CN110786110B - Variable rate fertilizer applicator lag correction method, device and system - Google Patents
Variable rate fertilizer applicator lag correction method, device and system Download PDFInfo
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- CN110786110B CN110786110B CN201911018629.8A CN201911018629A CN110786110B CN 110786110 B CN110786110 B CN 110786110B CN 201911018629 A CN201911018629 A CN 201911018629A CN 110786110 B CN110786110 B CN 110786110B
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Abstract
The embodiment of the invention provides a method, a device and a system for correcting the hysteresis of a variable fertilizer applicator, wherein the method comprises the following steps: acquiring the total lag time from the receiving of the GNSS signal to the falling of the fertilizer of the variable fertilizer applicator; acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and a fertilizer dropping port; and calculating fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator, and determining a correction distance according to the difference value of the fertilization lag distance and the horizontal distance. The method simultaneously considers the influence of the GNSS antenna position and the total lag time on the lag of the fertilizer applicator, obtains the correction distance to be compensated through the GNSS antenna position and the total lag time, can obtain the corrected variable fertilizing position, is favorable for controlling the advance of the instruction on time, and achieves the purpose of lag correction of the fertilizing position. The method has strong operability and adaptability, can effectively correct the problem of the lagging of the fertilization position of the variable rate fertilizer applicator under different vehicle speeds, and improves the accuracy of the fertilization position of the variable rate fertilizer applicator.
Description
Technical Field
The invention relates to the technical field of variable rate fertilization, in particular to a method, a device and a system for correcting hysteresis of a variable rate fertilizer applicator.
Background
The variable rate fertilization technology is an important component of fine agriculture and is an important direction for the development of modern agriculture. A variable rate fertilizer applicator generally comprises a GNSS receiver, a control system, a variable rate fertilization execution mechanism and the like, wherein the control system needs to apply fertilizer to corresponding positions according to a prescription map. When the variable rate fertilizer applicator works in the process of going, a certain time is needed for the system to respond, and the fertilizing amount cannot reach the target value immediately after the system sends a signal, but a gradually changing process is carried out, so that the position of the fertilizing amount is delayed, and the working precision of the variable rate fertilizer applicator is influenced.
The time required by the variable rate fertilizer applicator from the signal sending to the fertilizing amount reaching the target value is called fertilizing amount response time and mainly comprises two parts: lag time and transition time. Wherein the lag time is defined as the time from the signal being sent until the actual start of the change in the amount of fertilizer applied; the transition time is the time from the actual start of the fertilizer application amount to the target value. Since the fertilizing signal is sent according to the position information acquired by the GNSS, the lag time includes: and acquiring GNSS signal time, microprocessor information processing time, actuating mechanism response time and fertilizer falling time.
At present, there is no good correction method for the position lag of the fertilizing amount caused by the lag time.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a method, an apparatus, and a system for correcting a hysteresis of a variable fertilizer applicator.
In a first aspect, an embodiment of the present invention provides a method for correcting a hysteresis quantity of a variable fertilizer applicator, including: acquiring the total lag time from the receiving of the GNSS signal to the falling of the fertilizer of the variable fertilizer applicator; acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and a fertilizer dropping port; and calculating fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator, and determining a correction distance according to the difference value of the fertilization lag distance and the horizontal distance.
Further, the acquiring the total lag time from the receiving of the GNSS signals to the falling of the fertilizer by the variable rate fertilizer applicator comprises: determining the response time of the outer sheave according to the moment of sending the command of the driving motor and the moment of triggering the initial reading of the encoder connected with the outer sheave; determining the falling time of the fertilizer according to the triggering time of a photoelectric sensor arranged at the fertilizer outlet and the triggering time of a ground weighing sensor when the fertilizer falls; determining the total lag time by combining the acquired GNSS signal acquisition time; the total lag time comprises the GNSS signal acquisition time, the outer sheave response time and the fertilizer falling time.
