Intelligent agricultural speed measurement system based on satellite positioning

Abstract

The application provides a smart agricultural speed measurement system based on satellite positioning. It comprises: a wheel speed sensing device for collecting the rotating speed signal of the wheels of an agricultural machine; a satellite positioning navigation module for collecting the absolute geographic position and the translational speed relative to the ground of the agricultural machine at the current time; a controller for acquiring the signals collected by the wheel speed sensing device and the satellite positioning navigation module, and determining the current working condition of the agricultural machine based on the rotating speed signal of the wheels, the absolute geographic position and the translational speed relative to the ground of the agricultural machine at the current time, and determining the corresponding moving speed based on the current working condition; wherein the working condition of the agricultural machine includes normal, wheel skidding or idling. Based on this, the problem of inaccuracy of single wheel speed measurement under complex working conditions such as skidding and suspension can be effectively overcome, and whether the agricultural machine is in an abnormal working condition such as skidding can be accurately judged, thereby providing a reliable basis for accurate operation.

Description

Technical Field

[0001] This application relates to a smart agriculture speed measurement system based on satellite positioning, belonging to the field of smart agriculture technology. Background Technology

[0002] In modern precision agriculture, the operational precision of agricultural machinery directly affects crop yield and resource utilization. Traditional methods for measuring the speed of agricultural machinery typically involve installing wheel speed sensors, such as photoelectric switches or encoders, on the ground wheels of the machine. The speed relative to the ground is calculated by measuring the rotational speed of the wheels. This method is highly reliable on flat, firm ground.

[0003] However, in real field operations, especially in muddy, soft, or sloping soil, the wheels of agricultural machinery are prone to slipping or spinning freely. In such situations, the wheel speed will be significantly higher than the actual lateral speed of the vehicle, causing the speed value calculated based on the wheel speed to deviate severely from the true value. If this inaccurate speed is used as the control basis for sowing, fertilization, and other operations, the amount of seeds or fertilizer sown will be abnormally high in the slipping areas, leading to localized over-sowing and wasted resources, while other areas may be under-sowed, ultimately affecting the uniform growth of crops and overall yield. Utility Model Content

[0004] This application provides a smart agricultural speed measurement system based on satellite positioning, which aims to solve the technical problems in the prior art where agricultural machinery in complex farmland environments suffers from inaccurate speed measurement due to wheel slippage or idling, resulting in inaccurate control of operations such as sowing and fertilization, uneven operation quality, and waste of resources.

[0005] To address the aforementioned problems, this application provides a satellite positioning-based smart agriculture speed measurement system, comprising:

[0006] Wheel speed sensor, used to collect the rotation speed signal of the wheels of agricultural machinery;

[0007] The satellite positioning and navigation module is used to collect the absolute geographical location and translational speed of agricultural machinery at the current moment;

[0008] The controller is used to acquire signals collected by the wheel speed sensing device and the satellite positioning and navigation module, and determine the current working condition of the agricultural machinery based on the wheel rotation speed signal, the absolute geographical location of the agricultural machinery at the current moment and the translation speed relative to the ground, and determine the corresponding moving speed based on the current working condition; wherein, the working condition of the agricultural machinery includes normal, wheel slippage or idling.

[0009] Based on the above satellite positioning-based smart agriculture speed measurement system, the wheel speed sensing device may optionally be a photoelectric switch module or a rotary encoder.

[0010] Based on the above-mentioned smart agriculture speed measurement system based on satellite positioning, the satellite positioning and navigation module may optionally be a BeiDou satellite navigation system module, a Global Positioning System module, or a GLONASS satellite navigation system module.

[0011] Optionally, the satellite-based smart agriculture speed measurement system described above may also include a power supply module for supplying power to each module of the smart agriculture speed measurement system.

[0012] Based on the above satellite positioning-based smart agriculture speed measurement system, optionally, the power module is a storage battery or a DC voltage regulator module used to convert the main power supply of agricultural machinery into the voltage required by the smart agriculture speed measurement system.

[0013] Optionally, the satellite-based smart agriculture speed measurement system described above may also include a display module for displaying the current operating status and / or speed of the agricultural machinery.

[0014] Optionally, the satellite-based smart agricultural speed measurement system described above may also include an alarm module for issuing an alarm when the agricultural machinery is in a state of wheel slippage or idling.

[0015] Based on the above-mentioned satellite positioning-based smart agriculture speed measurement system, optionally, the controller is also used to send different operation signals to the agricultural operation equipment according to the different operating conditions of the agricultural machinery.

