A mechanized agricultural planting matching system

Abstract

The application discloses a kind of mechanized agricultural planting matching systems, the present application relates to the technical field of agricultural machinery, the system includes power chassis, attitude detection unit, chassis leveling actuator, machine tool independent suspension interface, machine tool suspension actuator, electro-hydraulic intelligent integration fast bus interface and main controller, avoid leveling action interference machine tool operation posture, simultaneously through electro-hydraulic intelligent integration fast bus interface in machine tool hanging time synchronization realizes mechanical connection, electrical conduction and data communication, main controller automatically identifies machine tool type and retrieves matching operation parameters from expert parameter database and issues, realize machine tool plug and play and flexible reconfiguration, the present application effectively improves the consistency of slope operation agronomy, reduces operation threshold, improves the operation efficiency and reliability under multi-link composite planting mode.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a mechanized agricultural planting system. Background Technology

[0002] With the continuous advancement of agricultural modernization in my country, mechanized operations in plains areas have taken initial shape. However, in hilly and mountainous areas, the overall mechanization rate of crops remains low. The hilly and mountainous terrain is undulating and the land area is small, which places higher demands on the passability, flexibility, and stability of agricultural machinery in hilly operations.

[0003] Existing agricultural machinery chassis typically employ wheel or track support structures, coupled with a three-point suspension mechanism to connect with rear-mounted implements. Some models have introduced chassis attitude detection and hydraulic leveling systems based on inertial measurement units to maintain vehicle level when operating on slopes, ensuring the stability of the power system's center of gravity and driving safety. Meanwhile, the implements are attached to the end of the suspension arm via a traditional mechanical pin structure. After changing implements, the operator needs to manually set operating parameters such as the hydraulic output pressure of the main unit, the speed of the power output shaft, and the operating speed based on experience before starting work.

[0004] The aforementioned existing technical solutions have the following shortcomings: Firstly, since the connection between the power chassis and the rear-mounted implements is mostly rigid or semi-rigid, when the power chassis tilts on a slope and initiates the leveling action, the suspension connection points of the implements will shift with the change in chassis posture. This results in one side of the implement being buried too deep in the soil while the other side is suspended, seriously affecting the soil penetration depth and row and plant spacing consistency of operations such as sowing and ridging. Even if some models incorporate a chassis leveling system, the implement connection points still move during the leveling process, and the implement still cannot maintain the ideal working posture of being in close contact with the ground. Therefore, the overall chassis leveling and partial ground contact of the implement have not yet been achieved. Secondly, due to the common practice of intercropping or rotation of multiple crops in hilly and mountainous areas, agricultural machinery faces the practical need for multi-purpose use and frequent attachment changes. However, existing attachment methods remain at the level of pure mechanical docking. After each attachment change, the operator must rely on experience to reset parameters such as hydraulic output, power output shaft speed, and operating speed. This operation is time-consuming and labor-intensive, and improper parameter settings can easily lead to machinery damage or substandard planting quality, making it difficult to meet the production needs of modern smart agriculture's full-process mechanized operations. Therefore, we propose a supporting system for mechanized agricultural planting. Summary of the Invention

[0005] The purpose of this invention is to provide a supporting system for mechanized agricultural planting.

[0006] The technical problems to be solved by this invention include two aspects: First, how to achieve dynamic coordination between the overall leveling of the power chassis and the local ground-hugging contouring of the rear-mounted work equipment in complex sloping terrain such as hilly and mountainous areas, so as to avoid interference with the working posture of the work equipment during the chassis leveling process, thereby ensuring the consistency of the soil penetration depth and row and plant spacing in operations such as sowing and ridging. Second, how to solve the problem of the need for repeated manual adjustment of operating parameters when frequently changing work equipment in multiple planting stages, and to achieve automatic identification and self-adaptation of operating parameters after the work equipment is attached.