Further, after determining the correction distance, the method further includes: and determining the corrected variable fertilization position by combining the theoretical variable fertilization position according to the correction distance.
Further, before determining the total lag time, the method further includes: and determining the GNSS signal acquisition time length according to the antenna receiving frequency.
Further, the determining a corrected variable fertilization position according to the correction distance and in combination with a theoretical variable fertilization position includes: if the fertilization delay distance is greater than the horizontal distance, the fertilization delay condition occurs, delay correction is needed, and the corrected variable fertilization position is located behind the theoretical variable fertilization position by the correction distance so as to lead fertilization in time; if the fertilization lagging distance is smaller than the horizontal distance, the situation of fertilization advancing occurs, advanced correction is needed, and the corrected variable fertilization position is located in front of the theoretical fertilization position by the correction distance so as to achieve the lag of fertilization in time; if the fertilization lag distance is equal to the horizontal distance, the horizontal distance just compensates for the fertilization lag distance, and correction is not needed; the front and the back of the theoretical fertilization position are determined by taking the running direction of the fertilizer applicator as a standard, the front direction is consistent with the running direction, and the back direction is opposite to the running direction.
In a second aspect, an embodiment of the present invention provides a variable fertilizer applicator hysteresis correcting device, including: the delay time acquisition module is used for acquiring the total delay time from the receiving of the GNSS signals to the falling of the fertilizer of the variable fertilizer applicator; the antenna distance acquisition module is used for acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and the fertilizer dropping port; and the correction value processing module is used for calculating the fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator and determining the correction distance according to the difference value between the fertilization lag distance and the horizontal distance.
Further, the lag duration obtaining module is specifically configured to: determining the response time of the outer sheave according to the moment of sending the command of the driving motor and the moment of triggering the initial reading of the encoder connected with the outer sheave; determining the falling time of the fertilizer according to the triggering time of a photoelectric sensor arranged at the fertilizer outlet and the triggering time of a ground weighing sensor when the fertilizer falls; determining the total lag time by combining the acquired GNSS signal acquisition time; the total lag time comprises the GNSS signal acquisition time, the outer sheave response time and the fertilizer falling time.
In a third aspect, an embodiment of the present invention provides a system for correcting a hysteresis amount of a variable fertilizer applicator, including: a weighing sensor, a photoelectric sensor, an encoder and a variable fertilizer applicator hysteresis correcting device of the second aspect of the invention; the encoder is arranged at a preset position of the fertilizer discharging driving shaft and used for acquiring the trigger moment when the fertilizer discharging driving shaft starts to rotate and sending the trigger moment to the variable fertilizer applicator lag correcting device; the photoelectric sensor is arranged at a preset position of the fertilizer outlet and used for acquiring the trigger moment when the fertilizer applicator starts to fall off fertilizer and sending the trigger moment to the variable fertilizer applicator hysteresis correcting device; the weighing sensor is arranged on the ground right below a fertilizer dropping point of the variable fertilizer applicator to be tested, is used for acquiring the trigger moment when the fertilizer drops on the ground, and sends the trigger moment to the variable fertilizer applicator hysteresis correcting device.
In a fourth aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the method for correcting the hysteresis of the variable fertilizer applicator according to the first aspect of the present invention.
In a fifth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the variable fertilizer applicator hysteresis correction method according to the first aspect of the present invention.
