CN208796078U - A kind of quantity-variation type seeding control system and seeding system - Google Patents
A kind of quantity-variation type seeding control system and seeding system Download PDFInfo
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- CN208796078U CN208796078U CN201821774623.4U CN201821774623U CN208796078U CN 208796078 U CN208796078 U CN 208796078U CN 201821774623 U CN201821774623 U CN 201821774623U CN 208796078 U CN208796078 U CN 208796078U
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Abstract
The utility model discloses a kind of quantity-variation type seeding control system and seeding systems, wherein quantity-variation type seeding control system includes positioning device, communication controller, master controller and monomer control module, wherein: the positioning device includes positioning system receiver and/or forward speed sensor and soil nutrient sensor；Communication controller between master controller and positioning device, monomer control module for being communicated.The utility model provides a kind of low in cost, easy to operate, expansion convenience, while being suitable for the quantity-variation type seeding control system of two kinds of forms of prescription schema and real time sensor formula.
Description
Technical field
The utility model belongs to agricultural machinery automation and intelligent field, and in particular to a kind of quantity-variation type seeding control system.
Background technique
Quantity-variation type seeding technology is a kind of accurate intelligent seeding technique, according to the edaphic condition in different plot, toward annual output, with
And the factors such as weather condition of prediction, adaptation to local conditions, on-demand variable investment have saved sowing quantity, while excavating to the maximum extent
Crop yield and farmers' income can be improved in soil capabilities, realizes sustainable development of agricultural production.China's quantity-variation type seeding control at present
Technology processed does not occur applying accordingly also in development phase.
Utility model content
In view of the above problems, the purpose of this utility model is to provide a kind of low in cost, easy to operate, expansion convenience,
It is suitable for the quantity-variation type seeding control system of two kinds of forms of prescription schema and real time sensor formula simultaneously.
To achieve the goals above, the utility model provides following technical solution:
A kind of quantity-variation type seeding control system, including positioning device, communication controller, master controller and monomer control module,
Wherein: the positioning device includes positioning system receiver and/or forward speed sensor and soil nutrient sensor；Communication
Controller between master controller and positioning device, monomer control module for being communicated.
The control system, in which: monomer control module includes piece controller, motor and feed mechanism for seed, wherein monomer
Controller is for driving and controller motor speed；Motor is used to drive and control the application rate of feed mechanism for seed.
The control system, in which: under prescription schema quantity-variation type seeding mode, positioning system receiver, which positions, to be broadcast
Kind machine currently sows the longitude and latitude of position, and forward speed, the course angle of seeder are calculated according to position location, frequency,
Obtained longitude and latitude, forward speed, course angle are sent to communication controller；Communication controller receives and extracts positioning system hair
Longitude and latitude, forward speed, the course angle information sent, and send it to master controller；Master controller is according to receiving information meter
Calculation obtains the position of each feed mechanism for seed；It is inquired in prescription map further according to each feed mechanism for seed position and obtains the sowing of the feed mechanism for seed
Amount, while every a line motor speed is calculated by forward speed；Finally the rotary speed information of each feed mechanism for seed is sent to logical
Controller is interrogated, and by communication controller by being sent to corresponding monomer control module.
The control system, in which: piece controller reaches the revolving speed of requirement according to the instruction control motor received,
Implement quantity-variation type seeding by the application rate in prescription map to realize, while motor is detected by the speed probe of motor tail portion
Real-time revolving speed, and tachometer value is sent to communication controller；Each motor speed is scaled application rate size by communication controller, and
Judge each feed mechanism for seed whether by the normal quantity-variation type seeding of prescription map progress, when failure, sending alarm signal.
The control system, in which: under real time sensor formula quantity-variation type seeding mode, forward speed sensor is detected
To the forward speed of seeder, it is sent to communication controller；Soil nutrient sensor detects after obtaining the soil nutrient of every row, hair
Give communication controller；The forward speed that reception obtains, soil nutrient information are sent to master controller, master control by communication controller
Device processed is calculated the application rate of each monomer according to the soil nutrient received, while according to the application rate, preceding being calculated
Every a line motor speed is calculated into speed, and each row rotary speed information is sent to communication controller, and by communication controller
The monomer control module of corresponding row is sent to by bus.
