Intelligent patterned seeding robot and method thereof

Abstract

This invention provides an intelligent patterned seeding robot and its method. The robot's core consists of a base carrier, a seeding execution mechanism, and a control unit. The base carrier is a four-wheeled electric structure, providing propulsion and equipped with a universal interface, supporting the detachable replacement of the seeding execution mechanism with modules for spraying, fertilizing, and watering, enhancing functional expandability. The seeding execution mechanism includes multiple independently controlled seed dispensing units, equipped with a screw-type quantitative conveying component, an adjustable-angle furrow opener, and an adjustable-height leveler, adaptable to different soil conditions and seeding depth requirements. This invention achieves high-precision patterned seeding: integrating GPS and time offset control, it achieves centimeter-level seeding accuracy, precisely reproducing user-defined patterns.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and in particular to an intelligent patterned seeding robot and its method. Background Technology

[0002] Agricultural sowing is a crucial link in agricultural production. With continuous technological advancements, agricultural sowing equipment is constantly being innovated and developed to meet the demands of high efficiency, high precision, and automation in modern agricultural production. Existing agricultural sowing technologies mainly include integrated combined structure sowing, precision seed metering devices, and variable displacement sowing technology. Among these, pneumatic high-speed precision seed metering technology effectively improves sowing quality by precisely delivering seeds, combined with a seed cleaning device; the suction cup attitude adjustment device of the seed metering device automatically adjusts the suction cup speed according to the sowing spacing requirements, maintaining consistent spacing. These technologies mostly employ linear or uniform sowing patterns and are very costly. In the field of landscape agriculture, current methods largely rely on manual layout, pole placement, and string lines for patterned planting, such as rice paddy art and flower field designs, requiring significant manpower and financial resources.

[0003] The existing technology has the following drawbacks. First, it is difficult to achieve intelligent patterned sowing: most existing equipment only supports linear or uniform sowing. A few new sowing equipment can perform some simple patterned sowing functions, but they face the problem of controlling the precision of seed placement and cannot sow seeds at precise points according to the pattern desired by the user. Second, it has poor adaptability: existing equipment is difficult to adapt to various terrains and crop types. When facing different micro-topographic features of the same terrain (such as slope changes, soil texture differences, etc.), it is easy to have problems such as inconsistent sowing depth.

[0004] To address the aforementioned shortcomings, this application aims to solve the following technical problems: First, how to achieve high-precision, automated patterned seeding; second, how to achieve centimeter-level seeding accuracy; and third, improving the equipment's terrain adaptability and functional expandability through modular mechanical structure design to adapt to various operational scenarios. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention adopts the following solution.

[0006] A smart patterned seeding robot, comprising:

[0007] A base vehicle used to provide propulsion and move within the work area;

[0008] A seeding actuator, mounted on the base carrier, includes at least two independently controlled seed dispensing units arranged perpendicular to the direction of travel, each set of seed dispensing units for conveying seeds to the ground;

[0009] The positioning module is used to acquire the robot's real-time location information.

[0010] The control unit is communicatively connected to the base carrier and the seeding actuator, and the control unit is configured to: receive target pattern information and convert it into a preset seeding coordinate sequence containing geographic coordinate information;

[0011] Based on the robot's real-time position information, the movement of the base carrier is controlled; and according to the matching result of the real-time position information and the preset sowing coordinate sequence, the opening and closing of each group of sowing units is independently controlled to form a sowing dot matrix on the ground corresponding to the target pattern.

[0012] Optionally, the positioning module is a high-precision GPS or BeiDou positioning module, which is fused with ESRI geographic information system data to achieve centimeter-level coordinate matching.

[0013] Optionally, each group of seed-producing units includes multiple seed-producing tubes arranged in parallel, and the seed-setting time of each seed-producing tube can be set independently.

[0014] Optionally, the seed dispensing unit further includes a drive mechanism for driving the seeds to be discharged from the seed dispensing tube.

[0015] Optionally, the seed dispensing unit further includes a furrow opener connected to the end of the seed dispensing tube, used to open seed furrows when the base carrier is moving; wherein, the furrow opener is provided with an angle adjustment component, the angle adjustment component being communicatively connected to the control unit, used to adjust the furrow opening angle according to soil information.

[0016] Optionally, the robot further includes a leveler, positioned behind the furrow opener, for covering the seed furrow.

[0017] Optionally, the leveler is equipped with a height adjustment component, which is communicatively connected to the control unit and is used to adjust the height according to the sowing depth requirements.

[0018] Optionally, the base carrier is provided with a universal mechanical interface and an electrical interface, and the seeding execution mechanism is detachably connected to the base carrier through the universal mechanical interface, so that the seeding execution mechanism can be replaced by a spraying module, a fertilizing module or a watering module.

