CN106508204B - A kind of corn accurate positioning seed manure is same to broadcast control system and control method - Google Patents
A kind of corn accurate positioning seed manure is same to broadcast control system and control method Download PDFInfo
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- CN106508204B CN106508204B CN201610268321.9A CN201610268321A CN106508204B CN 106508204 B CN106508204 B CN 106508204B CN 201610268321 A CN201610268321 A CN 201610268321A CN 106508204 B CN106508204 B CN 106508204B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
Abstract
The present invention relates to agricultural machinery technological fields more particularly to a kind of corn accurate positioning seed manure to broadcast control system together.It includes being located at that fertilising flow control system at manure device, fertilising amount detection systems, the deep measuring device of fertilizer and fertilizer bury detector and the seeding and control system, sowing location positioning system, the deep measuring device of kind and the seed that are located at seeder bury detector.Fertilising amount detection systems are used to detect the dose of each sowing point, fertilizer buries detector for detecting the time that fertilizer buries, fertile depth measuring device is used to measure the practical depth of planting of fertilizer, seeding and control system is for controlling sowing opportunity, sowing location positioning system is used to count the position of each sowing point, the seed detector that buries buries the time for detecting seed, the deep measuring device of kind is used to measure the practical depth of planting of seed, above-mentioned data are stored in memory, and background server is transmitted to by radio transmitting device.
Description
Technical field
The present invention relates to agricultural machinery technological field more particularly to a kind of corn accurate positioning seed manure with broadcast control system and
Control method.
Background technology
Seed manure, because it simultaneously can disposably apply fertilizer in sowing, is saved with product of the technology as Intelligentized mechanical is broadcast
The process for having gone conventional multi to apply fertilizer, makes it be widely recognized in agriculture application field.But in actual use, by ground
The factors such as table soil is uneven, machine-walking jolts influence, the distance between physical location and earth's surface of seed or fertilizer with
There is error in teachings section.These errors are likely to influence the growth of later stage plant.Existing seed manure planter is not
To error and there are the coordinate positions of error to record, and leads to plant growth when something goes wrong, cannot find out reason in time, prolong
Therapic opportunity is missed.
Invention content
To solve the above problems, the present invention provides, a kind of corn accurate positioning seed manure is same to broadcast control system and control method,
The practical depth of planting of seed and fertilizer and the position of each sowing point can be recorded, convenient for the abnormal sowing point of positioning in time.
The technical solution adopted by the present invention is as follows：
A kind of corn accurate positioning seed manure is with broadcasting control system, including rack and the plants case, the fertilizer box that are installed on above rack
With seeder, the manure device being installed below rack, manure device is located at the front of seeder and manure device is higher than seeder
Spend low, seeder is connect by second pipe with plants case, and manure device is connect by first pipe with fertilizer box, and manure device is equipped with and applies
Fertile flow control system, fertilising amount detection systems and fertilizer bury detector, fertilising flow control system and fertilising quantity detecting system
System connection is sent to fertilising data on flows, and fertilising amount detection systems are used to detect the dose of each sowing point, and fertilizer buries
Detector is for detecting the time that fertilizer buries；Manure device exit is equipped with the deep measuring device of fertilizer, the reality for measuring fertilizer
Depth of planting；Seeder is equipped with seeding and control system, sowing location positioning system and seed and buries detector, wherein sowing control
System processed is for controlling sowing opportunity to make seed broadcast right over fertilizer, and sowing location positioning system is for counting each sowing
The position of point is to position abnormal sowing point；The seed detector that buries buries the time for detecting seed；Seeder exit is set
There are kind of a deep measuring device, the practical depth of planting for measuring seed；The fertilizer detector that buries is connect with seeding and control system, to
It exports fertilizer and buries the time so that it calculates the seed sowing time and in the sowing of corresponding time control seeder；The control system
Further include main controller, memory, radio transmitting device and speed of travel detector, memory input and the deep measuring device of fertilizer,
The deep measuring device of kind, fertilising amount detection systems and sowing location positioning system connection, reception are simultaneously each with array form storage
Practical fertile depth, practical kind of depth, dose, the sowing position data of sowing point, memory is also according to seeder, manure device before sowing
Setting be stored with that predetermined fertilizer is deep, predetermined kind of depth, memory output end is connect with radio transmitting device, and often one region of completion is broadcast
After kind, its store data inside is uploaded to background server, background service by main controller control memory by radio transmitting device
Device judges the deep sowing point inconsistent with predetermined kind of depth with predetermined deep and/or practical kind of depth of fertilizer of practical fertilizer, and sows position to it
It is marked；Speed of travel detector is used to detect the speed of dynamic power machine and is transmitted to background service by radio transmitting device
Device, while speed signal is transferred to seeding and control system for calculating the sowing time.