The control system, in which: monomer control module transforms to requirement according to the instruction control motor received
Revolving speed to implement quantity-variation type seeding by the application rate that master controller is calculated, and is examined by the speed probe of motor tail portion
The real-time revolving speed of measured motor, and tachometer value is sent to communication controller；The motor speed of each row is scaled by communication controller
Application rate size, and judge whether each row is calculated application rate by master controller and carries out normal quantity-variation type seeding, when failure,
Issue alarm signal.
The control system, in which: the control system includes tractor in seeding system, the seeding system
And seeder, wherein tractor-drawn seeder, positioning system receiver are mounted on tractor, are evenly distributed on seeder
Even number monomer control module.
The control system, in which: positioning system receiver is mounted on the position on tractor central axis, seeder
It is mounted on tractor rear portion, by tractor-drawn, seeder body central axis and drags the projection of machine central axis on the ground
It being overlapped, planter interval same distance is uniformly arranged in seeder body central axis two sides, and is located on the same line,
At left and right sides of seeder body central axis first planter to the distance between seeder body central axis be phase
The 1/2 of distance between adjacent planter, straight line where planter are vertical with seeder body central axis.
A kind of seeding system, it is characterised in that: the seeding system includes tractor, seeder and control as described above
System, the seeder and control system are mounted on tractor, and planter control module is equipped on seeder.
Compared with prior art, the utility model has the beneficial effects that:
1. compatible prescription schema and the two separate modes of quantity-variation type seeding of real time sensor formula, have wide applicability；
2. the app of exploitation need to be only mounted on oneself by user using plate or mobile phone as master controller and user interface
It is easy to use, low in cost on the plate or mobile phone used；
3 devise universal communication controller, both can receive GPS or can receive Beidou positioning information, using CAN or
RS485 bus mastering mode can flexibly be expanded according to different seeder line numbers, while can be realized to each planter
Independent control.
Detailed description of the invention
Fig. 1 is quantity-variation type seeding control system hardware composition；
Fig. 2 is monomer control module hardware composition；
Fig. 3 is quantity-variation type seeding control model set interface；
Fig. 4 is the program execution flow under prescription schema quantity-variation type seeding mode；
Fig. 5 is the program execution flow under real time sensor formula quantity-variation type seeding mode；
Fig. 6 is each monomer straight trip location model schematic diagram of seeder；
Fig. 7 is seeder straight trip sowing lag schematic diagram；
Fig. 8 is prescription map schematic diagram.
Appended drawing reference therein are as follows:
1 positioning device
2 communication controllers
3 master controllers (tablet computer)
4 monomer control modules
101 sowing line numbers expand interface
102 piece controllers
103 motors
104 feed mechanism for seeds
Specific embodiment
The utility model is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, by tractor 12V storage battery power supply when the control system work of the utility model.In prescription schema
Under quantity-variation type seeding mode, hardware configuration includes positioning device 1 (positioning system receiver), communication controller 2, master controller 3
With the monomer control module 4 of corresponding line number.Under real time sensor formula quantity-variation type seeding mode, hardware configuration includes positioning dress
Set the monomer control of 1 (including forward speed sensor, soil nutrient sensor) communication controller 2, master controller 3 and corresponding line number
Molding block 4.Wherein sowing line number expands the monomer control module 4 that interface 101 is used to expand corresponding line number according to seeder line number.
Positioning system receiver or forward speed sensor and soil can be separately configured in the positioning device 1 of the control system of the utility model
Nutrient sensor can also configure above-mentioned apparatus simultaneously, the former only can operate at prescription schema quantity-variation type seeding mode or passes in real time
Under sensor formula quantity-variation type seeding mode, the latter has above two operating mode.As shown in Fig. 8, above-mentioned prescription map is that one kind has
The application rate distribution map of location information.When control system work, positioning device positions in real time to be obtained currently sowing position, then is led to
Sowing position enquiring prescription map is crossed, current application rate information is obtained, and guides quantity-variation type seeding.