[0019] A smart patterned seeding method includes the following steps:

[0020] Step 1: Receive the preset seeding point pattern uploaded by the user;

[0021] Step 2: Convert the preset seeding point pattern into a binary seeding point matrix and obtain the coordinates of the binary seeding point matrix;

[0022] Step 3: Based on the ESRI geographic information system, map the binarized seeding point matrix coordinates to the actual geographic coordinate sequence of the preset seeding points;

[0023] Step 4: Generate the optimal collision-free driving path;

[0024] Step 5: Obtain the robot's current position coordinates in real time;

[0025] Step 6: When the current location coordinates match the actual geographical coordinates of the preset sowing point, trigger the corresponding seed tube to sow seeds;

[0026] Step 7: Perform delay compensation based on the seed's falling time and the vehicle's speed to ensure accurate landing.

[0027] Optionally, the method also includes real-time obstacle marking and dynamic path adjustment functions, generating an obstacle avoidance path based on the obstacle positions marked by the user.

[0028] Compared with the prior art, the present invention has the following beneficial technical effects:

[0029] 1. Achieve high-precision patterned seeding: Integrating GPS and time offset control, it achieves centimeter-level seeding accuracy and accurately reproduces user-defined patterns.

[0030] 2. Improve seed utilization: Screw-type quantitative conveying avoids waste.

[0031] 3. Enhance equipment adaptability: Through software algorithms and modular design, it adapts to various terrains, crops, and operational scenarios (sowing, fertilizing, spraying, etc.). Attached Figure Description

[0032] The accompanying drawings illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification.

[0033] Figure 1 This is a diagram of an intelligent patterned seeding robot system according to an embodiment of the present invention;

[0034] Figure 2 This is a 3D simulation image of an intelligent patterned seeding robot according to an embodiment of the present invention;

[0035] Figure 3 This is a physical image of an intelligent patterned seeding robot according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of sowing according to an embodiment of the present invention;

[0037] Figure 5This is a flowchart illustrating the workflow of an intelligent patterned seeding robot according to an embodiment of the present invention.

[0038] Figure 6 This is a detailed flowchart of the current detection stage according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the working mode switching of an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the hardware architecture of a fault self-test module according to an embodiment of the present invention;

[0041] Figure 9 This is a detailed timing diagram of the fault self-test module current measurement according to an embodiment of the present invention;

[0042] Figure 10 This is a flowchart of the stall detection logic of the fault self-test module according to an embodiment of the present invention. Detailed Implementation

[0043] The following is in conjunction with the appendix Figures 1 to 10 The present invention will be further described in detail below with reference to the embodiments. It is to be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0044] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The technical solution of this invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] Unless otherwise stated, the exemplary embodiments / exemplifications shown are to be understood as providing exemplary features of various details that provide ways in which the technical concept of the invention can be implemented in practice. Therefore, unless otherwise stated, the features of the various embodiments / exemplifications may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concept of the invention.

[0046] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0047] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0048] For descriptive purposes, the present invention may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0049] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0050] In one embodiment, the present invention provides an intelligent patterned seeding robot, comprising:

[0051] A base vehicle used to provide propulsion and move within the work area;

[0052] A seeding actuator, mounted on the base carrier, includes at least two independently controlled seed dispensing units arranged perpendicular to the direction of travel, each set of seed dispensing units for conveying seeds to the ground;

[0053] The positioning module is used to acquire the robot's real-time location information.

[0054] The control unit is communicatively connected to the base carrier and the seeding actuator, and the control unit is configured to: receive target pattern information and convert it into a preset seeding coordinate sequence containing geographic coordinate information;

[0055] Based on the robot's real-time position information, the movement of the base carrier is controlled; and according to the matching result of the real-time position information and the preset sowing coordinate sequence, the opening and closing of each group of sowing units is independently controlled to form a sowing dot matrix on the ground corresponding to the target pattern.

[0056] Optionally, the positioning module is a high-precision GPS or BeiDou positioning module, which is fused with ESRI geographic information system data to achieve centimeter-level coordinate matching.

[0057] Optionally, each group of seed-producing units includes multiple seed-producing tubes arranged in parallel, and the seed-setting time of each seed-producing tube can be set independently.

[0058] Optionally, the seed dispensing unit further includes a drive mechanism for driving the seeds to be discharged from the seed dispensing tube.

[0059] Optionally, the seed dispensing unit further includes a furrow opener connected to the end of the seed dispensing tube, used to open seed furrows when the base carrier is moving; wherein, the furrow opener is provided with an angle adjustment component, the angle adjustment component being communicatively connected to the control unit, used to adjust the furrow opening angle according to soil information.

[0060] Optionally, the robot further includes a leveler, positioned behind the furrow opener, for covering the seed furrow.

[0061] Optionally, the leveler is equipped with a height adjustment component, which is communicatively connected to the control unit and is used to adjust the height according to the sowing depth requirements.

[0062] Optionally, the base carrier is provided with a universal mechanical interface and an electrical interface, and the seeding execution mechanism is detachably connected to the base carrier through the universal mechanical interface, so that the seeding execution mechanism can be replaced by a spraying module, a fertilizing module or a watering module.

