CN109041699A - A kind of seeder monomer turning positioning and compensation method - Google Patents
A kind of seeder monomer turning positioning and compensation method Download PDFInfo
- Publication number
- CN109041699A CN109041699A CN201811274452.3A CN201811274452A CN109041699A CN 109041699 A CN109041699 A CN 109041699A CN 201811274452 A CN201811274452 A CN 201811274452A CN 109041699 A CN109041699 A CN 109041699A
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- China
- Prior art keywords
- seeder
- planter
- tractor
- positioning system
- turning
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
Abstract
The invention discloses a kind of seeder monomer turning localization methods, applied to seeder system, the seeder system includes tractor, positioning system receiver and seeder, positioning system receiver is mounted on tractor, it is connected between seeder and tractor by articulated mounting, even number planter is evenly distributed on seeder, and seeder is supported by two or more seeder ground wheels, wherein the localization method includes: the coordinate that (1) receives positioning system receiver, course angle θ is transformed into coordinate and course angle θ ' at articulated mounting；(2) coordinate of planter is calculated；(3) travel speed of planter is calculated.The present invention is simple, it is practical, be easily achieved, and the positioning positioning system receiver is mounted on tractor roof and shares with common tractor automatic navigation system, reduces use cost；The turning compensation method of proposition can compensate adjusting to each planter in the case of turning sowing, guarantee the consistency of interior outside application rate.
Description
Technical field
The invention belongs to agricultural machinery automation and intelligent fields, and in particular to a kind of seeder monomer turning localization method and
Turning compensation method.
Background technique
Seeder when carrying out the intelligent seeding operations such as turning sowing, section control, only have by usual positioning system
One receiver is mounted on the position on the tractor roof central axis for having certain distance with seeder；And seeder is broadcast
Kind of line number is at least 2 rows, and more persons are tens rows, thus seeder by a sowing region enter another sow region (or into
Enter non-sowing region) when, it is to enter new sowing division simultaneously due to sowing boundary shape irregularly and causing each planter not
Domain, therefore to reach, more accurately quantity-variation type seeding and section control must be known by every a line planter position, pass through list
Accurate sowing when turning sowing is solely realized to the accurate control of each planter.
It turns in seeding process, interior outside planter sowing radius size is different, and the every row monomer of traditional seeder
Speed of drilling is consistent always, this makes, and inside planter application rate is intensive, outside planter application rate is sparse, thus
Cause crop failure.Therefore, it is necessary to the turning radius that a kind of method obtains each planter, and according to the turning radius to respectively broadcasting
Kind monomer speed of drilling compensates adjusting, to guarantee that the application rate of every row is the application rate of setting always.
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of each monomer turning positioning of simple, practical seeder
Model and turning compensation method.
The beneficial effects of the present invention are:
1. each monomer location model for the turning sowing established, only by a positioning system receiver without increasing volume
Outer sensor can be calculated the position of each planter, simple, practical, be easily achieved, and positioning positioning system
System receiver is mounted on tractor roof to be shared with common tractor automatic navigation system, reduces use cost；
2. each planter in the case of the turning compensation method proposed can sow turning compensate adjusting, in guarantee
The consistency of outside application rate.
Purpose to realize the present invention, is achieved using following technical scheme:
A kind of seeder monomer is turned localization method, is applied to seeder system, the seeder system include tractor,
Positioning system receiver and seeder, positioning system receiver are mounted on tractor, pass through hinge between seeder and tractor
Connection device connects, and is evenly distributed with even number planter on seeder, and by two or more seeder ground wheels to sowing
Machine is supported, wherein the localization method includes:
(1) coordinate that positioning system receiver receives, course angle θ are transformed into coordinate and course angle at articulated mounting
θ′；
(2) coordinate of planter is calculated；
(3) travel speed of planter is calculated.
The localization method, wherein step (2) includes 2.1: continuously, periodically being positioned by positioning system receiver
Three position (x1, y1)、(x2, y2)、(x3, y3) sowing turning radius is calculated as follows:
Wherein,
The localization method, wherein step (2) further include: if a. tractor is turned to the left, the position at articulated mounting
Set coordinate and direction calculating are as follows:
Wherein,
θ1=sin-1(L1/R), ,
L1、L2The receiver respectively measured is to the horizontal distance of tractor rear wheel axis, the water of tractor rear wheel axis to articulated mounting
Flat distance；
Position coordinates and direction calculating if b. tractor bends to right, at articulated mounting are as follows:
The localization method, wherein planter coordinate is calculated as follows:
xi=x '+li·cosθi, yi=y '+li·sinθi i∈[1,n] (6)
Wherein, n is seeder line number, liIt is the i-th row planter at a distance from articulated mounting, θiFor the i-th row planter
The vector and the anticlockwise angle of x-axis positive axis formed with articulated mounting, li、θiIt is calculated respectively by following formula
Wherein, L is vertical range of the articulated mounting to planter, and Lr is sowing line-spacing.