Further, the fertilising amount detection systems include the second data processing module and timer, and timer record is every
The lower fertile duration of a sowing point, the second data processing module is according to the fertilising of fertilising flow and each sowing point of lower fertile duration calculation
Amount.If a seed manure planter is equipped with multiple manure devices, corresponding to each manure device, respectively one timer of setting, each timer are adopted
The second data processing module of the lower fertile unified input of duration of collection, dose is calculated separately by it.
Prior to seeding, the predetermined depth of a fertilizer can be set by adjusting manure device according to sowing rule.Practical sowing
Influenced in the process by surface soil situation, manure device differ surely be accurate to the actual grade for leading to fertilizer up to the position with it is pre-
There is any discrepancy for phase depth, to influence fertilization effect.Therefore, it is deep will to acquire actual fertilizer by fertile deep measuring device by the present invention
Degree judges convenient for the later stage.The deep measuring device of fertilizer of the present invention include be located at manure device outlet the first range sensor and
The first catch being sleeved in first pipe, the first catch can be bonded after manure device is inserted into ground with ground, for being used as first
The object of range sensor measures manure device outlet at a distance from ground, i.e. the actual grade of fertilizer.
Equally, the actual grade of seeder and desired depth also can there is any discrepancy, therefore pass through kind of a deep measuring device acquisition kind
The practical depth of planting of son.Of the present invention kind of deep measuring device include be located at seeder outlet second distance sensor and
The second catch being sleeved on second pipe, the second catch can be bonded after seeder is inserted into ground with ground, for being used as second
The object of range sensor measures seeder outlet at a distance from ground, i.e. the actual grade of seed.
For ease of each abnormal sowing point can be accurately positioned when applying data in the later stage, it is fixed that sowing position is arranged in the present invention simultaneously
The coordinate position of position each sowing point of system acquisition.The sowing location positioning system includes the first data processing module, ranging
Instrument, azimuth sensor and signal mark post, rangefinder and azimuth sensor are fixed on by shaft right over seeder, signal
Mark post be inserted in it is each sowing region northeast corner be used as coordinate origin, be used as rangefinder object, seed bury detector examine
It surveys each seed and buries and the time and send signal to rangefinder and azimuth sensor, control it and measure, at the first data
The angle signal that reason module receives the distance signal of distance by stadimeter signal mark post and turns over clockwise, calculates the seat of sowing point
Data are simultaneously stored in memory by cursor position.
Each sowing point coordinate value is calculated for ease of sowing location positioning system, sowing division should be delimited according to the type of coordinate system
Polar coordinate system or rectangular coordinate system, preferably rectangular coordinate system may be used in domain, coordinate system.Correspondingly, sowing region is with setting
The rectangle of deckle length, each region positioned at the signal mark post of rectangle quadrangle and three auxiliary mark posts by marking.
