction of the soil is used as the basic compaction resistance variable in the physical-empirical fusion model; The initial counterweight of the roller in mountainous tillage operations was estimated by using a physical experience fusion model, and the reference command value of the initial pressure in the hydraulic device of the roller was obtained.
[0028] It should be noted that the physical-empirical fusion model in this application is a mathematical model that combines physical mechanisms with agronomic experience data for prediction and decision-making. This physical-empirical fusion model uses the principles of soil mechanics in physics as its framework, clearly defining the theoretical relationship between target bulk density, initial compaction, and soil moisture content. Simultaneously, it incorporates agronomic experience data obtained through extensive field trials in mountainous areas to calibrate and correct the proportional coefficients and compensation coefficients in the physical-empirical fusion model. This physical-empirical fusion model uses a nonlinear regression method to optimally fit theoretical relationships with measured data, thereby constructing a predictive tool that can reflect the inherent physical laws of soil compaction (e.g., the relationship between pressure, resistance, and plasticity) and accurately adapt to the complexity of specified mountain farming scenarios. The model utilizes the input target bulk density (decision variable), soil volumetric water content (plasticity state adjustment variable), and initial soil compaction (basic compaction resistance variable). Through a built-in mathematical formula, namely: Initial pressure benchmark command value = comprehensive proportional coefficient × (product of target soil bulk density × initial soil compaction) / (soil volumetric water content + water content compensation coefficient), it calculates the optimal initial pressure benchmark command value required to achieve the target, thus realizing precise initial setting of the compaction weight.
[0029] In step 103, when the compactor is operating according to the reference command value, the bulk density monitoring device behind the compactor is used to measure the real-time soil bulk density of the soil area after compaction. The real-time soil bulk density is compared with the target soil bulk density to obtain the instantaneous bulk density deviation in the current mountain tillage and land preparation operation.
[0030] In some embodiments, when the compactor operates according to the reference command value, the real-time soil bulk density of the compacted soil area can be measured using a bulk density monitoring device located behind the compactor in the following manner: a non-contact bulk density monitoring device is installed behind the rigid support of the compactor roller, maintaining a constant measurement distance from the soil surface. This bulk density monitoring device is based on the principle of nuclear density meter or high-frequency microwave measurement. Within a very short time after the compactor roller has rolled over the soil area, it emits a detection signal to the soil at a specified depth below and receives a feedback signal. The attenuation or phase change of the feedback signal is calculated into the wet bulk density value of the detected soil through a built-in physical model, and a series of measurement results are continuously output at a specified data acquisition frequency. The series of soil bulk density values obtained by continuous measurement are used as a feedback signal of real-time soil bulk density characterizing the current compaction effect. The bulk density monitoring device is an in-situ soil bulk density sensor using gamma rays. This bulk density monitoring device is a non-contact bulk density monitoring device. Real-time soil bulk density is a dynamic physical quantity characterizing the wet density of a unit volume of soil instantaneously after the compaction operation.
[0031] In some embodiments, the real-time soil bulk density is compared with the target soil bulk density to obtain the instantaneous bulk density deviation during the current mountain tillage and land preparation operation, with reference to... Figure 2 The figure is a flowchart illustrating the determination of instantaneous bulk density deviation in some embodiments of this application. In this embodiment, the determination of instantaneous bulk density deviation can be achieved using the following steps: In step 1031, the error index of the bulk density monitoring device in the current mountain tillage and land preparation operation is obtained; In step 1032, the absolute deviation between the real-time soil bulk density and the target soil bulk density is calculated; In step 1033, the error index is used to correct the absolute deviation value to obtain the instantaneous bulk density deviation in the current mountain tillage and land preparation operation.
[0032] It should be noted that, in this application, the instantaneous bulk density deviation is an effective signal that truly reflects the difference between the actual bulk density and the target bulk density; the error index is a correction parameter that characterizes the measurement uncertainty of the bulk density monitoring device under the current environment and working conditions; and the absolute deviation value is a raw value used to initially reflect the magnitude of the difference between the actual soil condition after compaction and the preset target.
