CN109041699B - Single body turning positioning and compensating method for seeder - Google Patents
Single body turning positioning and compensating method for seeder Download PDFInfo
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- CN109041699B CN109041699B CN201811274452.3A CN201811274452A CN109041699B CN 109041699 B CN109041699 B CN 109041699B CN 201811274452 A CN201811274452 A CN 201811274452A CN 109041699 B CN109041699 B CN 109041699B
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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
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Abstract
The invention discloses a single body turning positioning method of a seeder, which is applied to a seeder system, wherein the seeder system comprises a tractor, a positioning system receiver and the seeder, the positioning system receiver is arranged on the tractor, the seeder is connected with the tractor through a hinge device, an even number of seeding single bodies are uniformly distributed on the seeder and are supported by two or more than two seeder ground wheels, and the positioning method comprises the following steps: (1) converting the coordinates and the course angle theta received by the positioning system receiver into coordinates and a course angle theta' at the hinge device; (2) calculating the coordinates of the seeding single body; (3) and calculating the traveling speed of the sowing single body. The invention is simple, practical and easy to realize, and the positioning and positioning system receiver is arranged on the top of the tractor and is shared with the common tractor automatic navigation system, thereby reducing the use cost; the proposed turning compensation method can compensate and adjust each seeding monomer under the turning seeding condition, and ensure the consistency of the seeding quantity at the inner side and the outer side.
Description
Technical Field
The invention belongs to the field of automation and intellectualization of agricultural machinery, and particularly relates to a turning positioning method and a turning compensation method for a single body of a seeder.
Background
When the seeder carries out intelligent seeding operations such as turning variable seeding, section control and the like, a positioning system is only provided with a receiver which is arranged at a position on a central shaft of the top of a tractor which has a certain distance with the seeder; the seeding row number of the seeding machine is at least 2 rows, and the seeding rows are dozens of rows, so when the seeding machine enters another seeding region (or enters a non-seeding region) from one seeding region, each seeding unit does not enter a new seeding region simultaneously due to the irregular shape of the seeding boundary, so that the position of each seeding unit needs to be known for achieving more accurate variable seeding and section control, and accurate seeding during turning seeding is realized through independent accurate control of each seeding unit.
In the turning seeding process, the inner and outer side seeding single bodies have different seeding radiuses, and the seeding speed of each row of single bodies of the traditional seeder is consistent all the time, so that the seeding quantity of the inner side seeding single bodies is dense, the seeding quantity of the outer side seeding single bodies is sparse, and the crop yield reduction is caused. Therefore, a method is needed to obtain the turning radius of each sowing unit and perform compensation adjustment on the sowing speed of each sowing unit according to the turning radius so as to ensure that the sowing quantity of each row is always the set sowing quantity.
Disclosure of Invention
In view of the above problems, the present invention provides a simple and practical turning positioning model for each single body of a seeding machine and a turning compensation method.
The invention has the beneficial effects that:
1. the position of each seeding monomer can be calculated by only one positioning system receiver without adding an additional sensor, the established monomer positioning model for turning seeding is simple, practical and easy to realize, and the positioning system receiver is arranged on the top of a tractor and is shared with a common tractor automatic navigation system, so that the use cost is reduced;
2. the proposed turning compensation method can compensate and adjust each seeding monomer under the turning seeding condition, and ensure the consistency of the seeding quantity at the inner side and the outer side.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
a single body turning positioning method of a seeding machine is applied to a seeding machine system, the seeding machine system comprises a tractor, a positioning system receiver and a seeding machine, the positioning system receiver is installed on the tractor, the seeding machine is connected with the tractor through a hinge device, an even number of seeding single bodies are uniformly distributed on the seeding machine and are supported by two or more than two seeding machine ground wheels, wherein the positioning method comprises the following steps:
(1) converting the coordinates and the course angle theta received by the positioning system receiver into coordinates and a course angle theta' at the hinge device;
(2) calculating the coordinates of the seeding single body;
(3) and calculating the traveling speed of the sowing single body.