[0007] To address the aforementioned technical problems, this invention provides a mechanized agricultural planting support system, including a power chassis, a posture detection unit, a chassis leveling actuator, an independent implement suspension interface, an implement suspension actuator, an electromechanical-hydraulic-intelligent integrated quick-connect bus interface, and a main controller. The posture detection unit includes a first posture sensor mounted on the power chassis and a second posture sensor mounted on the implement, respectively used to collect posture data of the power chassis and the implement. The chassis leveling actuator is connected to the walking mechanism of the power chassis and is used to adjust the vehicle posture of the power chassis based on the posture data. The implement suspension actuator is connected to the independent implement suspension interface and is used to independently adjust the vehicle posture of the power chassis. The leveling actuator adjusts the suspension posture of the work implement. The electromechanical-hydraulic-intelligent integrated quick-connect bus interface integrates a mechanical locking structure, an electrical contact structure, and a bus communication module. It is used to simultaneously realize mechanical connection, electrical conduction, and data communication when the work implement is connected to the power chassis. The main controller calculates the feedforward compensation amount generated at the suspension point of the work implement due to the change in the posture of the power chassis based on the adjustment amount of the chassis leveling actuator and a pre-established kinematic model. The feedforward compensation amount is superimposed with the local ground surface contour correction amount of the work implement to obtain the target control amount of the implement suspension actuator, so that the suspension posture of the work implement is independent of the leveling action of the power chassis.

[0008] This invention also provides a control method for the aforementioned mechanized agricultural planting system. By collecting the attitude data of the power chassis and controlling the chassis leveling actuator to make the chassis attitude approach a preset horizontal reference, the method calculates the feedforward compensation amount at the suspension point of the implement based on the kinematic model and superimposes it with the local ground contour correction amount to obtain the target control amount of the implement suspension actuator, thereby realizing the dynamic decoupling of the overall chassis leveling and the local ground contour of the implement at the control level.

[0009] Furthermore, this invention sets up an electromechanical-hydraulic-intelligent integrated quick-connect bus interface at the independent suspension interface of the implement, so that the working implement and the power chassis are physically connected at the same time, and electrical conduction and data communication are automatically realized. The main controller automatically reads the equipment type code of the implement and retrieves the matching agronomic operation parameter set from the pre-stored expert parameter database and sends it to each actuator to complete the automatic initialization setting of the implement operation parameters.

[0010] Compared with the prior art, the beneficial effects of the present invention by adopting the above technical solution are as follows:

[0011] 1. This invention mathematically separates the overall chassis leveling action from the machine suspension posture adjustment action at the control level, so that the leveling action of the power chassis when working on slopes will not interfere with the suspension posture of the rear-mounted machine. The machine can always maintain a ground-hugging working posture according to the local undulations of the ground, effectively improving the soil penetration depth and row and plant spacing consistency of operations such as sowing and ridging, and improving the agronomic consistency of operations on slopes.

[0012] 2. This invention achieves automatic identification of equipment type and automatic matching and distribution of operating parameters after the equipment is attached through an electromechanical-hydraulic-intelligent integrated quick-connect bus interface. This reduces the need for operators to manually set operating parameters based on experience, lowers the operating threshold, avoids the risk of equipment damage or substandard planting quality due to improper parameter settings, and improves the efficiency and reliability of equipment swapping in multi-stage composite operation modes. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall control logic flow of the entire system in an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of the self-identification parameter distribution process of the electromechanical-hydraulic-intelligent integrated quick-connect tool in an embodiment of the present invention;

[0015] Figure 3 This is a schematic diagram of the chassis leveling and machine contour decoupling control process in an embodiment of the present invention. Detailed Implementation

[0016] The following is in conjunction with the appendix Figure 1-3 The specific embodiments of the present invention will be further described below. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0017] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0018] I. System Overall Architecture:

[0019] The mechanized agricultural planting system provided by this invention includes: a power chassis, a posture detection unit, a chassis leveling actuator, an independent suspension interface for implements, an implement suspension actuator, an electromechanical-hydraulic-intelligent integrated quick-connect bus interface, a main controller, and a detachable and replaceable implement module, wherein the implement module includes a ridging module, a sowing module, and a transplanting module.

[0020] The first attitude sensor is installed on the power chassis, which is a six-degree-of-freedom inertial measurement unit used to collect the roll angle, pitch angle and angular velocity data of the power chassis in real time. The second walking mechanism of the power chassis is a wheel or track support structure. A third hydraulic support cylinder is provided at the second walking mechanism. The third hydraulic support cylinder is controlled by an electro-hydraulic proportional servo valve, which constitutes the aforementioned chassis leveling actuator, used to perform chassis leveling action according to the attitude data collected by the first attitude sensor.