Since fertilizer will be located at below seed, should first apply fertilizer, it is rear to sow, to ensure that seed is broadcast right over fertilizer,
The time need to be buried according to fertilizer to control the sowing time of seed, therefore the present invention is provided with seeding and control system.Described broadcasts
Kind control system includes that the solenoid valve being connect with second pipe and the controller for being opened and closed solenoid valve, controller enter according to fertilizer
Native time, the machine speed of travel and the distance computation of seeder and manure device are sowed the time, and open electromagnetism in the corresponding time
Valve is sowed.
To improve speed of drilling, the seeder has at least two, and manure device is consistent with seeder quantity, rangefinder with
Azimuth sensor is located above the seeder of the leftmost side.
A kind of corn accurate positioning seed manure is same to broadcast control method, includes the following steps：
(1) before sowing, according to the setting of the height of manure device and seeder in advance by deep and predetermined kind of deep data of predetermined fertilizer into
Row storage, while rangefinder being exposed to the north setting；
(2) mark post is utilized to delimit farming region, farming region is rectangle, using northeast corner mark post as origin mark post, from original
Point mark post refers to west to for X-axis, is Y-axis from origin mark post direction, by the east-west direction length of side l in farming regionx, it is southern and northern
To length of side lyLocation positioning system is sowed in typing；
(3) deep to the practical fertilizer of each sowing point using fertile deep measuring device and the deep measuring device of kind, practical kind when sowing
It measures deeply, while calculating the coordinate of each sowing point by the coordinate system that step (2) is established using sowing location positioning system
Position, the dose of each sowing point is calculated using fertilising amount detection systems, and above-mentioned data are stored with array form；
(4) it after having sowed a farming region, concentrates and the area data of storage is sent to background server, backstage takes
Business device judges fertile point deep, kind is deep, dose is not up to standard and its coordinate position is marked.
It is as follows to sow the step of location positioning system calculates each sowing point coordinate position：
(1) when seed buries detector detects that seed buries after to rangefinder and azimuth sensor send signal, control
It makes it and acquires the angle A that the distance s of distance by stadimeter origin and rangefinder turn over clockwise, and be transmitted at the first data
Manage module；
(2) first data processing modules calculate the coordinate of sowing point below rangefinder, abscissa x=s*sinA, ordinate y
=s*cosA；If there are one seeders, then follow the steps (6)；If seeder has N (N is positive integer) a and spaced set,
Execute step (3)；
(3) before sowing, rangefinder is fixed on above the seeder of the leftmost side, and in initialization by plants case spacing d typings
Location positioning system is sowed, sowing location positioning system judges the travel direction of seed manure planter, if seed manure planter row to the south
It sails, then calculates the coordinate of other sowing points by step (4)；If seed manure planter northwards travels, calculates other by step (5) and broadcast
The coordinate of kind point；
(4) coordinate of seed manure planter from left to right each sowing point is followed successively by (s*sinA, s*cosA), (s*sinA+d, s*
CosA), (s*sinA+2d, s*cosA) ..., (s*sinA+ (N-1) d, s*cosA)；
(5) coordinate of seed manure planter from left to right each sowing point is followed successively by (s*sinA, s*cosA), (s*sinA-d, s*
CosA), (s*sinA-2d, s*cosA) ..., (s*sinA- (N-1) d, s*cosA)；
Each point coordinate data is stored in memory by (6) first data processing modules, and with the kind of the point is deep, fertilizer is deep, fertilising
The corresponding storage of amount.
Beneficial effects of the present invention：
1, seed sowing time and position are accurately controlled using seeding and control system, it is ensured that seed manure is the same as fertilizer during broadcasting
Positioned at the underface of seed, fully absorbing for fertilizer ensure that.
2, the depth of fertilizer and seed in practical seeding process is measured respectively using fertile deep measuring device and the deep measuring device of kind
Degree judges whether fertilizer and seed reach precalculated position convenient for the later stage, while utilizing fertilising amount detection systems detection dose, with
Just the unfavorable reason of plant strain growth is searched.
3, record the position of each sowing point using sowing location positioning system, and stored simultaneously with other data, be convenient for and
When search abnormal sowing point.