[0016] The technical solution provided in this application has at least the following beneficial effects:

[0017] The smart agricultural speed measurement system based on satellite positioning provided in this application can obtain two speed parameters of agricultural machinery through wheel speed sensing devices and satellite positioning and navigation modules, and compare the two in real time to determine the current working condition of agricultural machinery and its speed under the current working condition. In this way, it can effectively overcome the inaccuracy of single wheel speed measurement under complex working conditions such as slippage and suspension, accurately determine whether agricultural machinery is in abnormal working conditions such as slippage, and provide a reliable basis for precise operation. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Furthermore, these drawings and textual descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to specific embodiments.

[0019] Figure 1 This is a structural block diagram of an agricultural machine provided in an embodiment of this application.

[0020] Figure 2 This is a functional block diagram of a smart agricultural speed measurement system provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0022] This application provides a smart agricultural speed measurement system based on satellite positioning, which aims to solve the technical problem that inaccurate speed measurement of agricultural machinery during field operations is caused by wheel slippage or idling, which in turn leads to a decline in the quality of sowing or fertilizing operations.

[0023] Reference Figure 1 This is a schematic diagram of the overall physical structure of an agricultural machine in one embodiment of this application. The agricultural machine typically includes a chassis 10 supporting the various components and one or more ground wheels 20 for movement. The core component of the speed measurement system in this embodiment is integrated into a control box 30 mounted on the body of the agricultural machine. Furthermore, the agricultural machine is equipped with a material hopper 40 for storing seeds, fertilizers, and other work materials, and an agricultural work device 50 located below the material hopper 40 for performing specific sowing or fertilization actions. Specifically, the agricultural work device 50 can be a seed metering device or a fertilizer metering device driven by a motor.

[0024] Please refer to the following: Figure 2 This is a functional block diagram of a smart agricultural speed measurement system provided in an embodiment of this application. The system includes a wheel speed sensor 31, a satellite positioning and navigation module 32, and a controller 33.

[0025] In this embodiment, the wheel speed sensing device 31 can be a photoelectric switch module or a rotary encoder. Taking a photoelectric switch module as an example, the photoelectric switch module is installed near the ground wheel 20. For example, its sensing head can be fixed on the bracket of the chassis 10, aligning it with the spokes of the ground wheel 20. Accordingly, one or more reflective sheets or light-shielding sheets are installed on the spokes of the ground wheel 20. When the wheel rotates, the reflective sheets or light-shielding sheets on the spokes periodically pass through the photoelectric switch sensing head, causing the photoelectric switch to output a series of pulse signals. Each pulse signal corresponds to the ground wheel 20 rotating through a specific angle. The controller 33 receives the pulse signal through its input / output interface and determines the rotation frequency of the ground wheel 20 by calculating the number of pulses per unit time.

[0026] The satellite positioning and navigation module 32 is installed in an open location on the agricultural machinery body, such as the top of the cab or the top of the control box 30, to ensure good reception of satellite signals. In this embodiment, the satellite positioning and navigation module 32 can be a module supporting the Chinese BeiDou Navigation Satellite System, or a module supporting other satellite navigation systems such as the Global Positioning System (GPS) and GLONASS, or a module supporting multi-system joint positioning. The satellite positioning and navigation module 32 receives signals from multiple navigation satellites through its built-in antenna and calculates the agricultural machinery's current absolute geographical location and translational speed relative to the ground. This module typically transmits the calculated data to the controller 33 via a serial communication interface in a standard data format (such as the NMEA 0183 protocol format).

[0027] In this embodiment, the controller 33 can be an embedded microcontroller motherboard, such as a single-chip microcomputer based on the ARM architecture, which has powerful computing capabilities and rich communication interfaces. The satellite positioning and navigation module 32 is an independent module connected to the motherboard of the controller 33 via a communication cable. The control box 30 also includes a power module 34 to provide stable power to the various modules of the smart agriculture speed measurement system, such as the controller 33, the satellite positioning and navigation module 32, and other system components. The power module 34 can be a battery such as a lithium battery, or a DC voltage regulator module used to convert the main power of agricultural machinery into the voltage required by the smart agriculture speed measurement system.

[0028] In this embodiment, the controller 33 is also responsible for outputting electrical signals, such as pulse width modulation signals or switching signals, that can drive agricultural operating equipment 50 (e.g., a seeding motor).