According to the method, the device and the system for correcting the lag of the variable fertilizer applicator, which are provided by the embodiment of the invention, the influence of the GNSS antenna position and the total lag time on the lag of the fertilizer applicator is considered, the correction distance to be compensated is calculated according to the GNSS antenna position and the total lag time, the corrected variable fertilizer application position can be obtained, the advance of a control command on time is facilitated, and the purpose of correcting the lag of the fertilizer application position is achieved. The method has strong operability and adaptability, can effectively correct the problem of the lagging of the fertilization position of the variable rate fertilizer applicator under different vehicle speeds, and improves the accuracy of the fertilization position of the variable rate fertilizer applicator.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for correcting the hysteresis of a variable fertilizer applicator according to an embodiment of the present invention;
fig. 2 is an application scenario diagram of the hysteresis correction method of the variable fertilizer applicator according to the embodiment of the invention;
FIG. 3 is a diagram illustrating a position relationship of a variable fertilization lag correction according to an embodiment of the present invention;
FIG. 4 is a structural diagram of a device for correcting the hysteresis of a variable fertilizer applicator according to an embodiment of the present invention;
FIG. 5 is a block diagram of a system for correcting the hysteresis of a variable rate fertilizer applicator according to an embodiment of the present invention;
fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a method for correcting a hysteresis of a variable fertilizer applicator according to an embodiment of the present invention, and as shown in fig. 1, the embodiment of the present invention provides a method for correcting a hysteresis of a variable fertilizer applicator, including:
and 101, acquiring the total lag time from the receiving of the GNSS signals to the falling of the fertilizer of the variable fertilizer applicator.
The time required by the variable rate fertilizer applicator from the signal sending to the fertilizing amount reaching the target value is called fertilizing amount response time and mainly comprises two parts: lag time and transition time. Wherein the lag time is defined as the time from the signal being sent until the actual start of the change in the amount of fertilizer applied; the transition time is the time from the actual start of the fertilizer application amount to the target value. Since the fertilizing signal is sent according to the position information acquired by the GNSS, the lag time includes: and acquiring GNSS signal time, microprocessor information processing time, actuating mechanism response time and fertilizer falling time.
Total lag time tlagThe composition of (A) is as follows: t is tlag＝t1+t2+t3+t4；
Wherein, t1The acquisition duration for the GNSS signal can be determined by the GNSS positioning frequency f; t is t2The program execution duration is determined by the performance of the processor, and the duration value is small and can be ignored actually; t is t3The response time of the outer grooved wheel is determined by the structure of the actuating mechanism; t is t4The falling time of the fertilizer is determined by the height of the fertilizer outlet from the ground, the material of the fertilizer falling pipe, the shape of the corrugated pipe and the like. The total lag time can only consider the time for acquiring the GNSS signal, the response time of the actuating mechanism and the falling time of the fertilizer.
And 102, acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and a fertilizer dropping port.
In 102, the fertilizer outlet refers to a fertilizer outlet below the outer grooved wheel, and the fertilizer outlet refers to an outlet through which fertilizer falls from the fertilizer pipe to the ground. The GNSS antenna is installed above a tractor cab at the front end of the variable fertilizer applicator, and the distance between the GNSS antenna and the fertilizer dropping opening is L. The specific method for acquiring the horizontal distance comprises the following steps:
starting a variable rate fertilizer applicator provided with a GNSS antenna to discharge fertilizer under a static condition, stopping when a small amount of fertilizer is on the ground, starting GNSS receiving equipment, and recording the position coordinate of the GNSS antenna at the moment as a zero point; after the GNSS receiving equipment is taken down from the variable fertilizer applicator, the variable fertilizer applicator is driven to the side open space, and the GNSS antenna is moved until the receiving position coordinate returns to the zero point; and connecting the ground fertilizer dropping point to form a straight line, and measuring the vertical distance between the GNSS antenna and the straight line to obtain the mounting distance L to be measured.
103, determining a fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator, and determining a correction distance according to the difference value between the fertilization lag distance and the horizontal distance.
In 103, the fertilization lag distance from the GNSS signal reception to the fertilizer landing of the fertilizer applicator is:
wherein, S'lag(m) is the fertilization lag distance, V (Km/h) is the driving speed obtained by the GNSS device, tlag(s) is the total lag time duration.
Fig. 2 is a view showing an application scenario of the method for correcting the hysteresis amount of the variable fertilizer applicator according to the embodiment of the present invention, as shown in fig. 2, when the horizontal distance between the GNSS antenna 202 and the fertilizer drop opening is L, and the variable fertilizer applicator 201 enters the Q2 area from the Q1 area, the receiver corresponding to the GNSS antenna 202 reaches the fertilizer application amount firstChanging the boundary, sending out a fertilizing change control command, passing through
After the moment, the fertilizer dropping port reaches the fertilizer application amount change boundary, namely the control signal is advanced by tLThe time is sent out.