As shown in Figure 1, under prescription map quantity-variation type seeding mode, positioning system receiver positioned using GPS or Beidou etc. its
His positioning system receiver, positioning system receiver are mountable on tractor roof or seeder.Its positioning method can be with
It is One-Point Location or Differential positioning, location information communicates the current location for needing control system, speed by CAN or RS232
Degree, course angle information are sent to communication controller.One-Point Location only receives the location information of satellite transmission, and positioning accuracy is generally
Meter level；Differential positioning receives the differential position correction signal of locating base station transmission, can greatly mention while receiving satellite-signal
The positioning accuracy of high positioning device, precision are generally Centimeter Level.
As shown in Figure 1, the forward speed sensor of use can choose: 1, under real time sensor quantity-variation type seeding mode
Rotary encoder or hall sensor are calculated by way of wheel speed before and after measurement seeder ground wheel revolving speed or tractor
Obtain equipment forward speed；2, single-point GPS or Beidou receiver are determined using under GPS or Beidou receiver One-Point Location mode
Position precision is low, velocity measuring feature detection equipment forward speed with high accuracy；3, radar utilizes Doppler effect non-contact detecting
Forward speed.The soil nutrient sensor of use can be visible light, near-infrared or any other mode detect the soil organism,
N, the sensor of the nutrients such as P, K.
As shown in Figure 1, communication controller 2 is under different quantity-variation type seeding modes, the positioning system in control system to be connect
Receipts machine, forward speed sensor, soil nutrient sensor, master controller 3, information communication and biography between monomer control module 4
It is defeated.CAN or RS232 can be used in communication controller 2 and positioning system receiver, forward speed sensor, soil nutrient sensor
It is communicated, USB, WiFi or bluetooth communication can be used with master controller 3, CAN or RS485 can be used with monomer control module 4
Mode.
As shown in Figure 1, master controller 3 be using Android, Windows or apple IOS operating system tablet computer or
The application program (App) of exploitation is mounted on master controller 3 by mobile phone, realizes that the variable of real time sensor formula and prescription formula is broadcast
The control of kind mode is communicated with communication controller 2 by one of USB, WiFi or bluetooth.
As shown in Figure 1, 2, monomer control module 4 is mainly by piece controller 102, motor 103 and the (sowing of feed mechanism for seed 104
Monomer) composition, monomer control module 4 is expanded in 101 access control system of interface by sowing line number, for realizing single to sowing
The independent control of body.
As shown in Fig. 2, piece controller 102 uses CAN or RS485 bus mastering mode, it can be according to seeder line number spirit
Work is extended in control system, while for driving and controller motor speed.
As shown in Fig. 2, motor 103 uses brshless DC motor, brushed DC motor or stepper motor with speed feedback,
For driving the application rate with accurate control feed mechanism for seed 104.
As shown in Fig. 2, feed mechanism for seed 104 is any form of Pneumatic type or mechanical seed sowing device, arranged according to the difference of use
Kind of device type is, it can be achieved that quantity-variation type seeding to the precision drilling crop such as corn and soybean, peanut.
As shown in figure 3, user can be arranged according to the needs of use in the quantity-variation type seeding control model set interface of master controller 3
Two kinds of cropping patterns of prescription schema and real time sensor formula.Under prescription schema mode, can according to the positioning system model of selection,
Select different positioning method (GPS or Beidou) and location information transmission mode (CAN or RS485).In real time sensor mode
Under, matching information transmission mode (CAN can be selected according to the model of forward speed sensor and soil nutrient sensor
Or RS485).