[0063] In another embodiment, the present invention provides an intelligent patterned seeding robot, comprising:

[0064] A base vehicle used to provide propulsion and move within the work area;

[0065] A seeding actuator, mounted on the base carrier, includes at least two independently controlled seed dispensing units arranged perpendicular to the direction of travel, each set of seed dispensing units for conveying seeds to the ground;

[0066] The positioning module is used to acquire the robot's real-time location information.

[0067] The control unit is communicatively connected to the base carrier and the seeding actuator, and the control unit is configured to: receive target pattern information and convert it into a preset seeding coordinate sequence containing geographic coordinate information;

[0068] Based on the robot's real-time position information, the movement of the base carrier is controlled; and according to the matching result of the real-time position information and the preset sowing coordinate sequence, the opening and closing of each group of sowing units is independently controlled to form a sowing dot matrix on the ground corresponding to the target pattern.

[0069] Furthermore, each of the seed-producing units includes: a seed-producing tube;

[0070] A drive mechanism is used to drive the seeds out of the seed outlet tube;

[0071] The device includes a furrow opener connected to the end of the seed outlet tube, used to open a seed furrow when the base carrier is in motion; wherein the furrow opener is equipped with an angle adjustment component, which is communicatively connected to the control unit and used to adjust the furrow opening angle according to soil information.

[0072] Furthermore, the robot also includes a soil leveler, positioned behind the furrow opener, for covering the seed furrow;

[0073] The leveler is equipped with a height adjustment component, which is communicatively connected to the control unit and is used to adjust the height according to the sowing depth requirements.

[0074] The base carrier is equipped with a universal mechanical interface and an electrical interface. The seeding execution mechanism is detachably connected to the base carrier through the universal mechanical interface, so that the seeding execution mechanism can be replaced by a spraying module, a fertilizing module or a watering module.

[0075] The control unit is configured to execute an interlaced seeding strategy:

[0076] When the grid spacing of the target seeding array is greater than the fixed physical spacing of the seeding units, the control unit automatically selects to open part of the seeding units at intervals so that the effective seeding row spacing approaches the target grid spacing.

[0077] In another embodiment, refer to Figure 1 This invention provides an intelligent patterned seeding robot, comprising:

[0078] A base vehicle used to provide propulsion and move within the work area;

[0079] The seeding actuator includes a support frame and N sets of seed dispensing components mounted on the support frame. Each set of seed dispensing components includes an independently controlled drive motor, a screw conveyor, and a seed dispensing tube. The N sets of seed dispensing tubes are arranged in parallel along a direction perpendicular to the direction of travel and have a fixed physical spacing.

[0080] The control unit, located at the front of the base carrier, has a built-in main control board, positioning module, and communication module; it is electrically connected to the base carrier, positioning module, and sowing execution mechanism, respectively. The control unit is configured to achieve grid sowing by adjusting the starting sequence of each group of drive motors according to a preset sowing coordinate sequence and real-time latitude and longitude information.

[0081] Furthermore, the end of the seed outlet tube is connected to a furrow opener, and a soil leveler is provided behind the furrow opener; the furrow opener is equipped with an angle adjustment component, and the soil leveler is equipped with a height adjustment component. Both the angle adjustment component and the height adjustment component are communicatively connected to the control unit and are used to automatically adjust according to the soil hardness or sowing depth requirements.

[0082] Furthermore, the base carrier is provided with a universal mechanical interface and an electrical interface. The seeding execution mechanism is detachably connected to the base carrier through the universal mechanical interface and can be replaced by one of a spraying module, a fertilizing module, or a watering module.

[0083] In another embodiment, the present invention provides an intelligent patterned seeding method, comprising the following steps:

[0084] Step 1: Receive the preset seeding point pattern uploaded by the user;

[0085] Step 2: Convert the preset seeding point pattern into a binary seeding point matrix and obtain the coordinates of the binary seeding point matrix;

[0086] Step 3: Based on the ESRI geographic information system, map the binarized seeding point matrix coordinates to the actual geographic coordinate sequence of the preset seeding points;

[0087] Step 4: Generate the optimal collision-free driving path;

[0088] Step 5: Obtain the robot's current position coordinates in real time;

[0089] Step 6: When the current location coordinates match the actual geographical coordinates of the preset sowing point, trigger the corresponding seed tube to sow seeds;

[0090] Step 7: Perform delay compensation based on the seed's falling time and the vehicle's speed to ensure accurate landing.

[0091] Optionally, the method also includes real-time obstacle marking and dynamic path adjustment functions, generating an obstacle avoidance path based on the obstacle positions marked by the user.

[0092] In another embodiment, the present invention provides an intelligent patterned seeding method, comprising the following steps:

[0093] Step S1: Acquire the target pattern image, convert it into a binary dot matrix through image processing, and map the binary dot matrix into a preset sowing coordinate sequence containing latitude and longitude information based on geographic information map data;

[0094] Step S2: Obtain the robot's current latitude and longitude coordinates and travel speed V in real time through the positioning module;

[0095] Step S3: Execute grid-based seeding control to control multiple parallel seeding tubes with a fixed physical spacing X; calculate the seeding trigger time offset δt between adjacent seeding tubes and the time interval T for continuous seeding of a single tube based on the grid spacing D of the target pattern.