Thus, the actual lag distance is:
the correction distance may be:
that is, if the fertilization delay distance is greater than the horizontal distance and the fertilization delay occurs, the delay value is corrected, otherwise, the correction is not performed.
The following steps can be also included:
namely, when the fertilization lag distance is greater than the horizontal distance, the lag value is corrected, otherwise, the lead value is corrected, and the fertilizer is determined according to specific requirements. When the correction distance in the embodiment of the invention takes a negative value, the correction of the advance value is carried out.
In addition, the correction may be performed in the form of time according to the distance and the actual fertilizer applicator traveling speed, and may include the correction of the lag value and the correction of the lead value, which will not be described in detail.
The method for correcting the lag of the variable fertilizer applicator provided by the embodiment considers the influence of the GNSS antenna position and the total lag time on the lag of the fertilizer applicator, calculates the correction distance to be compensated according to the GNSS antenna position and the total lag time, can obtain the corrected variable fertilizer application position, is favorable for controlling the advance of the instruction on time, and achieves the purpose of correcting the lag of the fertilizer application position. The method has strong operability and adaptability, can effectively correct the problem of the lagging of the fertilization position of the variable rate fertilizer applicator under different vehicle speeds, and improves the accuracy of the fertilization position of the variable rate fertilizer applicator.
Based on the content of the foregoing embodiments, as an alternative embodiment, the method for obtaining the total lag time from the GNSS signal reception to the fertilizer landing of the variable fertilizer applicator includes: determining the response time of the outer sheave according to the moment of sending the command of the driving motor and the moment of triggering the initial reading of the encoder connected with the outer sheave; determining the falling time of the fertilizer according to the triggering time of a photoelectric sensor arranged at the fertilizer outlet and the triggering time of a ground weighing sensor when the fertilizer falls; determining the total lag time by combining the acquired GNSS signal acquisition time; the total lag time comprises the GNSS signal acquisition time, the outer sheave response time and the fertilizer falling time.
Considering the acquisition of the lag time of the current variable rate fertilizer applicator system, it is common to capture the fertilizer application amount variation process by arranging the fertilizer collecting box in the working direction of the variable rate fertilizer applicator, and calculate it based on the actual lag distance and the working speed. The method is time-consuming, labor-consuming and tedious to operate. The embodiment of the invention is realized by the following method:
firstly, a photoelectric sensor is preset at a fertilizer outlet, and if the fertilizer outlet is detected, a signal is triggered, so that the corresponding time can be acquired. And (3) arranging a weighing sensor on the ground right below a fertilizer dropping point of the variable fertilizer applicator to be tested, and triggering a signal to capture the corresponding moment if the fertilizer is detected to drop to the ground. The method comprises the steps that an encoder is arranged on one side of a fertilizer discharging driving shaft of the variable fertilizer applicator to be tested, the encoder can obtain rotating speed information of a driver, if the fertilizer discharging driving starts, corresponding time is captured, for example, when the rotating speed of the driver reaches 5% of the maximum rotating speed, fertilizer discharging starts, and the encoder is set to read corresponding rotating numerical values and then capture corresponding time. The triggering moment of the weighing sensor is the moment when the fertilizer falls to the ground.