[0021] The three-point suspension mechanism 2 connects the power chassis 1 and the working tool body 3, forming the aforementioned independent suspension interface for the tool. The upper and lower pull rods of the three-point suspension mechanism 2 are equipped with one of the independent suspension hydraulic cylinders 2. The suspension hydraulic cylinder 2 is driven separately by the two tool suspension controllers 2, forming the aforementioned tool suspension actuator. The tool suspension actuator is controlled independently of the chassis leveling actuator, and their execution actions do not interfere with each other.

[0022] The working machine body 3 is equipped with one of the second attitude sensor 3 and the other of the ground surface contour sensor 3. The second attitude sensor 3 is a six-degree-of-freedom inertial measurement unit used to detect the attitude data of the working machine body 3 itself. The other of the ground surface contour sensor 3 is a distance sensor used to detect the relative height difference between the working machine body 3 and the ground surface.

[0023] The quick-change hook-up interface four is located at the connection between the three-point suspension mechanism two and the working tool body three, forming the aforementioned electromechanical-hydraulic-intelligent integrated quick-connect bus interface. The quick-change hook-up interface four integrates one of the mechanical locking hydraulic quick-change hooks four, two of the industrial-grade spring probe contact pin seats four, and three of the CAN bus communication modules four. The one of the mechanical locking hydraulic quick-change hooks four is used to realize the mechanical connection and locking between the working tool body three and the three-point suspension mechanism two. The two of the industrial-grade spring probe contact pin seats four are arranged on the hook-up end face and have waterproof and dustproof performance. They are used to realize the physical conduction of electrical contacts when the one of the mechanical locking hydraulic quick-change hooks four is closed in place. The three of the CAN bus communication modules four is used to realize data communication at the same time as the mechanical locking and electrical conduction are completed. The working tool body three is also provided with a memory three, which is an EEPROM memory, used to record the equipment type code and physical range data of the working tool.

[0024] The main controller 5 is connected via CAN bus to the chassis leveling controller 5, the implement suspension controller 2, the CAN bus communication module 4 of the quick-change hook-up interface 4, and the expert parameter database storage module, respectively, to realize unified scheduling of attitude data acquisition, decoupling calculation and parameter distribution.

[0025] II. Overall Machine Attitude Coordination Leveling and Local Tool Contouring Layered Decoupling Control Principle:

[0026] The overall posture coordination leveling described in this invention refers to the process by which the power chassis adjusts the support height of the walking mechanism 1 based on the posture data collected by the first posture sensor 1, through the chassis leveling actuator, so that the body of the power chassis maintains a horizontal or preset posture. The local contouring of the implement described in this invention refers to the process by which the working implement body 3, independent of the posture of the power chassis, autonomously adjusts its soil penetration depth and horizontal posture based on the local undulation data detected by the second ground contouring sensor 3, to conform to the ground surface shape. The core concept of this invention is to mathematically separate the above two adjustment processes at the control algorithm level, so that their execution actions do not interfere with each other and each independently meets its corresponding work objective.

[0027] Specifically, the main controller five pre-establishes a kinematic model of the terrain, the power chassis one, the three-point suspension mechanism two, and the working implement body three based on the DH parameter method. This model describes the spatial positional relationship transmitted from the attitude change of the power chassis one to the suspension point of the working implement body three via the three-point suspension mechanism two. The process of establishing the kinematic model includes: reading the initial attitude data of one-third of the first attitude sensor one and one-third of the second attitude sensor one-third, including the initial roll angle and the initial pitch angle, and recording the geometric length parameters of each link of the three-point suspension mechanism two. Then, the DH parameter method is used to determine four parameters between the adjacent coordinate systems of the power chassis coordinate system, the three-point suspension mechanism coordinate system, and the working implement coordinate system: link length, link torsion angle, link offset, and joint angle. The forward kinematic equations from the power chassis coordinate system to the working implement coordinate system are then constructed.