[0096] Step S4: Perform coordinate matching and triggering, calculate the distance between the current latitude and longitude coordinates and the target point in the preset sowing coordinate sequence. When the distance is less than the preset tolerance range, control the corresponding seed tube to act according to the time offset δt, and form a geometric grid pattern on the ground determined by the traveling speed V, time interval T and time offset δt.

[0097] Furthermore, in step S3, when the target grid spacing D is greater than the fixed physical spacing X, an inter-row sowing strategy is adopted; the system automatically selects to open the n-way seeding tubes at intervals so that the effective vertical spacing nX approaches the target grid spacing D, and calculates the error E=|nX-D|, and selects the n value that minimizes the error E as the operation parameter.

[0098] Furthermore, step S4 also includes a delay compensation process: the time t_delay for the seed to fall from the seed outlet to the ground is measured in advance, and the compensation distance Δx = V × t_delay is calculated based on the real-time travel speed V; the sowing command is triggered in advance when the distance between the real-time coordinates and the preset sowing coordinates along the travel direction reaches Δx.

[0099] Furthermore, in step S1, if the target pattern is a color image, then the flower seed ratio optimization algorithm is executed:

[0100] The color image is divided into multiple regions, and the average RGB value of the pixels in each region is calculated as the target color vector.

[0101] Establish a database matrix A containing the RGB values ​​of available flower colors;

[0102] The least squares method is used to solve the system of linear equations and calculate the planting area ratio of each flower species to minimize the Euclidean distance between the mixed color vector and the target color vector.

[0103] The corresponding seed tube control instructions are generated based on the calculated ratio.

[0104] Furthermore, the coordinate matching in step S4 adopts a sliding window algorithm, which selects the m points closest to the current coordinate in the preset seeding coordinate sequence in real time as candidate targets, and only performs distance calculation and matching judgment on the candidate targets.

[0105] In another embodiment, refer to Figure 1 This invention provides an intelligent patterned seeding robot, comprising:

[0106] It consists of four main parts: base carrier, support, seeding actuator, and control unit.

[0107] The base is a four-wheeled electric vehicle that supports the entire structure.

[0108] A large support frame is vertically fixed on the carrier, with a seed box installed on the top, 7 sets of screw-type seed dispensing mechanisms installed in the middle, and a seed dispensing pipe fixed at the bottom; a furrow opener is installed at the end of the seed dispensing pipe, and a leveler is installed at the rear.

[0109] The control unit is located at the front of the vehicle and has a built-in main control board, positioning module and communication module. The host computer is developed based on ESRI map and supports pattern import, path viewing, status monitoring and manual remote control. It communicates with the device via Bluetooth to realize remote command issuance and status monitoring.

[0110] After the system starts, the host computer sends patterned sowing instructions to the vehicle control box via WiFi. The trolley travels along the planned path, and the GPS module provides real-time centimeter-level position coordinates. When the coordinates match the preset sowing point, the main control board triggers the relay of the corresponding seed outlet tube, driving the screw motor to rotate and quantitatively push the seeds into the seed outlet tube. The seeds fall through the tube into the seed furrow opened by the furrow opener at the front, and are then covered and leveled by the soil leveler at the rear, realizing a fully automatic continuous operation of "movement-positioning-furrowing-sowing-covering".

[0111] Reference Figure 2 and Figure 3 The base trolley serves as the core mobile and load-bearing carrier of the device, undertaking the installation and fixing of all components. It can stably connect to large supports and also reserves a signal interface with the control module, supporting path and speed adjustment. It possesses scene adaptability, flexibly adjusting its travel path according to planting needs, and is compatible with complex environments such as garden grasslands and rural dirt roads, providing a stable mobile foundation for sowing operations. Its driving control relies on the trolley's motor control circuit, with the ESP32-C3 core board outputting control signals to regulate the motor's forward and reverse rotation and speed. Combined with real-time location information obtained from the high-precision GPS module and ESRI geographic information data, it can travel along a preset path. When obstacle avoidance is required, the obstacle avoidance command sent by the UI system is processed by the core board, which can quickly adjust the motor's operating state to complete steering or stopping actions, ensuring stable operation in complex environments.

[0112] A large support frame is installed on the base trolley, playing a key role in supporting and connecting components. The structural design takes into account both practicality and adaptability: the upper part has a reserved area for the installation of seed boxes, which can be matched with seed boxes of different capacities; the middle part is planned with installation space for the seed dispensing mechanism to ensure precise docking between the seed dispensing mechanism and the seed dispensing tube; the lower part is firmly connected to the base trolley to ensure the stability of the overall structure and prevent shaking or displacement during operation.

[0113] The seed dispensing mechanism is installed in the middle of a large support frame and has a built-in seed quantitative delivery module. The screw drive component in the module is driven by a dedicated motor, which is directly connected to the ESP32-C3 core board, supporting precise speed control. The core board outputs high / low level signals to control the relay on and off through a "signal-relay-motor" control link, thereby adjusting the start / stop and speed of the seed dispensing motor. This ensures that the seeds are delivered evenly and stably to the seed dispensing tube, avoiding accumulation or interruption of supply due to uneven delivery speed, and ensuring continuous and uniform sowing.