The moment of sending the driving motor instruction can be obtained according to a prompt signal in software, for example, the driving motor software used by the equipment provides an interface, and once the driving motor instruction is sent, the corresponding moment is givenThe device is used for real-time display or calculation by a variable fertilizer applicator hysteresis correcting device; or, the corresponding time is determined by measuring a level signal when the driving motor gives an instruction, for example, if the driving motor gives a high level signal when the driving motor gives an instruction, the time of capturing the signal can obtain the corresponding time when the driving motor gives an instruction. The initial reading triggering moment is the moment when the driving motor instruction is sent out, and the rotating speed of the outer sheave is detected according to the moment when the encoder detects the rotating speed of the outer sheave, so that the fertilizer can fall. The difference between the two moments is the mechanism response time. The triggering time of the photoelectric sensor is the time for starting fertilizer discharging. The triggering time of the ground weighing sensor is the time when the fertilizer is discharged to the ground. According to the four moments, the accurate time duration of the response of the outer sheave and the time duration of the falling of the fertilizer can be obtained, namely the t3And t4. Combining GNSS signal acquisition duration t1Obtaining a total lag time tlag。
According to the hysteresis correction method of the variable fertilizer applicator, the time length of the response of the outer sheave is determined according to the time of sending the command of the driving motor and the triggering time of the initial reading of the encoder connected with the outer sheave; according to the triggering time of the photoelectric sensor and the triggering time of the fertilizer falling to the ground weighing sensor, the falling time of the fertilizer is determined, the total delay time can be accurately obtained by combining the known GNSS signal acquisition time, and the accuracy of distance correction is facilitated.
Based on the content of the foregoing embodiment, as an optional embodiment, before determining the total lag time, the method further includes: and determining the GNSS signal acquisition time length according to the antenna receiving frequency. The GNSS signal acquisition duration can be determined according to the antenna receiving frequency, and after the antenna frequency is determined, the time interval of the sampling point of the antenna can be determined, so that the GNSS signal acquisition duration can be determined.
Based on the content of the foregoing embodiment, as an optional embodiment, after determining the correction distance, the method further includes: and determining the corrected position of the fertilizer applicator according to the correction distance and the theoretical variable fertilization position.
In the specific implementation process, before determining the corrected position of the fertilizer applicator according to the correction distance and by combining the theoretical variable fertilization position, the method further comprises the following steps: and acquiring a track equation of the operation track in preset coordinates according to the operation direction of the fertilizer applicator.
Usually, the driving track is a straight line, coordinates of two points are collected in the operation direction by utilizing the GNSS receiving equipment, an operation direction equation is written according to the two points, and then an intercept equation is written as follows:
y＝cx+d
wherein c is the slope of the linear equation of the operation direction; d is the intercept of the straight line equation of the working direction.
FIG. 3 is a diagram showing the relationship between the variable fertilizing delay correction positions according to the embodiment of the present invention, as shown in FIG. 3, the straight line of the working direction is l, and the straight line of the boundary of the fertilizing amount variation is l1The intersection point of the linear equation of the operation direction and the boundary of the fertilizer application amount change is A1(x1,y1) I.e. A1The theoretical variable fertilization position; distance l1Rear of the position SlagDistance is variable fertilization position line l after correction0The working direction lines l and l0Point of intersection of
A0(x0,y0) Is the corrected coordinates of the fertilization position, A0The points satisfy the following equations:
wherein, the distance l1The front and rear of (1) are determined such that the working traveling direction is the standard, the front is the same as the traveling direction, and the rear is the opposite direction.
The corrected fertilization position A can be obtained by substituting the known parameters0The coordinates of the points.
According to the method for correcting the hysteresis quantity of the variable fertilizer applicator, the corrected variable fertilizing position is determined by combining the theoretical variable fertilizing position according to the correction distance. And guiding the corrected position coordinates into a variable rate fertilizer applicator control system, and sending a fertilizer application instruction according to the corrected position coordinates during operation, thereby realizing the position lag correction of the variable rate fertilizer applicator.