The localization method, wherein step (3) includes: that planter turning radius is calculated as follows:
Wherein, L ' is vertical range of the seeder ground wheel axis to planter, and R ' is seeder center turning radius.
The localization method, it is characterised in that R ' is acquired by following formula
The localization method, the i-th row planter forward speed ViIt is calculated as follows:
Wherein, V is the forward speed that positioning system receiver measures.
The localization method further includes compensating to the speed of drilling of planter, which carries out as the following formula:
Wherein, WiIt is the speed of drilling (seeds/s) of the i-th row planter, Lr is sowing line-spacing (m), and Q is broadcasting for setting
Kind amount (seeds/ha), K are the discharge plate type hole number of feed mechanism for seed, the i-th row planter forward speed Vi(km/h)。
Detailed description of the invention
Fig. 1 is seeder system structure diagram 1；
Fig. 2 is seeder system structure diagram 2；
Fig. 3 is seeder turning compensation method schematic diagram.
Appended drawing reference therein are as follows: 1 tractor；2 positioning system receivers；3 seeders；4 planters；5 seeders
Wheel；6 articulated mountings；The course angle or the forward speed direction detected that 7 positioning system receivers detect；At 8 articulated mountings
Course angle；9 planter sowing port positions；10 the first row monomer forward speed directions；11 last line monomer forward speeds
Direction.
Specific embodiment
Invention is further explained with reference to the accompanying drawings and examples.
As shown in Figure 1, seeder system of the invention includes tractor 1, positioning system receiver 2, seeder 3, sowing
Monomer 4.When carrying out turning sowing, tractor 1, seeder 3 are rotated around common center of circle O, are wherein uniformly distributed on seeder 3
The planter 4 of even number amount, and seeder is supported by two or more seeder ground wheels 5, seeder 3 and tractor
It is connected between 1 by articulated mounting 6, central axis rotation of the seeder around articulated mounting 6, arrow shown in figure when turning is sowed
7 be the course angle θ that positioning system detects (direct north (i.e. the positive axis direction of Y-axis) is 0 °, is positive clockwise).Pass through figure
The position (x, y) of positioning system receiver positioning, course angle θ are first transformed into the position at articulated mounting 6 by 1 location model
(x ', y '), course angle θ ' (arrow 8), to facilitate the position that all planters are calculated in next step.
In order to calculate the position of each planter, it is necessary first to know sowing turning radius, pass through positioning system
Three position (x that receiver is continuous, periodically positions1, y1)、(x2, y2)、(x3, y3), and combined 3 points of the circumscribed circle half
Diameter formula is calculated, such as following formula
Wherein,
If a. turning to the left, position coordinates and direction at articulated mounting are
Wherein, θ1=sin-1(L1/ R), ,
L1、L2The receiver respectively measured is to the horizontal distance of tractor rear wheel axis, the water of tractor rear wheel axis to articulated mounting
Flat distance.
If b. bending to right, position coordinates and direction at articulated mounting are
As shown in Fig. 2, can be counted after the position of positioning system receiver positioning and course angle are transformed at articulated mounting 6
Calculation obtains the monomer coordinate of any row, and such as the i-th row monomer coordinate is
xi=x '+li·cosθi, yi=y '+li·sinθi i∈[1,n] (6)
Wherein, n is seeder line number, liIt is the i-th row monomer at a distance from articulated mounting, θiFor the i-th row monomer and hinged dress
Set the vector to be formed (direction planter being directed toward by articulated mounting) and the anticlockwise angle of x-axis positive axis, li、θiRespectively by
Following formula calculates
Wherein, L is vertical range (m) of the articulated mounting to planter, and Lr is sowing line-spacing (m).
As shown in figure 3, tractor-drawn seeder around center of circle O carry out turning sowing when, each planter is around center of circle O's
Turning radius difference causes its forward speed also different, and arrow 10,11 respectively indicates the 1st row and last line planter
Forward speed.