[0114] One end of the seed dispensing tube is tightly connected to the seed dispensing structure, while the other end is equipped with a furrow opener, serving as a transport path for seeds from the dispensing mechanism to the soil. The tube body integrates a flow regulation structure, which is signal-connected to the ESP32-C3 control module. This structure can precisely adjust the seed dispensing amount according to seed size and preset parameters, preventing blockages or uneven dispensing during transport. The seed dispensing tube is also fixed by two sets of upper and lower seed dispensing tube supports. Adjustable slots on the supports allow for flexible adjustment of the number and spacing of the seed dispensing tubes according to planting needs, structurally ensuring precise seed landing. Furthermore, the supports are linked with the seed dispensing control module, assisting in the coordinated control of seed dispensing position and quantity.

[0115] The furrow opener is installed at the end of the seed outlet tube and moves synchronously with the base trolley to create planting furrows in the soil, providing a stable environment for the seeds to fall into. The angle of the furrow opener is flexibly adjustable, and its angle adjustment component is associated with the ESP32-C3 control module. It can automatically or manually adjust the angle of the furrow opener based on pre-input map data and soil test data to adapt to different soil hardness and ensure that the depth and width of the furrow meet the planting requirements.

[0116] The soil leveler is installed behind the furrow opener and undertakes the soil leveling work after furrowing and sowing. By leveling the soil on both sides after furrowing and covering the seeds, it completes the soil preparation after planting and creates a stable environment for seed growth. Its installation position and angle can be finely adjusted according to the sowing depth requirements. The fine-tuning component is compatible with the ESP32-C3 control module and supports coordinated adjustment.

[0117] The UI interaction module of the intelligent precision seeding device includes multiple functions: the pattern and location selection module provides a built-in landscape pattern library and a "planting area map," allowing users to specify the planting area and synchronize it to the control system; the obstacle marking and avoidance module allows users to mark obstacles on the ESRI geographic information map, and the system combines geographic data and device feedback to generate and dynamically adjust obstacle avoidance paths; the image-to-seed planning module relies on the flower seed RGB database to convert user-uploaded images into dot matrix plans, divides the area according to custom pixel blocks, calculates the average RGB value, constructs a flower seed color matrix and target color vector, solves the optimal flower seed ratio using the least squares method, and generates seeding instructions after displaying relevant parameters on the interface; during colored pattern seeding, each of the 7 seed outlet tubes integrates multiple sets of independent screw conveyor mechanisms and dedicated seed bins, with each mechanism corresponding to a flower seed. The system first calculates the planting area ratio of each flower seed using the flower seed RGB database and the least squares method, then converts the ratio into the corresponding screw rotation speed command. Multiple sets of screws simultaneously push different flower seeds, which are mixed in the seed outlet tube and fall into the same area, achieving the target color effect without multiple coverage runs. In addition, the sowing effect display module can simulate the expected landscape and supports viewing and adjustment, the planning path generation module automatically calculates the optimal path and marks the parameters, and the monitoring and remote control module displays the device status and progress in real time and supports manual operation to ensure stable and accurate planting.

[0118] Reference Figure 4 One of the core innovations of this system is the use of software algorithms to flexibly adapt a fixed physical structure of the seed tube array into a field seeding grid with variable geometry. The system is equipped with seven parallel seed tubes with a fixed center-to-center distance of X = 42 mm. Simply driving all the seed tubes simultaneously at a fixed period T would only create a rectangular grid with a row spacing of X and a column spacing of VT. This system uses a time-off algorithm to convert the fixed seven rows of seed tubes into an adjustable square or rhomboid seeding grid. As shown in the figure, this is achieved by controlling the time offset between adjacent rows of seed tubes. The time interval T between single-tube sowing ensures that the projection of the sowing point in the actual field meets the target grid spacing D. When D>X, the system can automatically calculate and adopt an alternating row sowing / n-row sowing strategy to make the effective vertical spacing nX approach D, thereby optimizing the grid shape from a rhombus to an approximately square, thus generating an approximately square sowing dot matrix with an error of E=|nX-D|. The system will automatically select the optimal value of n within the user-defined tolerance range to achieve optimal pattern fidelity while ensuring agronomic requirements.

[0119] Reference Figure 5The user-uploaded RGB image is processed by an algorithm to be converted into a binary dot matrix, where each pixel corresponds to a sowing decision (1 for sowing, 0 for vacancy). Next, based on ESRI map services, the system maps the pixel coordinates in the dot matrix to a sequence of actual geographic coordinates, achieving a precise correspondence from the virtual pattern to the field location. Subsequently, path optimization is performed to generate a collision-free optimal driving route, and the speed profile of each road segment is calculated to ensure operational stability. During the sowing execution phase, the system uses a sliding window matching algorithm to compare the current GPS coordinates with the first three sowing points in the target queue in real time, dynamically calculating the minimum distance and determining if a match has been found. Once a match is successful, the system will... The time-triggered sowing command compensates for system delays, ensuring that the seeds fall accurately into the target position, and ultimately achieving centimeter-level high-precision reproduction of the pattern in the field.