Based on the content of the foregoing embodiment, as an alternative embodiment, the determining the corrected variable fertilization position according to the correction distance and in combination with the theoretical variable fertilization position includes: if the fertilization lag distance is greater than the horizontal distance, the fertilization lag situation occurs, lag correction is needed, and the corrected variable fertilization position is located at the rear correction distance of the theoretical variable fertilization position so as to lead fertilization in time; if the fertilization lagging distance is smaller than the horizontal distance, the situation of fertilization advancing occurs, advanced correction is needed, and the corrected variable fertilization position is located at the correction distance in front of the theoretical fertilization position so as to achieve the lag of fertilization in time; if the fertilization lag distance is equal to the horizontal distance, the horizontal distance just compensates the fertilization lag distance, and correction is not needed; the front and the back of the theoretical fertilization position are determined by taking the running direction of the fertilizer applicator as a standard, the front direction is consistent with the running direction, and the back direction is opposite to the running direction.
Specifically, referring to the above embodiment, when the fertilization delay distance is greater than the horizontal distance, the fertilization delay condition occurs, and the delay correction is required. And taking the operation driving direction of the fertilizer applicator as a standard, taking the driving direction as the front when the operation driving direction is consistent with the driving direction, and taking the driving direction as the rear when the operation driving direction is opposite to the driving direction, wherein the corrected variable fertilization position is positioned behind the theoretical variable fertilization position and is away from the theoretical variable fertilization position by the correction distance. I.e. setting a lead amount over time to correct for lag.
Considering that the fertilization advance condition occurs when the fertilization lag distance is smaller than the horizontal distance, advance correction is needed, the operation driving direction is taken as a standard, the driving direction is consistent with the driving direction and is taken as the front, and the driving direction is opposite to the driving direction and is taken as the rear, so that the corrected variable fertilization position is positioned in front of the theoretical variable fertilization position and is away from the theoretical variable fertilization position by the correction distance. I.e. setting a lag amount over time to correct the lag.
In addition, when the fertilization lag distance is equal to the horizontal distance, the antenna installation distance just compensates for the fertilization lag distance, so that no correction is required.
According to the method for correcting the lagging amount of the variable fertilizer applicator, the advance or the lag in time is determined according to the relation between the fertilization lagging distance and the horizontal distance, so that the accurate corrected variable fertilization position is obtained according to the theoretical variable fertilization position.
In order to verify the advantages of the variable fertilizer applicator lag detection system and the correction method provided by the embodiment of the invention, firstly, the variable fertilizer applicator lag time detection system is used for detecting an intelligent variable fertilizer applicator, and the result shows that the system can rapidly detect the system lag time, the detection efficiency is improved compared with the traditional fertilizer collection and weighing method by arranging a fertilizer collection box matrix, and the measured system lag time of the variable fertilizer applicator is 2.2966 s. Secondly, based on the lag time, the corrected variable fertilization position coordinates are calculated and obtained. And finally, carrying out comparison tests before and after correction, respectively importing the theoretical fertilization position information and the corrected fertilization position information into an intelligent corn variable rate fertilizer applicator control system, carrying out variable rate fertilization tests before and after correction of the variable rate fertilizer applicator at different operation speeds on a section of cement pavement for facilitating fertilizer collection, collecting and weighing fertilizers falling on the ground at intervals of 1m to capture the variable rate fertilization amount change process, and carrying out comparison analysis on fertilization effects.
The results of the comparative tests before and after the hysteresis correction are shown in Table 1:
TABLE 1 comparison of position hysteresis before and after correction
As can be seen from Table 1, the method can effectively improve the position lag of the fertilization starting position and the fertilization amount change boundary under different operation speeds, and the position lag is shortened to be within 2m at the fertilization starting position; at the boundary of fertilizer application amount change, when V is 3.8km/h, the position lag can be reduced from 4m to 1m, when V is 5.5km/h, the position lag can be reduced from 8.5m to 5, and when V is 8km/h, the position lag can be reduced from 12m to 8 m. The normal operation speed is 4-6km/h, and the method has better correction effect in the operation section. In this embodiment, the adjustment range of the fertilizing amount is 150kg/hm at the boundary of the fertilizing amount change2Left and rightIn the practical application process, the fertilizing amount of the adjacent grids of the prescription chart does not change more than 100kg/hm2The lag distance generated by the system can be smaller than that generated at present under different vehicle speeds, and the correction effect of the method on the lag can be better.