As shown in figure 4, under prescription schema quantity-variation type seeding mode, program circuit are as follows: 1, positioning system receiver positioning
The longitude and latitude that seeder currently sows position is obtained, and forward speed, the boat of seeder are calculated according to position location, frequency
Communication Control is sent to by the communication modes of CAN or RS485 to angle, while by obtained longitude and latitude, forward speed, course angle
Device；2, communication controller receives and extracts the longitude and latitude of positioning system transmission, forward speed, course angle information, and is sent to
Give master controller 3 (tablet computer)；3, tablet computer according to receive position, course angle information, and combine and seeder and drag
The position of each planter is calculated in machine drawing size；It is inquired in prescription map further according to monomer sites and obtains broadcasting for the monomer
Kind amount, while every a line motor speed is calculated by forward speed；Finally by each row rotary speed information (each planter
Rotary speed information) communication controller is sent to by USB, WiFi or bluetooth, and correspondence is sent to by bus by communication controller
Row (corresponding planter)；4, communication controller refers to the monomer control that the tablet computer received instruction is split as corresponding row
It enables, and each instruction is sent to by corresponding monomer control module by CAN or RS485 bus；5, piece controller is according to receiving
Instruction control motor reach the revolving speed of requirement, implement quantity-variation type seeding by the application rate in prescription map to realize, pass through simultaneously
The real-time revolving speed of the speed probe detection motor of motor tail portion, and tachometer value is sent to communication controller；5, Communication Control
The motor speed of each row is scaled application rate size by device, and judges whether each row by prescription map carries out normal quantity-variation type seeding,
If not carrying out normal quantity-variation type seeding, communication controller can be sounded an alarm by buzzer, and operator is reminded to get off inspection.
Application rate, forward speed and every a line planter motor speed relational expression are shown below:
In formula:
wi--- the motor speed of the i-th row planter, r/min；
iIt passes--- the transmission ratio between motor and the discharge plate of feed mechanism for seed；
Qi--- the application rate for the i-th row planter that inquiry obtains, seeds/ha；
R --- sowing line-spacing, m；
K --- discharge plate type hole number；
Vi--- the forward speed of the i-th row planter, km/h；
N --- sowing line number.
Above-mentioned tablet computer needs to calculate the position of each planter, and the utility model uses a kind of new seeder
Planter localization method, is described as follows:
As shown in fig. 6, thering is tractor 6, positioning system to connect in each monomer straight trip location model of the seeder of the utility model
Receipts machine 11, seeder 7, planter 9.The planter 9 of even number amount is wherein uniformly distributed on seeder 7.
As shown in fig. 6, positioning system receiver 11 is mounted on the position on 6 central axis of tractor, seeder 7 is mounted on
6 rear portion of tractor, is drawn by tractor 6,7 body central axis of seeder and the projection of 6 central axis of tractor on the ground
It is overlapped, planter 9 is spaced same distance and is uniformly arranged in 7 body central axis two sides of seeder, and is located at same straight line
On, first planter 4 arrives the distance between 3 body central axis of seeder at left and right sides of 3 body central axis of seeder
It is 1/2 of distance between adjacent planter 4,9 place straight line of planter is vertical with 7 body central axis of seeder.
Before constructing each monomer location model, latitude and longitude coordinates, the course angle information of receiver offer are needed；Because of positioning system receiver
The latitude and longitude coordinates of 11 positioning are the geographic coordinate system of three-dimensional sphere, and are not easy to solve the position of each monomer on spherical surface, therefore
Before master controller 3 solves each monomer sites coordinate, latitude and longitude coordinates are first converted to plane projection coordinate (x, y), such as Fig. 6 institute
Show.The location model of each planter is obtained in conjunction with the dimensional parameters of seeder and tractor.