[0029] In addition, such as Figure 2 As shown, the system may also include a display module 35. In this embodiment, the display module 35 is specifically a human-machine interface installed on the control box 30 panel. This interface can be an LCD screen used to intuitively display the current operating condition and / or speed of the agricultural machinery to the operator. For example, vehicle speed determined based on signals collected by wheel speed sensors, vehicle speed and position determined based on signals collected by a satellite positioning and navigation module, and the current operating condition of the agricultural machinery (whether it is slipping, etc.).

[0030] In addition, in some embodiments, the system may also include an alarm module for alerting people in the vicinity when the agricultural machinery is in a state of wheel slippage or idling.

[0031] Based on the speed signal determined above, agricultural equipment can be controlled. The main steps are as follows:

[0032] Step S101: Obtain the first speed value. Specifically, the controller 33 continuously monitors the pulse signal from the wheel speed sensing device 31 at a preset frequency (e.g., 10 Hz), and obtains the rotation frequency f of the ground wheel 20 by counting the number of pulses in each sampling period. During system initialization, the effective circumference C of the ground wheel 20 needs to be preset, which can be obtained by actual measurement or calculation based on tire specification parameters. Subsequently, the controller 33 calculates the first speed value V1 according to the formula V1 = f * C, which represents the travel speed of the agricultural machinery calculated based on the wheel rotation speed. For example, if the circumference of the ground wheel is 2.5 meters, and 4 pulses are detected in a 0.1-second sampling period, the frequency f is 40 Hz, and the calculated first speed value V1 is 10 meters per second.

[0033] Step S102: Obtain the second speed value. Simultaneously, the controller 33 receives data frames from the satellite positioning and navigation module 32 via a serial interface and parses the NMEA 0183 format messages within them. Specifically, the controller 33 can parse "VTG" or "RMC" messages to extract the ground speed field. This speed value is the second speed value V2, which represents the actual translational speed of the agricultural machinery body relative to the ground and is unaffected by wheel slippage.

[0034] Step S1T03: Perform abnormal operating condition diagnosis. The controller 33 acquires a pair of synchronized V1 and V2 values ​​in each sampling period and compares and analyzes them to determine whether the agricultural machinery is in an abnormal operating condition such as wheel slippage or idling. In this embodiment, the instantaneous difference comparison method can be used. Specifically, the absolute difference between the two speed values ​​ΔV = |V1 - V2| is calculated and compared with a preset slippage threshold T_slip. This threshold T_slip can be set empirically, for example, 0.3 m / s. It is understood that under normal driving conditions, V1 will be slightly larger than V2 due to the slip ratio, but the difference ΔV should fluctuate within a small range. When significant slippage occurs, V1 will increase sharply while V2 remains constant or changes slowly, causing ΔV to significantly exceed the threshold T_slip. Therefore, the judgment logic is: if ΔV > T_slip, it is determined that the current operating condition is abnormal; otherwise, it is a normal operating condition.

[0035] As an optional implementation, the diagnosis of abnormal operating conditions can also employ statistical analysis methods. The controller 33 can maintain a fixed-length time window, for example, storing 20 sets of V1 and V2 data collected within the past 2 seconds, forming two speed value sequences. Then, the standard deviation σ and coefficient of variation CV of the new sequence ΔV_seq formed by the difference between corresponding elements of these two sequences are calculated. The coefficient of variation is calculated as CV = σ / |μ|, where μ is the average value of the difference sequence ΔV_seq. Since the coefficient of variation is a dimensionless measure of relative dispersion, the difference between V1 and V2 is relatively stable and the CV value is small during normal driving; however, during slippage or frequent switching between slippage and normal conditions, the difference fluctuates drastically, and the CV value increases significantly. By comparing the calculated CV value with a preset coefficient of variation threshold, abnormal operating conditions can also be effectively diagnosed. This method is particularly sensitive to identifying unsteady, intermittent slippage phenomena.

[0036] Based on this, the controller is also used to send different operation signals to agricultural equipment according to the different operating conditions of the agricultural machinery.

[0037] If the diagnosis result is an abnormal operating condition, the process proceeds to step S104.

[0038] Step S104: Execute abnormal operating condition control. When the controller 33 determines that the vehicle is idling or slipping, the control unit 34 immediately issues a command to the agricultural operating equipment 50 to stop or reduce its operating actions. For example, if the agricultural operating equipment 50 is a DC motor-driven seed metering device, the control unit 34 can immediately cut off the power supply to the motor or set the duty cycle of its pulse width modulation drive signal to zero, thereby pausing sowing. At the same time, the controller 33 can control the display module 35 to display prominent alarm information on the screen, such as a text prompt "Wheel slippage, operation paused" popping up on the human-machine interface, which may be accompanied by an audible alarm to remind the operator.