Each monomer turning radius is first found out, the i-th row turning radius is
Wherein, L ' is vertical range (m) of the seeder ground wheel axis to planter, and R ' is seeder center turning radius,
R ' is acquired by following formula
Therefore, the i-th row planter forward speed ViCan be calculated for
Wherein, the arrow 7 in the forward speed that V measures for positioning system receiver, direction such as Fig. 3.By acquiring each row
The forward speed of planter, and the speed of drilling of each row is compensated according to its different speed, realize that turning is broadcast with this
The consistency of each row application rate when kind.Its compensation method is as follows:
Wherein, WiIt is the speed of drilling (seeds/s) of the i-th row planter, Lr is sowing line-spacing (m), and Q is broadcasting for setting
Kind amount (seeds/ha), K are the discharge plate type hole number of feed mechanism for seed, the i-th row planter forward speed Vi(km/h).Above-mentioned ha table
Show hectare, what seeds/ha was indicated is that per hectare broadcasts how many seeds.
The claimed range of the present invention is not limited in the embodiment, all and equivalent technical solution of the present embodiment
It all belongs to the scope of protection of the present invention.
Claims (2)
- The localization method 1. a kind of seeder monomer is turned, is applied to seeder system, and the seeder system includes tractor, determines Position system receiver and seeder, positioning system receiver are mounted on tractor, by hinged between seeder and tractor Device connects, and is evenly distributed with even number planter on seeder, and by two or more seeder ground wheels to seeder It is supported, it is characterised in that the localization method includes:(1) coordinate that positioning system receiver receives, course angle θ are transformed into coordinate and course angle θ ' at articulated mounting；(2) coordinate of planter is calculated；(3) travel speed of planter is calculated.
- 2. localization method according to claim 1, it is characterised in that step (2) includes 2.1: passing through positioning system receiver Continuously, the three position (x periodically positioned1, y1)、(x2, y2)、(x3, y3) sowing turning radius is calculated as follows:Wherein,
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274452.3A CN109041699B (en) | 2018-10-30 | 2018-10-30 | Single body turning positioning and compensating method for seeder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274452.3A CN109041699B (en) | 2018-10-30 | 2018-10-30 | Single body turning positioning and compensating method for seeder |
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| Publication Number | Publication Date |
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| CN109041699A true CN109041699A (en) | 2018-12-21 |
| CN109041699B CN109041699B (en) | 2021-02-12 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0764397A1 (en) * | 1995-09-19 | 1997-03-26 | Landmaschinenfabrik Köckerling GmbH & Co. KG | Seeddrill for working in prepared or unprepared soil |
| CN102630410A (en) * | 2012-05-11 | 2012-08-15 | 吉林大学 | Missed seeding monitoring and positioning system for seeding machine and missed seeding monitoring and positioning method |
| CN203912513U (en) * | 2014-05-27 | 2014-11-05 | 南京农业大学 | A kind of sower with middle trench digging, individual profiling, seed level adjustable function |
| CN204482297U (en) * | 2015-02-15 | 2015-07-22 | 任金瑞 | A kind of wheat seeder with checkout gear |
| CN105393683A (en) * | 2015-12-10 | 2016-03-16 | 张永佩 | A synchronous-reseeding seed-metering device for seeding absence during seed sowing |
| CN105867380A (en) * | 2016-04-19 | 2016-08-17 | 北京九星智元科技有限公司 | Method for robot trolley path following |
| CN106909151A (en) * | 2017-01-22 | 2017-06-30 | 无锡卡尔曼导航技术有限公司 | For the unpiloted path planning of agricultural machinery and its control method |
-
2018
- 2018-10-30 CN CN201811274452.3A patent/CN109041699B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0764397A1 (en) * | 1995-09-19 | 1997-03-26 | Landmaschinenfabrik Köckerling GmbH & Co. KG | Seeddrill for working in prepared or unprepared soil |
| CN102630410A (en) * | 2012-05-11 | 2012-08-15 | 吉林大学 | Missed seeding monitoring and positioning system for seeding machine and missed seeding monitoring and positioning method |
| CN203912513U (en) * | 2014-05-27 | 2014-11-05 | 南京农业大学 | A kind of sower with middle trench digging, individual profiling, seed level adjustable function |
| CN204482297U (en) * | 2015-02-15 | 2015-07-22 | 任金瑞 | A kind of wheat seeder with checkout gear |
| CN105393683A (en) * | 2015-12-10 | 2016-03-16 | 张永佩 | A synchronous-reseeding seed-metering device for seeding absence during seed sowing |
| CN105867380A (en) * | 2016-04-19 | 2016-08-17 | 北京九星智元科技有限公司 | Method for robot trolley path following |
| CN106909151A (en) * | 2017-01-22 | 2017-06-30 | 无锡卡尔曼导航技术有限公司 | For the unpiloted path planning of agricultural machinery and its control method |
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