Fig. 4 is a structural diagram of a variable fertilizer applicator hysteresis correcting apparatus according to an embodiment of the present invention, and as shown in fig. 4, the variable fertilizer applicator hysteresis correcting apparatus includes: a lag time period acquisition module 401, an antenna distance acquisition module 402, and a correction value processing module 403. The delay duration obtaining module 401 is configured to obtain a total delay duration from the time when the variable fertilizer applicator receives the GNSS signal to the time when the fertilizer falls to the ground; the antenna distance obtaining module 402 is configured to obtain a horizontal distance between a GNSS antenna of the fertilizer applicator and the fertilizer dropping port; the correction value processing module 403 is configured to determine a fertilization delay distance according to the total delay time length and the running speed of the fertilizer applicator, and determine a correction distance according to a difference between the fertilization delay distance and the horizontal distance.
Total lag time tlagThe composition of (A) is as follows: t is tlag＝t1+t2+t3+t4；
Wherein, t1The acquisition duration for the GNSS signal can be determined by the GNSS positioning frequency f; t is t2The program execution duration is determined by the performance of the processor, and the duration value is small and can be ignored actually; t is t3The response time of the outer grooved wheel is determined by the structure of the actuating mechanism; t is t4The falling time of the fertilizer is determined by the height of the fertilizer outlet from the ground, the material of the fertilizer falling pipe, the shape of the corrugated pipe and the like. The total lag time can be obtained by the lag time obtaining module 401 by considering the GNSS signal obtaining time, the actuator response time and the fertilizer falling time.
The GNSS antenna is installed above a tractor cab at the front end of the variable fertilizer applicator, and the distance between the GNSS antenna and the fertilizer dropping opening is L. The antenna distance obtaining module 402 obtains the distance, for example, the distance is measured by a measuring sensor, or obtained by inputting the distance L through an input interface according to the above method embodiment.
The fertilization lag distance from the receiving of the GNSS signal to the fertilizer falling of the fertilizer applicator is as follows:
wherein, S'lag(m) is the fertilization lag distance, V (Km/h) is the driving speed obtained by the GNSS device, tlag(s) is the total lag time duration.
The horizontal distance between the GNSS antenna and the fertilizer dropping opening is L, when the variable fertilizer applicator enters a Q2 area from a target fertilizer application amount Q1 area, the GNSS receiver firstly reaches a fertilizer application amount change boundary and sends a fertilizer application change control instruction, and the instruction passes through the fertilizer application change boundary
After the moment, the fertilizer dropping port reaches the fertilizer application amount change boundary, namely the control signal is advanced by tLThe time is sent out.
Thus, the actual lag distance is:
the correction distance may be:
namely, the fertilization lag distance is larger than the horizontal distance, the lag value is corrected, otherwise, the correction is not carried out.
The following steps can be also included:
namely, when the fertilization lag distance is larger than the horizontal distance, the lag value is corrected, otherwise, the lead value is corrected, and the fertilizer is determined according to specific requirements. When the correction distance in the embodiment of the invention takes a negative value, the correction of the advance value is carried out.
The correction value processing module 403 determines the fertilization delay distance according to the obtained total delay time length and the running speed of the fertilizer applicator based on the above relationship, and determines the correction distance according to the difference between the fertilization delay distance and the horizontal distance.
In addition, the correction may be performed in the form of time according to the distance and the actual fertilizer applicator traveling speed, and may include the correction of the lag value and the correction of the lead value, which will not be described in detail.
The device embodiment provided in the embodiments of the present invention is for implementing the above method embodiments, and for details of the process and the details, reference is made to the above method embodiments, which are not described herein again.