The positioning method, wherein the step (2) comprises the following steps of 2.1: three positions (x) continuously and periodically located by a positioning system receiver1，y1)、(x2，y2)、(x3，y3) Calculating the turning radius of sowing according to the following formula:
wherein the content of the first and second substances,
the positioning method, wherein the step (2) further comprises: a. if the tractor turns left, the position coordinates and direction at the hinge are calculated as:
wherein the content of the first and second substances,
θ1＝sin-1(L1/R)，
，L1、L2respectively measuring the horizontal distance from the receiver to the axis of the rear wheel of the tractor and the horizontal distance from the axis of the rear wheel of the tractor to the hinge device;
b. if the tractor turns to the right, the position coordinates and direction at the hinge are calculated as:
the positioning method comprises the following steps of calculating the coordinates of the seeding single body according to the following formula:
xi＝x′+li·cosθi，yi＝y′+li·sinθi i∈[1,n] (6)
wherein n is the number of rows of the seeder, liFor the distance of the i-th row of sowing units from the hinge means, thetaiThe included angle between the vector formed by the seeding single body in the ith row and the hinge device and the positive axis of the x axis in the anticlockwise direction is li、θiAre respectively calculated by
Wherein, L is the vertical distance from the hinge device to the seeding single body, and Lr is the seeding row spacing.
The positioning method, wherein the step (3) comprises: calculating the turning radius of the seeding monomer according to the following formula:
wherein, L 'is the vertical distance from the ground wheel shaft of the seeder to the seeding monomer, and R' is the turning radius of the center of the seeder.
The positioning method is characterized in that R' is obtained by the following formula
The positioning method is that the advancing speed V of the seeding unit in the ith rowiCalculated according to the following formula:
where V is the forward speed measured by the positioning system receiver.
The positioning method further comprises the step of compensating the sowing speed of the sowing single body according to the following formula:
wherein, WiThe seeding speed (seeds/s) of the seeding monomer in the ith row, Lr is the seeding row spacing (m), Q is the set seeding rate (seeds/ha), K is the number of holes of the seed metering disc of the seed metering device, and the advancing speed V of the seeding monomer in the ith rowi(km/h)。
Drawings
FIG. 1 is a schematic structural view of a seeding machine system 1;
FIG. 2 is a schematic structural view of a seeding machine system 2;
fig. 3 is a schematic view of a seeder turning compensation method.
Wherein the reference numerals are: 1, a tractor; 2 a positioning system receiver; 3, sowing machine; 4, sowing the single seeds; 5, a land wheel of the seeder; 6, a hinge device; 7 heading angle or detected heading speed direction detected by the positioning system receiver; 8 heading angle at the hinge; 9 sowing single seed discharging port position; 10 first row monomer advance speed direction; 11 last row monomer advance speed direction.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, the sowing machine system of the present invention includes a tractor 1, a positioning system receiver 2, a sowing machine 3, and a sowing unit 4. When turning seeding, the tractor 1, the seeder 3 rotates around common centre of a circle O, wherein the seeding monomer 4 of even quantity of even distribution on the seeder 3 to support the seeder by two or more seeder land wheels 5, be connected through articulated mounting 6 between seeder 3 and the tractor 1, the seeder rotates around articulated mounting 6's center pin during turning seeding, arrow 7 shown in the figure is the heading angle theta (the true north direction (being Y axle positive axis direction) that positioning system detected is 0 °, and the clockwise is positive). The position (x, y) and the course angle theta of the positioning system receiver are firstly converted into the position (x ', y ') and the course angle theta ' (arrow 8) at the hinge device 6 through the positioning model of fig. 1, so that the positions of all the seeding monomers can be conveniently calculated in the next step.
In order to calculate the position of each seeding cell, it is first necessary to know the seeding turning radius, which is continuously and periodically located by the positioning system receiver at three positions (x)1，y1)、(x2，y2)、(x3，y3) And is calculated by combining the radius formula of the circumscribed circle of the three points as follows
Wherein the content of the first and second substances,
a. if turning to the left, the position coordinates and direction at the hinge means are
Wherein, theta1＝sin-1(L1/R)，
，L1、L2The measured horizontal distance from the receiver to the axis of the rear wheel of the tractor and the measured horizontal distance from the axis of the rear wheel of the tractor to the hinge device are respectively measured.