[0039] Accordingly, if the condition is determined to be normal in step S103 (i.e., ΔV≤T_slip), the process proceeds to step S105.

[0040] Step S105: Perform normal operating condition control. Under normal driving conditions, the system needs to use a precise speed value as the basis for operation control. In a preferred embodiment, since the second speed value V2 directly reflects the vehicle's ground speed and is more reliable, V2 can be directly used as the final fused speed value V_fused. As another optional option, the weighted average of V1 and V2 can also be used as the fused speed value, for example, the arithmetic mean of the two, V_fused = (V1 + V2) / 2, to smooth out the small fluctuations that may be caused by a single data source. Subsequently, the control unit 34 precisely controls the operating rate of the agricultural operation equipment 50 according to the fused speed value V_fused. For example, for sowing operations, since the desired sowing density (plant spacing) is fixed, the rotational speed of the seed metering motor needs to be proportional to the vehicle's driving speed V_fused. The control unit 34 will adjust the duty cycle of the pulse width modulation signal output to the seed metering motor in real time according to V_fused to achieve closed-loop control of the sowing rate, thereby ensuring that the sowing plant spacing remains consistent regardless of the vehicle speed.

[0041] Throughout the operation, the display module 35 can be configured to display key data in real time. This includes, for example, the first velocity value V1, the second velocity value V2, the fused velocity value V_fused obtained by fusing V1 and V2, and the current latitude and longitude coordinates. This provides operators with comprehensive information monitoring, enabling them to understand the system's operating status and work environment at any time.

[0042] Compared to existing technologies, the smart agricultural speed measurement system based on satellite positioning provided in this application can obtain two speed parameters of agricultural machinery through wheel speed sensing devices and satellite positioning and navigation modules, and compare the two in real time to determine the current working condition of the agricultural machinery and its speed under the current working condition. In this way, it can effectively overcome the inaccuracy of single wheel speed measurement under complex working conditions such as slippage and suspension, accurately determine whether agricultural machinery is in abnormal working conditions such as slippage, and provide a reliable basis for precise operation.

[0043] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0044] It should be noted that in the description of this utility model, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means at least two.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A smart agricultural speed measurement system based on satellite positioning, characterized in that, include: Wheel speed sensor, used to collect the rotation speed signal of the wheels of agricultural machinery; The satellite positioning and navigation module is used to collect the absolute geographical location and translational speed of agricultural machinery at the current moment; The controller is used to acquire signals collected by the wheel speed sensing device and the satellite positioning and navigation module, and determine the current working condition of the agricultural machinery based on the wheel rotation speed signal, the absolute geographical location of the agricultural machinery at the current moment and the translation speed relative to the ground, and determine the corresponding moving speed based on the current working condition; wherein, the working condition of the agricultural machinery includes normal, wheel slippage or idling.

2. The smart agricultural speed measurement system based on satellite positioning according to claim 1, characterized in that, The wheel speed sensing device is a photoelectric switch module or a rotary encoder.

3. The smart agricultural speed measurement system based on satellite positioning according to claim 1, characterized in that, The satellite positioning and navigation module is a BeiDou satellite navigation system module, a Global Positioning System module, or a GLONASS satellite navigation system module.

4. The smart agricultural speed measurement system based on satellite positioning according to claim 1, characterized in that, It also includes a power module for supplying power to the various modules of the smart agriculture speed measurement system.

5. The smart agricultural speed measurement system based on satellite positioning according to claim 4, characterized in that, The power module is a battery or a DC voltage regulator module used to convert the main power supply of agricultural machinery into the voltage required by the smart agriculture speed measurement system.

6. The smart agricultural speed measurement system based on satellite positioning according to claim 1, characterized in that, It also includes a display module for displaying the current operating status and / or speed of the agricultural machinery.

7. The smart agricultural speed measurement system based on satellite positioning according to claim 1, characterized in that, It also includes an alarm module for issuing an alarm when the agricultural machinery is in a state of wheel slippage or idling.

8. The smart agricultural speed measurement system based on satellite positioning according to claim 1, characterized in that, The controller is also used to send different operation signals to the agricultural equipment according to the different operating conditions of the agricultural machinery.

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