[0028] Based on this, the chassis leveling controller (five) collects the attitude data of the first attitude sensor (one) in real time, and uses a feedforward-feedback proportional-integral-derivative control law to calculate the adjustment control quantity of the hydraulic support cylinder (three), so that the roll angle and pitch angle of the power chassis (one) approach the preset horizontal reference value. The expression of the control law is:

[0029] ;

[0030] In the formula, This indicates that the hydraulic support cylinder one and three are in The amount of adjustment and control at any given time. express The deviation between the measured attitude angle of the power chassis and the preset horizontal reference value at any given time. , , These are the pre-calibrated proportional, integral, and derivative control gain coefficients, respectively. For intermediate variables in integration operations;

[0031] The main controller five, based on the change in the adjustment control quantity output by one of the chassis leveling controllers five, and in conjunction with the aforementioned forward kinematic equations, calculates the feedforward compensation quantity generated at the three suspension points of the work implement body due to the attitude adjustment of the power chassis one. The calculation relationship is as follows:

[0032] ;

[0033] In the formula, This indicates the feedforward compensation angular displacement at the three suspension points of the working machine body caused by the leveling action of the power chassis. This represents the Jacobian inverse matrix derived from the forward kinematics equations, which is the roll angle of the power chassis. With pitch angle The function, This indicates the change in the adjustment and control quantity of the hydraulic support cylinder one to three;

[0034] At the same time, the second of the three surface contour sensors detects the relative height difference between the current position of the three working implements and the ground surface in real time, and obtains the local contour correction amount. The local contour correction amount reflects the actual impact of surface undulations on the soil penetration depth of the working implement body. The main controller will adjust the feedforward compensation amount. With the local contour correction amount The target control quantity of the machine's suspension actuator is obtained by performing a superposition operation, and the superposition relationship is as follows:

[0035] ;

[0036] In the formula, This indicates the target attitude angle of the second type of the machine suspension controller. This indicates the preset initial working posture angle reference value of the working machine. and The meaning is the same as described above;

[0037] The second type of the machine suspension controller receives the aforementioned target control quantity. Then, one of the two suspension hydraulic cylinders is driven to perform a corresponding extension and retraction action, so that the suspension posture of the three working implement body follows the target value change in real time, thereby achieving the technical effect that the three working implement body is not affected by the posture of the power chassis and can autonomously conform to the local undulations of the ground.

[0038] To further improve control accuracy, the main controller also performs closed-loop feedback verification, feeding back the actual attitude angle of the working implement body three measured by one of the second attitude sensors three to the implement suspension controller two, and comparing it with the aforementioned target control quantity. If the deviation between the two exceeds the preset threshold, two-thirds of the detection data of the surface contour sensor are re-acquired, the local contour correction amount is recalculated, and a new target control amount is obtained by superimposing the data. This drives one of the two suspension hydraulic cylinders to perform the correction action. This process is repeated until the deviation converges within the preset range, forming a complete closed-loop control logic.

[0039] III. Mechatronics-hydraulic-intelligent integrated bus quick-connect structure and self-adaptive control of equipment:

[0040] This invention integrates electrical connection and CAN bus communication protocol modules at four locations of the quick-change hook-up interface. This allows the power chassis to be physically hooked up with a specific work implement module while automatically reading the device type code recorded in the memory (3-3) to identify the module type of the work implement. It also autonomously retrieves the agronomic operation parameters matching the work implement from the expert parameter database storage module (5-2). The agronomic operation parameters include the seeding rate setting, the power output shaft speed setting, the hydraulic output flow setting, and the soil penetration pressure setting, thereby enabling the flexible reconfiguration of a single power chassis to handle multiple planting stages in a composite planting mode.

[0041] Specifically, when the operator physically docks the three-point suspension mechanism two with the target work implement body three, and the mechanical locking hydraulic quick-change hook is fully closed in one-quarter position, the industrial-grade spring probe contact pin seat four-two simultaneously achieves electrical conduction. After the main controller five detects the electrical conduction signal at the four quick-change hook interface, it sends a device identification request frame to the memory three-three via the CAN bus. After receiving the request frame, the memory three-three returns the pre-stored device type code and physical range data to the main controller five. The main controller five parses the received device type code, retrieves the agronomic operation parameter set corresponding to the device type code in the expert parameter database storage module five-two, and sends the retrieved agronomic operation parameter set to the corresponding actuator controller. The actuator controller includes a seeding motor driver, a power output shaft speed adjustment controller, and a hydraulic proportional valve controller. After receiving the parameters, each actuator completes the initialization setting of its own working state.