[0033] In specific implementation, firstly, obtaining the error index of the bulk density monitoring device during the current mountain tillage and land preparation operation can be achieved in the following way: by accessing the built-in self-diagnostic system of the bulk density monitoring device, reading a real-time reliability coefficient calculated by it based on the internal sensor operating temperature, signal stability, and preset calibration curve offset, and finally using the reliability coefficient output by the self-diagnostic system as the error index for subsequent deviation calculation; then, calculating the absolute deviation value between the real-time soil bulk density and the target soil bulk density can be achieved in the following way: by obtaining the latest real-time soil bulk density measurement value from the data bus through the control module, and from the storage unit... The system calls a preset target soil bulk density value, subtracts the real-time measured value from the target value using an arithmetic subtraction operation, and uses the difference obtained from the arithmetic subtraction operation as the uncorrected absolute deviation value. Finally, the error index is used to correct the absolute deviation value. The instantaneous bulk density deviation in the current mountain tillage and land preparation operation can be achieved in the following way: the absolute deviation value is multiplied by the error index through the controller's computing unit, where the error index is used as a discount factor less than 1 to eliminate unreliable components in the absolute deviation value that may be caused by sensor fluctuations. The result of the multiplication operation is used as the instantaneous bulk density deviation in the current mountain tillage and land preparation operation.
[0034] In step 104, the actual pressure value of the hydraulic device of the press is adjusted based on the instantaneous bulk density deviation, so that the actual soil bulk density after the mountain tillage and land preparation operation is within the allowable fluctuation range of the target soil bulk density.
[0035] In some embodiments, the actual pressure value of the hydraulic device of the ballast is adjusted based on the instantaneous bulk density deviation, so that the actual soil bulk density after tillage and land preparation in mountainous areas is within the allowable fluctuation range of the target soil bulk density. This can be achieved by the following steps: Based on the magnitude and trend of the instantaneous bulk density deviation, the pressure gain parameters of the hydraulic device of the ballast are adjusted to obtain multiple gain adjustment parameters of the actual pressure in the hydraulic device of the ballast. Based on various gain adjustment parameters, the actual pressure of the ballast hydraulic device is corrected, and the pressure correction amount of the ballast hydraulic device is output. The pressure correction value is superimposed on the reference command value of the initial pressure to obtain the actual pressure value that should be applied at present, and the hydraulic device is instructed to execute it, thereby forming a closed-loop control.
[0036] In specific implementation, firstly, the pressure gain parameters of the ballast hydraulic device are adjusted based on the magnitude and trend of the instantaneous bulk density deviation. Multiple gain adjustment parameters for the actual pressure in the ballast hydraulic device can be obtained in the following way: The instantaneous bulk density deviation and its rate of change over time are input into a fuzzy logic inference engine. This inference engine converts the precise input quantity into a fuzzy quantity according to a preset fuzzy rule base, and through rule evaluation and defuzzification, outputs a new set of proportional coefficients, integral coefficients, and derivative coefficients that match the current deviation state. Finally, the new set of coefficients output by the fuzzy logic inference engine is used as gain adjustment parameters for real-time adjustment of the controller behavior. Then, the actual pressure of the ballast hydraulic device is corrected based on each gain adjustment parameter. The output pressure correction amount of the ballast hydraulic device can be achieved in the following way: The instantaneous bulk density deviation is... The input is fed to a proportional-integral-derivative (PID) controller with online adjustable parameters. This controller uses various gain adjustment parameters as its current proportional, integral, and derivative coefficients, and calculates the deviation signal according to the PID control algorithm. The output calculated by this control algorithm is used as the pressure correction amount for the actual pressure of the hydraulic device. Finally, the pressure correction amount is superimposed with the reference command value of the initial pressure to obtain the actual pressure value to be applied, and the hydraulic device is instructed to execute it, thus forming a closed-loop control. This can be achieved by: using the adder of the controller to algebraically add the pressure correction amount and the reference command value of the initial pressure; the summation result is processed by the output limiting module and used as the actual pressure value to be applied to the hydraulic proportional valve in the current control cycle; and the hydraulic device is instructed to execute this value through the control bus, thus completing a complete closed-loop control cycle from measurement to execution.