[0120] The intelligent patterned seeding robot of this application has significant advantages in core performance dimensions, and forms comprehensive performance support by combining technical solutions with actual application scenarios.

[0121] Seeding accuracy, a core indicator of patterned seeding, is achieved through the collaborative use of multiple technologies to reach centimeter-level precision control. The system integrates high-precision GPS / BeiDou modules with ESRI geographic information data to achieve centimeter-level real-time positioning. A coordinate matching algorithm completely eliminates mechanical and human errors inherent in traditional seeding, ensuring precise alignment of the seeding point with the preset pattern coordinates. Simultaneously, a time-off algorithm and interlaced-row seeding strategy are employed to adapt the seven fixed-interval seed tubes to a variable grid. Parameter adjustments ensure that the seeding dot matrix error E=|nX-D| is controlled within the user-preset tolerance range, guaranteeing the geometric accuracy of complex patterns. Furthermore, a delay compensation mechanism triggers the seeding command in advance based on the seed fall time and vehicle speed, effectively offsetting spatial lag errors in seed fall and further improving landing point accuracy.

[0122] In terms of operational efficiency, this robot represents a leap forward from manual operation to automated and intelligent control. The vehicle's travel speed supports PWM speed regulation, and its working width of 272mm significantly surpasses the efficiency of manual sowing. Simultaneously, it automates the entire process of "pattern uploading - dot matrix conversion - path planning - positioning and sowing - soil covering and leveling," eliminating the need for manual surveying, marking, or replanting. A single person can complete large-area, complex pattern sowing, saving over 90% of working time compared to traditional manual methods. The parallel operation of seven seed tubes, combined with an intelligent path planning algorithm, avoids repetitive travel, increasing efficiency by 5-7 times compared to single-channel equipment in large-area operation scenarios, significantly reducing time costs.

[0123] System reliability is fully guaranteed through the coordinated design of mechanical structure and control system. Modular design ensures robust connections between core components. The adjustable slots of the seed tube support and the quantitative conveying design of the screw-type seed dispensing mechanism effectively prevent seed accumulation, supply interruption, or seed tube swaying during operation. Continuous operation stability has been tested and meets standards. The control system uses an ESP32-C3 main control board, possessing strong anti-interference capabilities and multi-tasking capabilities. A relay independently controls the seed dispensing motor, in conjunction with a fault self-diagnostic module for voltage and current detection (see appendix). Figures 6 to 8 The system can monitor the status of core components in real time, automatically shutting down and alarming when a fault is triggered to prevent equipment damage. At the communication level, a WiFi communication module enables bidirectional data transmission between the host computer and the vehicle terminal, resulting in low latency for command issuance and status feedback. Combined with a Bluetooth backup communication link, it ensures stable transmission of control commands in complex environments, comprehensively guaranteeing operational continuity. Specifically, the system has two modes: output mode (PWM drive) and input mode (ADC (detection)). In output mode, GPIO4 outputs a PWM signal to drive the motor. The system periodically switches to input mode, first safely resetting the PWM duty cycle to zero and outputting a low level to ensure a safe switch to input mode, then reconfiguring the pin as an ADC input, sampling the motor voltage through an external resistor network and converting it into a current value. Based on the current data, faults such as stall are judged in real time: if normal is determined, the drive phase is immediately restored: GPIO4 is switched back to PWM output mode and restored to the previous duty cycle setting, driving the motor to continue working; if a stall fault is detected, the system enters a protection state, stopping the drive and triggering the corresponding fault handling mechanism. Therefore, by reusing the same GPIO pin (GPIO4), it can be used for both PWM motor driving and ADC current detection, achieving low-cost, single-pin fault detection.

[0124] The operating principle of the fault self-test module is as follows (see appendix). Figure 9 and Figure 10 ),like Figure 9 The figure shows in detail the specific timing process of current measurement. Figure 6 (Detailed process of the current detection phase): The system periodically interrupts the drive to insert a very short measurement window. The entire measurement phase typically lasts only tens to hundreds of microseconds, having minimal impact on motor operation. The specific process is as follows: PWM is set to 0, and the output is low. The motor continues to rotate due to inertia, but the coil current begins to naturally decay. After a stabilization waiting time (50μs), the internal switching transistors of the driver chip are completely turned off, allowing the coil current to enter a relatively stable decay phase. The pin is switched to input mode. The induced voltage generated by the motor coil at the detection point is read by the ADC through a voltage divider and filter circuit. The system performs 16 samples to improve accuracy. The output mode is switched back, and the previous PWM duty cycle N is restored, continuing to drive the motor.