If the coordinate of the i-th row planter is (xi, yi), then the seat that each row monomer coordinate and positioning system receiver position
It marks (x, y) and forms vector (xi- x, yi- y), with the anticlockwise angle theta of coordinate system x axis positive axisiIt is represented by
Wherein, sowing line number n be even number, equipment advance course angle be θ (direct north (the positive axis direction of Y axis) be 0 degree,
Clockwise direction angle is positive).L is the vertical range (m) of receiver and planter, and Lr is sowing line-spacing (m).Receiver with
The distance l of i-th row monomeriFor
Therefore the i-th row monomer coordinate is
xi=x+li·cosθi, yi=y+li·sinθiI ∈ [1, n] (3)
All planters are successively calculated after the coordinate of plane coordinate system by formula 3, then are converted into geography
Coordinate under coordinate system can be used to when quantity-variation type seeding, section control etc. are intelligent to be sowed to each monomer location requirement.
As shown in fig. 7, to further increase sowing control precision, it is past using the coordinate (x, y) for navigating to positioning system
Direction of advance mentions previous uncompensation distance S (rice), and coordinate becomes (x ', y '), reuses the coordinate combination figure after shifting to an earlier date
The position coordinates of each planter are calculated in 6 location model, to realize the controls in advance to control system, to reduce control
The delay distance of system processed.
Uncompensation distance S is represented by
S=VtLag/3.6 (4)
Wherein, V is the real-time forward speed (thousand ms/h) for the sowing machine operation that receiver measures, tLagFor system
Lag time (second) calculates delay distance by real-time forward speed and eliminates delay distance caused by when forward speed becomes larger
The problem of increase.The size of lag time can be demarcated by field trial, and just approximation can also be carried out by following formula and is calculated
tLag=t1/2+t2/2+t3+t4 (5)
Wherein, t1For positioning system locating periodically, t2It is switched to what current application rate was spent by previous application rate for feed mechanism for seed
Time, t3To execute the time that programmed algorithm is spent, t4Time needed for falling on kind of ditch under sowing port for seed.
Coordinate (x ', y ') is calculated by following formula
Wherein, θ ' is equal to 90 ° of-θ.
Uncompensation distance S as shown in fig. 7, its in a forward direction, the uncompensation distance of each planter is consistent.It is calculated to simplify
Method improves the solution efficiency of each planter compensation position, the calculative strategy that the utility model uses are as follows: first according to uncompensation distance
The compensated position of positioning device is calculated in S in a forward direction, compensated position further according to the positioning device and
The compensated position of each planter is calculated in each monomer location model of seeder；Rather than first pass through each monomer of seeder
Each planter position is calculated in location model, then the compensated of all monomers is calculated by each planter position
Position, therefore it is greatly reduced the calculation amount of program.
As shown in figure 5, under real time sensor formula quantity-variation type seeding mode, program circuit are as follows: 1, forward speed sensor
Detection obtains the forward speed of seeder, is sent to communication controller by the communication modes of CAN or RS485；Soil nutrient passes
Sensor detects after obtaining the soil nutrient of every row, is sent to communication controller by the communication modes of CAN or RS485；2, it communicates
The forward speed that reception obtains, soil nutrient information are sent to master controller 3 (tablet computer) by controller；3, tablet computer
The application rate of each monomer is calculated according to the soil nutrient received, while according to the application rate of calculating, forward speed meter
Calculation obtains every a line motor speed, and each row rotary speed information is sent to communication controller by USB, WiFi or bluetooth, and by
Communication controller is sent to corresponding row (corresponding planter) by bus；4, the tablet computer that communication controller will receive
Instruction is split as the monomer control instruction of corresponding row (corresponding planter), and is sent out each instruction by CAN or RS485 bus
Give corresponding monomer control module；5, monomer control module transforms to the revolving speed of requirement according to the instruction control motor received,
Implement quantity-variation type seeding by the application rate that master controller 3 is calculated to realize, and is examined by the speed probe of motor tail portion
The real-time revolving speed of measured motor, and tachometer value is sent to communication controller；6, communication controller converts the motor speed of each row
For application rate size, and judge whether each row is calculated application rate by master controller 3 and carries out normal quantity-variation type seeding, works as failure
When, remind operator to check.