Description of the drawings
Fig. 1 is the vertical view of the embodiment of the present invention；
Fig. 2 is the right view of the embodiment of the present invention；
Fig. 3 is the partial sectional view of plants case and first pipe in the embodiment of the present invention；
Fig. 4 is the system entire block diagram of the embodiment of the present invention；
Fig. 5 is apply fertilizer in the embodiment of the present invention amount detection systems Inner Constitution and the connection block diagram with peripheral system；
Fig. 6 is that location positioning system Inner Constitution and the connection block diagram with peripheral system are sowed in the embodiment of the present invention；
Fig. 7 is seeding and control system Inner Constitution and the connection block diagram with peripheral system in the embodiment of the present invention；
Fig. 8 is the coordinate system schematic diagram that location positioning system is sowed in the embodiment of the present invention, and wherein d is between two seeders
Away from lxTo sow the East and West direction length in region, lyTo sow the north-south length in region；
In figure, 1, sowing location positioning system, 101, rangefinder, 102, azimuth sensor, the 103, first data processing
Module, 2, fertilizer box, 3, rack, 4, link, the 5, first trailing bar, 6, plants case, the 7, second trailing bar, 8, first pipe, 9,
Two pipelines, 10, irrigation shovel, 11, manure device, 12, fertilizer bury detector, 13, seeder, 14, seed bury detector, 15,
Apply fertilizer flow control system, 16, fertilising amount detection systems, 1601, timer, the 1602, second data processing module, 17, fertilizer it is deep
Measuring device, the 1701, first catch, the 1702, first range sensor, 18, main controller, 19, memory, 20, wireless transmission dress
It sets, 21, speed of travel detector, 22, seeding and control system, 2201, controller, 2202, solenoid valve, 23, the deep measuring device of kind,
2301, the second catch, 2302, second distance sensor, 24, signal mark post.
Specific implementation mode
It elaborates with reference to the accompanying drawings and examples to the present invention.
A kind of corn accurate positioning seed manure is same to broadcast control system, which is installed on seed manure planter, such as Fig. 1,2 institutes
Show, which includes rack 3 and link 4, and rack 3 is fixedly arranged above a fertilizer box 2, and there are three the fixations of 2 rear of fertilizer box
The plants case 6 being arranged at equal intervals, is separated by m meters between fertilizer box and plants case, d meters are separated by between plants case.Each 6 bottom of plants case passes through second
Pipeline 9 is respectively connected with a seeder 13.Fertilizer box is respectively provided with a manure device 11, manure device in position corresponding with plants case seeder
11 are connect by first pipe 8 with fertilizer box 2.Manure device is lower than the height of seeder, more gos deep into ground.Ordinary circumstance, seed
3-5cm from the ground, fertilizer 8-15cm from the ground can refer to the height of this data setting seeder and manure device.In addition, rack
It is additionally provided with irrigation shovel 10 in front of the manure device of lower section, irrigation canals and ditches are dug out according to fertilization depth.First is equipped between manure device and seeder
Trailing bar 5 first turns over one layer of earth mulch after fertilising and lives fertilizer, then sows again, and the second trailing bar 7, sowing are equipped with after seeder
Afterwards, then one layer of soil of lid.