[0037] In another aspect, in some embodiments, this application provides a mountain tillage and land preparation system suitable for rapeseed aerial seeding, referring to... Figure 3 The figure is a schematic diagram of a mountain tillage system suitable for rapeseed aerial seeding, according to some embodiments of this application. The mountain tillage system suitable for rapeseed aerial seeding includes: an acquisition module 201, a processing module 202, and an execution module 203, which are described below: The acquisition module 201 in this application is mainly used to acquire the soil volumetric water content, previous crop identification, and initial soil compaction before mountain tillage and compaction of the target operation area when mountain tillage and land preparation operations are started. Processing module 202, in this application, is used to filter the target soil bulk density of the current mountain tillage and land preparation operation from the mapping relationship of the previous crop identification, and then dynamically calculate the initial counterweight of the roller in the mountain tillage and land preparation operation through the target soil bulk density, the soil volumetric water content and the initial soil compaction, so as to obtain the reference command value of the initial pressure in the hydraulic device of the roller. It should be noted that the processing module 202 is also used to measure the real-time soil bulk density of the soil area after compaction using the bulk density monitoring device behind the compactor when the compactor is operating according to the reference command value, and compare the real-time soil bulk density with the target soil bulk density to obtain the instantaneous bulk density deviation in the current mountain tillage and land preparation operation. The execution module 203 in this application is mainly used to adjust the actual pressure value of the hydraulic device of the press based on the instantaneous bulk density deviation, so that the actual soil bulk density after the mountain tillage and land preparation operation is within the allowable fluctuation range of the target soil bulk density.
[0038] The foregoing has detailed examples of a mountain tillage and land preparation system and method suitable for rapeseed aerial seeding provided in the embodiments of this application. It is understood that the corresponding apparatus, in order to achieve the above functions, includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specified application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specified application, but such implementation should not be considered beyond the scope of this application.
[0039] In some embodiments, this application also provides a computer device, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, so that the computer device performs the above-described method for tillage and land preparation suitable for rapeseed aerial seeding.
[0040] In some embodiments, reference Figure 4 The dashed lines in the figure indicate that the unit or module is optional. This figure is a schematic diagram of the structure of a computer device for implementing a mountain tillage and land preparation method suitable for rapeseed aerial seeding, according to an embodiment of this application. The mountain tillage and land preparation method suitable for rapeseed aerial seeding described in the above embodiments can be achieved through… Figure 4The computer device shown is used to implement this, and the computer device includes at least one processor 301, a memory 302 and at least one communication unit 305. The computer device may be a terminal device, a server or a chip.
[0041] Processor 301 can be a general-purpose processor or a special-purpose processor. For example, processor 301 can be a central processing unit (CPU), which can be used to control computer devices, execute software programs, and process data from software programs. The computer device may also include a communication unit 305 for inputting (receiving) and outputting (transmitting) signals.
[0042] For example, the computer device may be a chip, and the communication unit 305 may be the input and / or output circuit of the chip, or the communication unit 305 may be the communication interface of the chip, which may be a component of a terminal device, network device or other device.
[0043] For example, the computer device may be a terminal device or a server, and the communication unit 305 may be a transceiver of the terminal device or the server, or the communication unit 305 may be a transceiver circuit of the terminal device or the server.
[0044] The computer device may include one or more memories 302 storing a program 304. The program 304 can be executed by a processor 301 to generate instructions 303, causing the processor 301 to execute the method described in the above method embodiments according to the instructions 303. Optionally, the memory 302 may also store data (such as a target audit model). Optionally, the processor 301 may also read data stored in the memory 302, which may be stored at the same storage address as the program 304, or it may be stored at a different storage address than the program 304.
[0045] The processor 301 and memory 302 can be configured separately or integrated together, for example, integrated on the system on chip (SOC) of the terminal device.
[0046] It should be understood that each step of the above method embodiment can be completed by hardware logic circuits or software instructions in the processor 301. The processor 301 can be a CPU, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.