[0042] After the system enters the working state, the main controller can also fine-tune and correct the current agronomic operation parameter set based on the actual feedback data during the operation, including the actual seeding spacing and the actual soil penetration depth. It can also selectively write the corrected parameters back to the expert parameter database storage module 2 for parameter iteration and optimization when attaching similar operation machinery in the future.

[0043] The control system described in this invention is developed based on the ISO11783 standard bus protocol, ensuring data protocol interoperability between the power chassis and different functional work implement modules.

[0044] IV. Other implementation methods:

[0045] In another embodiment of the present invention, the reverse calculation process of the aforementioned kinematic model can also be replaced by an attitude mapping model based on neural networks or fuzzy control instead of the aforementioned Jacobian inverse matrix operation. That is, historical data samples between the attitude change of the power chassis and the displacement of the three suspension points of the working machine body are collected in advance, and the attitude mapping model is trained. In actual operation, the measured attitude angle of the power chassis is directly used as input, and the trained attitude mapping model outputs the feedforward compensation amount of the machine suspension in real time. This can also achieve the decoupling control effect between the leveling action of the power chassis and the three local contouring actions of the working machine body. This embodiment is suitable for application scenarios with low requirements for the accuracy of kinematic parameter calibration or high degree of nonlinearity of the mechanism.

[0046] In another embodiment of the present invention, the aforementioned method for identifying the type of machinery and equipment can also use a wireless radio frequency identification (RFID) tag to replace the wired storage scheme of the memory three. That is, an RFID tag is installed on the attachment end of the working machinery body three to record the equipment type information, and an RFID read / write module is set at the suspension interface of the three-point suspension mechanism two. When the working machinery body three approaches or completes mechanical attachment, the equipment type code is read by wireless radio frequency, and the identification result is then transmitted to the main controller five for parameter matching and distribution. This embodiment can reduce the risk of mechanical wear of the industrial-grade spring probe contacts on the attachment end face and is suitable for application scenarios with high attachment frequency or harsh working environment.

[0047] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A mechanized agricultural planting support system, characterized in that, include: The system includes a power chassis and a posture detection unit, comprising a first posture sensor mounted on the power chassis and a second posture sensor mounted on the work implement, for collecting posture data of the power chassis and the work implement, respectively; a chassis leveling actuator connected to the walking mechanism of the power chassis, for adjusting the vehicle posture of the power chassis based on the posture data of the power chassis; an independent suspension interface for the work implement, located between the power chassis and the work implement; a work implement suspension actuator connected to the independent suspension interface for adjusting the suspension posture of the work implement independently of the chassis leveling actuator; a mechatronics-hydraulic-intelligence integrated quick-connect bus interface, located at the independent suspension interface of the work implement, integrating a mechanical locking structure, an electrical contact structure, and a bus communication module, for simultaneously achieving mechanical connection, electrical conduction, and data communication when the work implement is connected to the power chassis; and a main controller. The main controller is connected to the attitude detection unit, the chassis leveling actuator, the implement suspension actuator, and the electromechanical-hydraulic-intelligent integrated quick-connect bus interface. Based on the adjustment amount of the chassis leveling actuator, the main controller calculates the feedforward compensation amount generated at the suspension point of the work implement due to the attitude change of the powered chassis, using a pre-established kinematic model. The kinematic model is established based on the DH parameter method. The feedforward compensation amount is obtained based on the change in the Jacobian inverse matrix and the adjustment amount of the chassis leveling actuator. The Jacobian inverse matrix is ​​a function of the roll and pitch angles of the powered chassis. The feedforward compensation amount is then superimposed with the local surface contour correction amount obtained from the attitude data of the work implement to obtain the target control amount of the implement suspension actuator. This control mechanism controls the action of the implement suspension actuator, allowing the suspension attitude of the work implement to be adjusted independently of the leveling action of the powered chassis.