The course of work of the utility model is as follows:
Before work, quantity-variation type seeding mode to be used is first set in quantity-variation type seeding control model set interface.If carrying out
Generated quantity-variation type seeding prescription map is then first imported into master controller 3 by prescription schema quantity-variation type seeding, and master controller 3 is read
Prescription map is simultaneously shown on the touchscreen.The dimensional parameters of tractor and seeder are set into sowing parameter setting interface
It sets.Main interface is returned to, working condition can be entered by clicking START button.When work, master controller 3 is received according to positioning system
The position of each monomer of machine 1 navigates to the sizecalculation of position coordinates, course angle and seeder and tractor, and
It is inquired in prescription map by the position coordinates of calculating and obtains the application rate of each planter, in conjunction with current forward speed meter
Calculation obtains motor speed, and the motor speed for each row monomer being calculated is sent to each list by CAN or RS485 bus
Body control module 4, to complete the independent control and quantity-variation type seeding to each planter.If carrying out the change of real time sensor formula
Amount sowing then needs the distance between mouth of sowing into sowing parameter setting interface setting real time sensor and planter, then returns
It returns main interface click START button and enters working condition.When work, soil nutrient sensor real-time detection soil nutrient content,
And master controller 3 according to the soil nutrient content detected and combines included sowing decision system to obtain each planter
Prescription application rate, and sowing control instruction is sent to each planter, to complete quantity-variation type seeding.
The claimed range of the utility model is not limited in the embodiment, all and equivalent technology of the present embodiment
Scheme belongs to the protection scope of the utility model.
Claims (5)
1. a kind of quantity-variation type seeding control system, including positioning device, communication controller, master controller and monomer control module,
Be characterized in that: the positioning device includes positioning system receiver and/or forward speed sensor and soil nutrient sensor；
Communication controller between master controller and positioning device, monomer control module for being communicated.
2. control system according to claim 1, it is characterised in that: monomer control module includes piece controller, motor
And feed mechanism for seed, wherein piece controller is for driving and controller motor speed；Motor is for driving and controlling broadcasting for feed mechanism for seed
Kind amount.
3. control system according to claim 2, it is characterised in that: the control system is described in seeding system
Seeding system includes tractor and seeder, and wherein tractor-drawn seeder, positioning system receiver are mounted on tractor,
Even number monomer control module is evenly distributed on seeder.
4. control system according to claim 3, it is characterised in that: positioning system receiver is mounted on tractor central axis
Position on line, seeder are mounted on tractor rear portion, by tractor-drawn, seeder body central axis and drag machine central axis
The projection of line on the ground is overlapped, and planter interval same distance is uniformly arranged in seeder body central axis two sides, and
It is located on the same line, seeder body central axis first planter in the left and right sides to seeder body central axis
The distance between be 1/2 of distance between adjacent planter, straight line where planter and seeder body central axis
Line is vertical.
5. a kind of seeding system, it is characterised in that: the seeding system includes one of tractor, seeder and claim 1-4
The control system, the seeder and control system are mounted on tractor, and planter control is equipped on seeder
Module.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213050A (en) * | 2018-10-30 | 2019-01-15 | 中国农业大学 | A kind of quantity-variation type seeding control system and its control method |
| CN112136432A (en) * | 2019-06-29 | 2020-12-29 | 安徽陆泰电气科技有限公司 | Intelligent sowing robot |
| CN114721300A (en) * | 2022-04-07 | 2022-07-08 | 四川农业大学 | Seed manure synchronous driving system and control method |
-
2018
- 2018-10-30 CN CN201821774623.4U patent/CN208796078U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213050A (en) * | 2018-10-30 | 2019-01-15 | 中国农业大学 | A kind of quantity-variation type seeding control system and its control method |
| CN112136432A (en) * | 2019-06-29 | 2020-12-29 | 安徽陆泰电气科技有限公司 | Intelligent sowing robot |
| CN114721300A (en) * | 2022-04-07 | 2022-07-08 | 四川农业大学 | Seed manure synchronous driving system and control method |
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