As shown in Figure 2,3, 4, present system include memory 19, the fertilising flow control system that is located at manure device
15, apply fertilizer amount detection systems 16, the deep measuring device 17 of fertilizer and fertilizer buries detector 12 and the sowing control that is located at seeder
System 22 processed, sowing location positioning system 1, the deep measuring device 23 of kind and seed bury detector 14.Fertilising flow control system
15 connect with fertilising amount detection systems 16, are sent to fertilising data on flows, and fertilising amount detection systems 16 detect each sowing point
Dose and data be transmitted to memory 19 store.Fertile depth measuring device 17 includes being located at the first distance that manure device exports to pass
Sensor 1702 and the first catch 1701 being sleeved in first pipe, after manure device is inserted into ground, the first catch is bonded with ground,
First range sensor 1702 knows the practical depth of planting of fertilizer by measuring at a distance from the first catch 1701 (fertilizer is deep).Fertilizer
The deep data deposit memory 19 of fertilizer that deep measuring device 17 is measured.The fertilizer detector 12 that buries is located in manure device pipeline,
For detect each fertilizer by time, and the time signal is sent to seeding and control system 22, is sowed for calculating
Time.Seeding and control system 22 is used to control the time of sowing, to ensure that seed is broadcast right over fertilizer.Sow position positioning system
Position of the system 1 for recording each sowing point, and location information is stored in memory.The deep measuring device 23 of kind includes being located to sow
The second distance sensor 2302 of device outlet and the second catch 2301 being sleeved on second pipe, after seeder is inserted into ground,
Second catch is bonded with ground, and second distance sensor 2302 knows the reality of seed by measuring at a distance from the second catch 2301
Border depth of planting (kind is deep).The kind depth data deposit memory 19 that kind depth measuring device 23 is measured.Seed buries detector
14 be located at seeder pipeline in, for detect each seed by time, and seed by when to sowing position positioning system
System 1 sends out control signal, it is made to start gathered data.It when memory 19 stores above-mentioned data, is stored with array form, a number
The corresponding sowing point of group.The control system further includes main controller 18 and radio transmitting device 20, and a farming has been sowed every
Behind region, the data stored in it are uploaded to background service by radio transmitting device 20 by 18 control memory 19 of main controller
The networking control to each seed manure planter may be implemented in device in this way.
The specific composition of several subsystems is done below in conjunction with the accompanying drawings and is illustrated.
Fig. 5 show the Inner Constitution and connection figure of fertilising amount detection systems.The system includes the second data processing module
1602 and it is located at the timer 1601 of manure device outlet, timer 1601 acquires the duration that each fertilizer flows through outlet, issues the
Two data processing modules 1602, meanwhile, the second data processing module 1602 receives the flow that fertilising flow control system 15 is sent
Data, the two, which is multiplied, obtains the dose of this time, is then issued to the storage of memory 19.
Fig. 6 show the Inner Constitution and connection figure of sowing location positioning system.The system includes the first data processing mould
Block 103 and the rangefinder 101 being located at right over the plants case of the leftmost side and azimuth sensor 102, rangefinder 101 and azimuth sensing
Device 102 is fixed on by shaft in plants case, and initial time, stream oriented device both faces towards north.The system also needs to a signal mark post simultaneously
24 assist, and signal mark post 24 is inserted in the northeast corner in sowing region as target mark post.It buries detector 14 when receiving seed
When the signal sent, rangefinder 101 and azimuth sensor 102 are rotated synchronously up to signal-oriented mark post 24, stadia surveying
At a distance from signal mark post, azimuth sensor measures the angle turned over clockwise, and the first data processing module 103 receives distance
Signal and angle signal calculate the coordinate position of the sowing point, and the seat of adjacent sowing point is calculated in combination with the spacing of plants case
Cursor position is sent to memory 19 together.
Fig. 7 show the Inner Constitution and connection figure of seeding and control system.The system includes the controller being located in plants case
2201 and the solenoid valve 2202 that is located in second pipe, controller receives the fertilizer fertilizer that detector 12 is sent that buries and buries the time
T, the interval m of speed of travel detector 21 is sent machine forwarding speed v and combination manure device and seeder, calculate seeder and broadcast
The time of kind, formula t+m/v, and a control signal is exported at the moment, solenoid valve is opened, is sowed.