[0125] Finally, the current value is calculated and used for stall detection, such as Figure 10 The diagram illustrates the protection logic for stall detection, and the process is as follows:

[0126] Threshold Comparison: The calculated average current is compared with a preset stall current threshold. If they match, the motor may be in an abnormal state (e.g., stalled, overload), and the stall counter is incremented; otherwise, the operation is normal, the stall counter is reset, and the system waits 20 milliseconds before re-detecting. Anti-interference Setting: To prevent false triggering due to instantaneous load fluctuations or measurement interference, the stall counter is checked to see if it has accumulated more than 5 times. If yes, the motor is continuously abnormal and the protection mechanism needs to be triggered; otherwise, it is an intermittent abnormality, and the system waits 2 seconds before re-detecting. Trigger Protection: Only when the stall counter > 5 (i.e., multiple overcurrent detections are detected continuously or within a short period) is it confirmed as a true stall, the motor is immediately stopped, and the stall counter is reset to prepare for the next detection. Self-Recovery Attempt: After waiting 2 seconds, a restart attempt is made. Before restarting, the program checks whether the current PWM duty cycle is in a "measurable" state to ensure that the system can re-enter the normal "drive-measure" cycle.

[0127] In terms of terrain and scene adaptability, the robot demonstrates exceptional flexibility and versatility. Its wheeled chassis design is compatible with various terrains, including garden lawns, rural dirt roads, and hilly slopes. The furrow opener angle can be automatically or manually adjusted based on soil hardness, and the leveler position and pressure are adjustable to ensure consistent sowing depth and covering effect across different terrains. The seed outlet flow rate adjustment structure can accommodate seeds of different sizes and supports custom grid spacing D to meet diverse landscape patterns and agronomic needs. The modular interface allows the seed outlet mechanism to be replaced with spraying, fertilizing, and watering modules, enabling the same device to complete post-sowing maintenance operations. This makes it suitable for various applications such as garden landscapes, rural tourism, and agricultural art displays, expanding the device's functional boundaries and applicability.

[0128] In terms of economics, this robot achieves a balance between high performance and low cost, possessing significant advantages for widespread adoption. The core mechanical structure (aluminum frame, 3D printed parts) costs approximately 330 yuan, and the circuit control and power system (power supply, motor, wires) costs approximately 170 yuan. The overall manufacturing cost is low (approximately 500 yuan excluding the base carrier), far lower than similar high-precision seeding equipment. During use, automated operation significantly reduces labor costs, the screw-type seed dispensing mechanism quantitatively delivers seeds to avoid waste, and the modular design reduces component maintenance and replacement costs, extending the equipment's lifespan. Furthermore, the equipment has a compact structure and is easy to operate, requiring no specialized technical personnel training to learn how to use it. It is also compatible with most general-purpose carrier chassis, reducing users' secondary investment costs and laying the foundation for large-scale promotion.

[0129] This application achieves automated, high-precision, and multi-scenario adaptability for patterned seeding through a collaborative architecture of "modular mechanical structure design + intelligent control system + human-computer interaction UI", meeting the needs of garden landscape and rural tourism for specialty planting.

[0130] Practical value: It has greatly promoted the automated development of landscape agriculture and creative agriculture, and provided low-cost, high-efficiency and high-precision solutions for rice paddy art, flower sea patterns, etc., with broad market application prospects and significant economic and social benefits.

[0131] The present invention has the following beneficial technical effects:

[0132] First, it achieved ultimate precision control at the centimeter level;

[0133] The "seeding robot" completely abandons indirect and relative triggering methods, deeply integrating high-precision GPS / BeiDou positioning modules and the ESRI geographic information system to construct a direct triggering mechanism based on absolute geographic coordinates. The system converts every point of the target pattern into real latitude and longitude coordinates in the field. As the robot moves, its control core (such as the ESP32-C3) continuously compares its real-time centimeter-level position with the preset coordinate matrix; once a match is found, sowing is immediately triggered. This method eliminates the cumulative error caused by speed fluctuations at its source, achieving precise absolute position control and improving accuracy to the centimeter level, laying the foundation for the accurate reproduction of complex patterns.

[0134] Second, it enables intelligent generation of any custom pattern;

[0135] The "sowing robot" achieves end-to-end digital integration from artistic design to agricultural operations through a complete "human-computer interaction and intelligent path generation system." Users can directly upload or draw any color image through a dedicated graphical user interface (UI). The system's backend uses advanced image processing algorithms (such as binarization and color partitioning) and a unique flower seed ratio optimization algorithm based on the RGB color model to decompose the color pattern and calculate the types and proportions of flower seeds to be sown in each area, finally generating the optimal operating path that the machine can execute. This allows it to go beyond simply printing characters and "draw" any landscape, logo, or artwork in the fields, expanding its application scenarios from functional ground markings to high-value-added fields such as creative agriculture and landscape tourism.

[0136] Third, the limitations of mechanical structures are lifted through control algorithms;

[0137] The "seeding robot" showcases remarkable "software and hardware collaborative innovation." Mechanically, it employs parallel seeding tubes arranged at fixed physical intervals (e.g., 7 tubes, 42mm spacing). If triggered simultaneously, it would only form parallel lines with a fixed row spacing. However, one of its core innovations—a multi-channel parallel seeding and grid-based seeding control method—applies a precisely calculated time offset to each seeding tube, combined with its movement speed. This allows the projected points of these stationary tubes on the ground to form flexibly adjustable grids such as rhombuses and squares. Through algorithms, it can also intelligently select and activate certain tubes to adapt to different target spacings. This means that with a simple, fixed mechanical structure, through "control magic," it achieves infinite variability in output geometry, greatly improving the equipment's flexibility and pattern fidelity.