b. If turning to the right, the position coordinates and direction at the hinge means are
As shown in FIG. 2, after the position and the heading angle of the positioning system receiver are converted to the position of the hinge device 6, the coordinates of the single body in any row can be calculated, for example, the coordinates of the single body in the ith row are
xi＝x′+li·cosθi，yi＝y′+li·sinθi i∈[1,n] (6)
Wherein n is the number of rows of the seeder, liDistance of row i of cells from the hinge means, θiFor the vector formed by the row i of the single bodies and the hinge devices (the direction is pointed to the sowing sheet by the hinge devices)Body) angle counterclockwise from the x-axis positive axis,/i、θiAre respectively calculated by
Wherein, L is the vertical distance (m) from the hinge device to the sowing single body, and Lr is the sowing row spacing (m).
As shown in figure 3, when the tractor pulls the seeder to carry out turning seeding around a circle center O, the advancing speeds of the seeding units are different due to different turning radiuses of the seeding units around the circle center O, and arrows 10 and 11 respectively represent the advancing speeds of the seeding units in the 1 st row and the last row.
Firstly, the turning radius of each single body is obtained, and the turning radius of the ith row is
Wherein L ' is the vertical distance (m) from the ground wheel shaft of the seeder to the seeding monomer, R ' is the turning radius of the center of the seeder, and R ' is obtained by the following formula
Therefore, the advancing speed V of the seeding unit in the ith rowiCan be calculated as
Where V is the forward speed measured by the positioning system receiver, in the direction of arrow 7 in fig. 3. The seeding rate of each row is compensated according to different speeds by calculating the advancing speed of each row of seeding monomers, so that the consistency of the seeding rate of each row during turning seeding is realized. The compensation method comprises the following steps:
wherein, WiThe seeding speed (seeds/s) of the seeding monomer in the ith row, Lr is the seeding row spacing (m), Q is the set seeding rate (seeds/ha), K is the number of holes of the seed metering disc of the seed metering device, and the advancing speed V of the seeding monomer in the ith rowi(km/h). Ha above indicates hectare and seeds/ha indicates how many seeds are sown per hectare.
The claimed invention is not limited to the embodiments, and any technical solutions equivalent to the embodiments are within the scope of the invention.
Claims (1)
1. A single body turning positioning method for a seeding machine is applied to a seeding machine system, the seeding machine system comprises a tractor, a positioning system receiver and a seeding machine, the positioning system receiver is installed on the tractor, the seeding machine is connected with the tractor through a hinge device, an even number of seeding single bodies are uniformly distributed on the seeding machine and are supported by two or more than two seeding machine ground wheels, and the positioning method is characterized by comprising the following steps:
(1) converting the coordinates and the course angle theta received by the positioning system receiver into coordinates and a course angle theta' at the hinge device;
(2) calculating the coordinates of the seeding single body;
(3) calculating the advancing speed of the sowing single body;
the step (2) comprises the following steps of 2.1: three positions (x) continuously and periodically located by a positioning system receiver1，y1)、(x2，y2)、(x3，y3) Calculating the turning radius of sowing according to the following formula:
wherein the content of the first and second substances,
the positioning method, wherein the step (2) further comprises:
a. if the tractor turns left, the position coordinates and direction at the hinge are calculated as:
wherein the content of the first and second substances,
θ1＝sin-1(L1/R)，
L1、L2respectively measuring the horizontal distance from the receiver to the axis of the rear wheel of the tractor and the horizontal distance from the axis of the rear wheel of the tractor to the hinge device;
b. if the tractor turns to the right, the position coordinates and direction at the hinge are calculated as:
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| CN201811274452.3A CN109041699B (en) | 2018-10-30 | 2018-10-30 | Single body turning positioning and compensating method for seeder |
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| CN109041699B true CN109041699B (en) | 2021-02-12 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19534740C2 (en) * | 1995-09-19 | 1998-01-29 | Koeckerling Landmaschf Gmbh | Seed drill for spreading seeds in prepared and unprepared soil |
| CN102630410B (en) * | 2012-05-11 | 2014-07-16 | 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 |
| CN105867380B (en) * | 2016-04-19 | 2018-10-12 | 北京九星智元科技有限公司 | A kind of robot car path follower method |
| 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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