The control method of above system includes the following steps：
(1) prepare before sowing：Using mark post delimit a rectangle sow region, and using northeast angle staff as signal mark post with
Origin O refers to west to for X-axis from signal mark post, is Y-axis from signal mark post direction, establishes a virtual right angle coordinate system.It will
Sow the east-west direction length of side l in regionx, North and South direction length of side ly, plants case spacing d typings sow location positioning system.Seed manure is same to be broadcast
Machine is opened into sowing region, and closely origin north-south is parked.The height of manure device and seeder is adjusted according to practical sowing demand,
And by deep and predetermined kind of deep data entry system of corresponding predetermined fertilizer.Rangefinder and azimuth sensor are adjusted, its North facing is made.
By the suitable fertilising flow of flow control system adjustment that applies fertilizer, after setting, fertilising data on flows is issued into dose detection
System.
(2) seed manure planter starts control system simultaneously and starts, seed manure planter north-south traveling.Fertile depth measuring device and
The deep measuring device of kind is deep to the practical fertilizer of each sowing point, practical kind of depth measures, and data measured is stored in memory.It applies
Fertilizer amount detecting system flows through the dose of duration and each sowing point of flow rate calculation that applies fertilizer according to the fertilizer measured.Sowing control system
System buries the time according to the fertilizer that the transmits at any time time control seed that buries.
(3) sowing location positioning system is calculated the coordinate position of each sowing point by the coordinate system that step (1) is established, specifically
Steps are as follows：
(3-1) to rangefinder and azimuth sensor sends signal when seed buries after detector detects that seed buries,
It controls it and acquires the angle A that the distance s of distance by stadimeter origin and rangefinder turn over clockwise, and be transmitted to the first data
Processing module.
(3-2) first data processing module calculates the coordinate of each sowing point, if seed manure planter travels southwards, from left to right
The coordinate of each sowing point is followed successively by (s*sinA, s*cosA), (s*sinA+d, s*cosA), (s*sinA+2d, s*cosA)；If kind
Fertilizer is broadcast machine together and is northwards travelled, and from left to right the coordinate of each sowing point is followed successively by (s*sinA, s*cosA), (s*sinA-d, s*
CosA), (s*sinA-2d, s*cosA).
Each point coordinate data is stored in memory by (3-3) first data processing module, and with the kind of the point is deep, fertilizer is deep, applies
Fertilizer amount corresponds to storage.
(4) after having sowed a region, main controller control memory is concentrated is sent to backstage by the area data of storage
Server, background server judge fertile point deep, kind is deep, dose is not up to standard and its coordinate position are marked.
Claims (10)
1. a kind of corn accurate positioning seed manure is with broadcasting control system, including rack (3) and the plants case (6) that is installed on above rack and
Fertilizer box (2) and the seeder (13) being installed below rack, manure device (11), manure device (11) be located at seeder (13) just before
Side and manure device is lower than the height of seeder, seeder (13) is connect by second pipe (9) with plants case (6), manure device (11)
It is connect with fertilizer box (2) by first pipe (8), it is characterised in that：Manure device (11) be equipped with fertilising flow control system (15),
Fertilising amount detection systems (16) and fertilizer bury detector (12), fertilising flow control system (15) and the amount detection systems that apply fertilizer
(16) it connects, is sent to fertilising data on flows, fertilising amount detection systems (16) are used to detect the dose of each sowing point, fertilizer
Material buries detector (12) for detecting the time that fertilizer buries；Manure device exit is equipped with the deep measuring device (17) of fertilizer, is used for
Measure the practical depth of planting of fertilizer；Seeder (13) be equipped with seeding and control system (22), sowing location positioning system (1) and
Seed buries detector (14), wherein seeding and control system (22) for control sowing opportunity so as to make seed broadcast fertilizer just
Side, sowing location positioning system (1) is for counting the position of each sowing point to position abnormal sowing point；Seed buries detector
(14) it is used to detect seed and bury the time；Seeder exit is equipped with kind of a deep measuring device (23), the reality for measuring seed
Depth of planting；The fertilizer detector (12) that buries is connect with seeding and control system (22), and exporting fertilizer to it buries the time so as to it
It calculates the seed sowing time and is sowed in corresponding time control seeder；The control system further includes main controller (18), memory
(19), radio transmitting device (20) and speed of travel detector (21), memory (19) input terminal and the deep measuring device (17) of fertilizer,
Kind of deep measuring device (23), fertilising amount detection systems (16) and sowing location positioning system (1) connect, and receive and with array shape
Formula stores practical fertile depth, practical kind of depth, dose, the sowing position data of each sowing point, and memory is front lower also according to sowing
The setting of kind device, manure device is stored with predetermined fertile deep, predetermined kind of depth, and memory (19) output end and radio transmitting device (20) are even
It connects, often completes a region after planting, main controller (18) control memory will be in its store data inside by radio transmitting device
Background server is reached, background server judges that practical fertilizer is deep inconsistent with predetermined fertile deep and/or practical kind of depth and predetermined kind of depth
Sowing point, and position is sowed to it and is marked；Speed of travel detector (21) is used to detect the speed of dynamic power machine and leads to
Cross radio transmitting device and be transmitted to background server, at the same by speed signal be transferred to seeding and control system (22) for calculate sowing
Time.