[0047] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0048] For example, in some embodiments, this application also provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the above-described method for tilling and preparing mountainous land suitable for rapeseed aerial seeding.
[0049] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.
[0050] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
Claims
1. A mountain land cultivation and preparation method suitable for aerial sowing mode of oilseed rape, characterized in that, The method comprises the following steps: When the mountain land tillage and compaction operation is started, the soil volume water content of the target operation area, the previous crop identifier and the initial soil compaction degree before the mountain land tillage and compaction are obtained; Based on the previous crop identifier, the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and then the initial weight of the compactor in the mountain land tillage and compaction operation is dynamically solved based on the target soil bulk density, the soil volume water content and the initial soil compaction degree, so as to obtain the reference instruction value of the initial pressure in the compactor hydraulic device; When the compactor operates according to the reference instruction value, the real-time soil bulk density of the soil area after compaction is measured by using the bulk density monitoring device behind the compactor, the real-time soil bulk density is compared with the target soil bulk density, and the instantaneous bulk density deviation in the current mountain land tillage and compaction operation is obtained; Based on the instantaneous bulk density deviation, the actual pressure value of the compactor hydraulic device is feedback adjusted, so that the actual soil bulk density after the mountain land tillage and compaction operation is within the allowable fluctuation range of the target soil bulk density.
2. The method of claim 1, wherein, Based on the previous crop identifier, the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land tillage and compaction operation is selected from the mapping relationship of the mountain land tillage and compaction operation, and the target soil bulk density of the mountain land till 3. The method of claim 1, wherein, 4. The method of claim 1, wherein, 5. The method of claim 1, wherein, Adjusting a pressure gain parameter of the hydraulic device of the presser based on the size and variation trend of the instantaneous bulk density deviation, to obtain a plurality of gain adjustment parameters of the actual pressure in the hydraulic device of the presser; Pressure correction is performed on the actual pressure of the hydraulic device of the presser based on each gain adjustment parameter, and a pressure correction amount of the hydraulic device of the presser is output; The pressure correction amount and the reference instruction value of the initial pressure are superimposed to obtain an actual pressure value that should be applied at present, and the hydraulic device is instructed to execute, thereby forming a closed-loop control.
6. The method of claim 1, wherein, The time domain reflectometry integrated with GPS positioning information is used to obtain the soil volume water content of the target operation area.
7. The method of claim 1, wherein, The bulk density monitoring device is a gamma-ray in-situ soil bulk density sensor.
8. A mountain land cultivation and preparation system suitable for aerial sowing mode of oilseed rape, characterized in that, The method comprises: An acquisition module is configured to acquire the soil volume water content of the target operation area, the previous crop identifier, and the soil initial compactness before the mountain land tillage and pressing when the mountain land tillage and preparation operation is started; A processing module is configured to filter out the target soil bulk density of the present mountain land tillage and preparation operation from the mapping relationship of the mountain land tillage and preparation operation based on the previous crop identifier, and then dynamically solve the initial counterweight of the presser in the mountain land tillage and preparation operation through the target soil bulk density, the soil volume water content, and the soil initial compactness, to obtain a reference instruction value of the initial pressure in the hydraulic device of the presser; The processing module is further configured to measure the real-time soil bulk density of the soil area pressed by the presser using the bulk density monitoring device behind the presser when the presser operates according to the reference instruction value, compare the real-time soil bulk density with the target soil bulk density, and obtain an instantaneous bulk density deviation in the present mountain land tillage and preparation operation; An execution module is configured to perform feedback adjustment on the actual pressure value of the hydraulic device of the presser based on the instantaneous bulk density deviation, so that the actual soil bulk density after the mountain land tillage and preparation operation is within the allowable fluctuation range of the target soil bulk density.
9. A computer device, comprising: The computer device comprises a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the mountain land tillage and preparation method suitable for the oilseed rape aerial seeding mode according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions or codes, and when the instructions or codes are run on the computer, the computer executes the mountain land tillage and preparation method suitable for the oilseed rape aerial seeding mode according to any one of claims 1 to 7.