2. The mechanized agricultural planting system according to claim 1, characterized in that: It also includes a ground contour sensor, which is installed on the working equipment to detect the relative height difference between the working equipment and the ground surface, and to obtain the local ground contour correction amount.

3. The mechanized agricultural planting support system according to claim 1, characterized in that: The chassis leveling actuator includes a hydraulic support cylinder located at the walking mechanism of the power chassis. The hydraulic support cylinder is controlled by an electro-hydraulic proportional servo valve. The independent suspension interface of the implement is a three-point suspension mechanism. The implement suspension actuator includes suspension hydraulic cylinders located at the ends of the upper and lower pull rods of the three-point suspension mechanism.

4. The mechanized agricultural planting support system according to claim 1, characterized in that: The kinematic model is established based on the DH parameter method and is used to describe the spatial positional relationship of the attitude change of the powered chassis transmitted to the suspension point of the working machine through the independent suspension interface of the machine. The feedforward compensation amount is obtained based on the change of the Jacobian inverse matrix and the adjustment amount of the chassis leveling actuator. The Jacobian inverse matrix is ​​derived from the kinematic model and is a function of the roll angle and pitch angle of the powered chassis.

5. The mechanized agricultural planting support system according to claim 1, characterized in that: The main controller is also used to compare the attitude data of the working tool measured by the second attitude sensor with the target control quantity. When the deviation exceeds the preset threshold, the controller controls the tool suspension actuator to make corrections until the deviation converges to the preset range.

6. The mechanized agricultural planting support system according to claim 1, characterized in that: The electromechanical-hydraulic-intelligent integrated quick-connect bus interface includes a mechanical locking hydraulic quick-change hook, an industrial-grade spring probe contact pin seat, and a CAN bus communication module. The mechanical locking hydraulic quick-change hook is used to realize the mechanical connection and locking between the working tool and the power chassis. The industrial-grade spring probe contact pin seat is used to realize electrical conduction when the mechanical locking hydraulic quick-change hook is closed. The CAN bus communication module is used to realize data communication.

7. A mechanized agricultural planting support system according to claim 6, characterized in that: The working implement is equipped with a memory for recording equipment type code and physical range data. The main controller is also used to read the equipment type code through the CAN bus communication module after the electromechanical-hydraulic-intelligent integrated quick-connect bus interface is turned on, retrieve the matching agronomic operation parameter set from the pre-stored expert parameter database according to the equipment type code, and send the agronomic operation parameter set to the corresponding actuator controller.

8. A control method for a mechanized agricultural planting system, applied to the mechanized agricultural planting system according to any one of claims 1 to 7, characterized in that, include: The attitude data of the powered chassis is collected, and the chassis leveling actuator is controlled to move the chassis attitude close to a preset horizontal reference. Based on the adjustment amount of the chassis leveling actuator, the feedforward compensation amount generated at the suspension point of the work implement due to the change in the attitude of the powered chassis is calculated in reverse based on a pre-established kinematic model. The relative height difference between the work implement and the ground surface is collected to obtain the local ground surface contour correction amount. The feedforward compensation amount and the local ground surface contour correction amount are superimposed to obtain the target control amount of the implement suspension actuator. The implement suspension actuator is controlled to move according to the target control amount to adjust the suspension attitude of the work implement.

9. The control method for a mechanized agricultural planting system according to claim 8, characterized in that: Also includes: The attitude data measured by the attitude sensor of the working machine is compared with the target control quantity. When the deviation exceeds the preset threshold, the steps of collecting the relative height difference between the working machine and the ground surface, obtaining the local ground surface contour correction quantity, superimposing the target control quantity, and controlling the action of the machine's suspension actuator are repeated until the deviation converges to the preset range.

10. The control method for a mechanized agricultural planting system according to claim 8, characterized in that: Also includes: After the working implement is connected to the power chassis and the electromechanical-hydraulic-intelligent integrated quick-connect bus interface is connected, the equipment type code of the working implement is read, and the matching agronomic operation parameter set is retrieved from the pre-stored expert parameter database according to the equipment type code. The agronomic operation parameter set is then sent to the corresponding actuator controller to complete the initial setting of the working parameters of the working implement.

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