[0138] IV. A scalable intelligent agricultural robot platform has been built;

[0139] The "seeding robot" is designed as a highly integrated and modular intelligent operating platform, integrating a fully automated continuous operation process of "movement-positioning-ditching-seeding-covering," achieving a very high degree of automation. More importantly, its modular mechanical structure design allows core modules such as the chassis, seed dispensing mechanism, furrow opener, and leveler to all have standardized, quick-assembly and disassembly interfaces. This not only allows the equipment to easily adapt to different terrains (such as by changing the tracked chassis), but also means that the same control, power, and mobility platform can quickly transform into a sprayer, fertilizer applicator, or irrigation equipment. This platform-based approach elevates the product from a single-function tool to a general-purpose intelligent equipment adaptable to various agricultural operations, significantly improving equipment utilization and economic value.

[0140] In summary, the "intelligent patterned seeding robot" represents a systematic and interdisciplinary integrated innovation. It not only achieves a significant improvement in positioning accuracy, pattern complexity, and mechanical flexibility, but also, by deeply integrating geographic information technology, image recognition algorithms, and intelligent control theory with the needs of modern agriculture, it has pioneered a completely new technological paradigm of "digital landscape agriculture," demonstrating its technological complexity and promising industrial application prospects.

[0141] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0142] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0143] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. An intelligent patterned seeding robot, characterized in that, include: A base vehicle used to provide propulsion and move within the work area; A seeding actuator, mounted on the base carrier, includes at least two independently controlled seed dispensing units arranged perpendicular to the direction of travel, each set of seed dispensing units for conveying seeds to the ground; The positioning module is used to acquire the robot's real-time location information. The control unit is communicatively connected to the base carrier and the seeding actuator, and the control unit is configured to: receive target pattern information and convert it into a preset seeding coordinate sequence containing geographic coordinate information; Based on the robot's real-time position information, the movement of the base carrier is controlled; and according to the matching result of the real-time position information and the preset sowing coordinate sequence, the opening and closing of each group of sowing units is independently controlled to form a sowing dot matrix on the ground corresponding to the target pattern.

2. The intelligent patterning seeding robot of claim 1, wherein, Preferably, the positioning module is a high-precision GPS or BeiDou positioning module, which is fused with ESRI geographic information system data to achieve centimeter-level coordinate matching.

3. The intelligent patterning seeding robot of claim 1, wherein, Each seed-producing unit comprises multiple seed-producing tubes arranged in parallel, and the seed-promoting trigger time for each seed-producing tube can be set independently.

4. The intelligent patterning seeding robot of claim 3, wherein, The seed discharging unit also includes a drive mechanism for driving the seeds to be discharged from the seed discharging tube.

5. The intelligent patterning seeding robot of claim 4, wherein, The seed dispensing unit also includes a furrow opener connected to the end of the seed dispensing tube, used to open seed furrows when the base carrier is moving; wherein, the furrow opener is provided with an angle adjustment component, the angle adjustment component being communicatively connected to the control unit, used to adjust the furrow opening angle according to soil information.

6. The intelligent patterning seeding robot of claim 5, wherein, The robot also includes a leveler, positioned behind the furrow opener, for covering the seed furrow.

7. The intelligent patterning seeding robot of claim 6, wherein, The leveler is equipped with a height adjustment component, which is communicatively connected to the control unit and is used to adjust the height according to the sowing depth requirements.

8. The intelligent patterning seeding robot of claim 1, wherein, The base carrier is equipped with a universal mechanical interface and an electrical interface. The seeding execution mechanism is detachably connected to the base carrier through the universal mechanical interface, so that the seeding execution mechanism can be replaced by a spraying module, a fertilizing module or a watering module.

9. A smart patterned sowing method characterized in that, Includes the following steps: Step 1: Receive the preset seeding point pattern uploaded by the user; Step 2: Convert the preset seeding point pattern into a binary seeding point matrix and obtain the coordinates of the binary seeding point matrix; Step 3: Based on the ESRI geographic information system, map the binarized seeding point matrix coordinates to the actual geographic coordinate sequence of the preset seeding points; Step 4: Generate the optimal collision-free driving path; Step 5: Obtain the robot's current position coordinates in real time; Step 6: When the current location coordinates match the actual geographical coordinates of the preset sowing point, trigger the corresponding seed tube to sow seeds; Step 7: Perform delay compensation based on the seed's falling time and the vehicle's speed to ensure accurate landing.

10. The intelligent patterned planting method of claim 9, wherein, The method also includes real-time obstacle marking and dynamic path adjustment functions, generating obstacle avoidance paths based on the locations of user-marked obstacles.

Images