2. corn accurate positioning seed manure according to claim 1 is same to broadcast control system, it is characterised in that：The dose
Detecting system (16) includes the second data processing module (1602) and timer (1601), under each sowing point of timer record
Fertile duration, the second data processing module is according to the dose of fertilising flow and the lower fertile each sowing point of duration calculation.
3. corn accurate positioning seed manure according to claim 1 is same to broadcast control system, it is characterised in that：The fertilizer is deep to be surveyed
Amount device (17) includes the first catch for being located at the first range sensor (1702) of manure device outlet and being sleeved in first pipe
(1701), the first catch can be bonded after manure device is inserted into ground with ground, be used for the object as the first range sensor,
Manure device outlet is measured at a distance from ground, i.e. the actual grade of fertilizer.
4. corn accurate positioning seed manure according to claim 1 is same to broadcast control system, it is characterised in that：The kind is surveyed deeply
Amount device (23) includes the second catch for being located at the second distance sensor (2302) of seeder outlet and being sleeved on second pipe
(2301), the second catch can be bonded after seeder is inserted into ground with ground, be used for the object as second distance sensor,
Seeder outlet is measured at a distance from ground, i.e. the actual grade of seed.
5. corn accurate positioning seed manure according to claim 1 is same to broadcast control system, it is characterised in that：The sowing position
It includes the first data processing module (103), rangefinder (101), azimuth sensor (102) and signal post to set positioning system (1)
Bar (24), rangefinder (101) and azimuth sensor (102) are fixed on by shaft right over seeder, signal mark post (24)
The northeast corner in each sowing region is inserted in as coordinate origin, is used as the object of rangefinder, seed buries detector detection often
Secondary seed buries the time and sends signal to rangefinder and azimuth sensor, controls it and measures, the first data processing mould
The angle signal that block receives the distance signal of distance by stadimeter signal mark post and turns over clockwise, calculates the coordinate bit of sowing point
It sets and data is stored in memory.
6. corn accurate positioning seed manure according to claim 5 is same to broadcast control system, it is characterised in that：It is tool to sow region
There are the rectangle of the setting length of side, each region to be marked by signal mark post (24) positioned at rectangle quadrangle and three auxiliary mark posts.
7. corn accurate positioning seed manure according to any one of claims 1 to 6 is same to broadcast control system, it is characterised in that：Institute
The seeding and control system (22) stated includes the solenoid valve (2202) being connect with second pipe and the controller for being opened and closed solenoid valve
(2201), controller according to fertilizer bury time, the machine speed of travel and the distance computation of seeder and manure device sow when
Between, and open solenoid valve in the corresponding time and sowed.
8. corn accurate positioning seed manure according to claim 5 is same to broadcast control system, it is characterised in that：The seeder
(13) have at least two, manure device is consistent with seeder quantity, and rangefinder (101) and azimuth sensor (102) are positioned at most left
Above the seeder of side.
It is broadcast 9. a kind of corn accurate positioning seed manure for broadcasting control system together based on corn accurate positioning seed manure described in claim 1 is same
Control method, it is characterised in that include the following steps：
(1) before sowing, deep and predetermined kind of deep data of predetermined fertilizer are deposited in advance according to the setting of the height of manure device and seeder
Storage, while rangefinder being exposed to the north setting；
(2) mark post is utilized to delimit farming region, farming region is rectangle, using northeast corner mark post as origin mark post, from origin mark
Bar refers to west to for X-axis, is Y-axis from origin mark post direction, by the east-west direction length of side lx in farming region, North and South direction side
Location positioning system is sowed in long ly typings；
(3) when sowing, using fertile deep measuring device and the deep measuring device of kind, practical kind depth deep to the practical fertilizer of each sowing point into
Row measures, while calculating the coordinate position of each sowing point by the coordinate system that step (2) is established using sowing location positioning system,
The dose of each sowing point is calculated using fertilising amount detection systems, above-mentioned data are stored with array form；
(4) it after having sowed a farming region, concentrates and the area data of storage is sent to background server, background server
Judge fertile point deep, kind is deep, dose is not up to standard and its coordinate position is marked.
10. corn accurate positioning seed manure according to claim 9 is same to broadcast control method, it is characterised in that：It is fixed to sow position
The step of position system-computed each sowing point coordinate position, is as follows：
(1) when seed buries detector detects that seed buries after to rangefinder and azimuth sensor send signal, control it
The angle A that the distance s and rangefinder of acquisition distance by stadimeter origin are turned over clockwise, and it is transmitted to the first data processing mould
Block；
(2) first data processing modules calculate the coordinate of sowing point below rangefinder, abscissa x=s*sinA, ordinate y=s*
cosA；If there are one seeders, then follow the steps (6)；If seeder has N (N is positive integer) a and spaced set, execute
Step (3)；
(3) before sowing, rangefinder is fixed on above the seeder of the leftmost side, and sows plants case spacing d typings in initialization
Location positioning system, sowing location positioning system judges the travel direction of seed manure planter, if seed manure planter travels southwards,
The coordinate of other sowing points is calculated by step (4)；If seed manure planter northwards travels, other sowing points are calculated by step (5)
Coordinate；
(4) coordinate of seed manure planter from left to right each sowing point is followed successively by (s*sinA, s*cosA), (s*sinA+d, s*
CosA), (s*sinA+2d, s*cosA) ..., (s*sinA+ (N-1) d, s*cosA)；
(5) coordinate of seed manure planter from left to right each sowing point is followed successively by (s*sinA, s*cosA), (s*sinA-d, s*
CosA), (s*sinA-2d, s*cosA) ..., (s*sinA- (N-1) d, s*cosA)；
Each point coordinate data is stored in memory by (6) first data processing modules, and with the kind of the point is deep, fertilizer is deep, dose pair
It should store.
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| CN109661979B (en) * | 2017-10-13 | 2021-04-06 | 中国农业机械化科学研究院 | Informatization planting method based on accurate control of crop position |
| CN108983724B (en) * | 2018-08-01 | 2019-11-05 | 贵州省山地农业机械研究所 | A kind of hilly and mountainous land agricultural machinery and implement field integrated system and its control method |
| 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 |
| CN109511331A (en) * | 2019-01-16 | 2019-03-26 | 中国农业大学 | One kind seeking kind of a formula liquid fertilizer positioning accurate and applies system |
| CN111670650A (en) * | 2020-06-24 | 2020-09-18 | 杭州富阳宣星智能科技有限公司 | Equipment for preparing fertilizer and quantitatively fertilizing according to soil conditions |
| CN116698468B (en) * | 2023-08-03 | 2023-12-05 | 北京市农林科学院智能装备技术研究中心 | Seeding and fertilizing quality detection device and detection method |
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