According to the variable fertilizer applicator lag correcting device provided by the embodiment of the invention, the correction value processing module simultaneously considers the influence of the GNSS antenna position and the total lag time on the lag of the fertilizer applicator, and calculates the correction distance to be compensated according to the GNSS antenna position and the total lag time to obtain the corrected variable fertilizer application position, so that the advance of a control command on time can be favorably controlled, and the purpose of lag correction of the fertilizer application position is achieved. The method has strong operability and adaptability, can effectively correct the problem of the lagging of the fertilization position of the variable rate fertilizer applicator under different vehicle speeds, and improves the accuracy of the fertilization position of the variable rate fertilizer applicator.
Fig. 5 is a structural diagram of a system for correcting the hysteresis of a variable fertilizer applicator according to an embodiment of the present invention, and as shown in fig. 5, a system for correcting the hysteresis of a variable fertilizer applicator includes: a weighing sensor 501, a photoelectric sensor 502, an encoder 503 and a variable fertilizer applicator hysteresis correcting device of the device embodiment; the weighing sensor 501 is arranged on the ground right below a fertilizer dropping point of the variable rate fertilizer applicator to be tested, is used for acquiring the trigger moment when the fertilizer drops on the ground, and sends the trigger moment to the hysteresis quantity correction device of the variable rate fertilizer applicator; the photoelectric sensor 502 is arranged at a preset position of the fertilizer outlet, is used for acquiring the trigger moment when the fertilizer applicator starts to fall fertilizer, and sends the trigger moment to the variable fertilizer applicator lag correcting device; the encoder 503 is arranged at a preset position of the fertilizer driving shaft, and is used for acquiring the trigger time when the fertilizer driving shaft starts to rotate and sending the trigger time to the variable fertilizer applicator lag correcting device.
In the figure, other components are as follows, wherein 507 is a variable rate fertilizer applicator fertilizer discharging pipe, 504 is a variable rate fertilizer applicator outer sheave fertilizer discharging device, 505 is a driving motor, and 506 is a variable rate fertilizer applicator fertilizer box. Wherein, the encoder 503 is installed at one side of the fertilizer discharging driving shaft of the variable rate fertilizer applicator to be measured, the photoelectric sensor 502 is installed at the fertilizer discharging port, and the weighing sensor 501 is placed on the ground right below the fertilizer dropping point of the variable rate fertilizer applicator to be measured. The variable fertilizer applicator hysteresis correction is connected with the encoder 503, the photoelectric sensor 502 and the weighing sensor 501, and displays, stores and processes the acquired sensor time data. The specific implementation process can be seen in the method embodiment.
The system obtains the trigger time of the initial reading of the fertilizer discharging driving shaft of the fertilizer applicator through the encoder, obtains the trigger time of the fertilizer falling from the discharge port of the grooved pulley through the photoelectric sensor, and obtains the trigger time of the fertilizer falling to the ground through the weighing sensor, so that the response time of the outer grooved pulley and the falling time of the fertilizer are obtained, the known GNSS signal is combined to obtain the time length, the accurate total lag time can be obtained, and the accuracy of the correction distance is facilitated.
Fig. 6 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 6, the electronic device may include: a processor 601, a communication Interface 602, a memory 603 and a bus 604, wherein the processor 601, the communication Interface 602 and the memory 603 complete communication with each other through the bus 604. The communication interface 602 may be used for information transfer of an electronic device. The processor 601 may call logic instructions in the memory 603 to perform a method comprising: acquiring the total lag time from the receiving of the GNSS signal to the falling of the fertilizer of the variable fertilizer applicator; acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and a fertilizer dropping port; and calculating the fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator, and determining the correction distance according to the difference value of the fertilization lag distance and the horizontal distance.
In addition, the logic instructions in the memory 603 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-described method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the transmission method provided in the foregoing embodiments when executed by a processor, and for example, the method includes: acquiring the total lag time from the receiving of the GNSS signal to the falling of the fertilizer of the variable fertilizer applicator; acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and a fertilizer dropping port; and calculating the fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator, and determining the correction distance according to the difference value of the fertilization lag distance and the horizontal distance.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for correcting the hysteresis quantity of a variable fertilizer applicator is characterized by comprising the following steps:
acquiring the total lag time from the receiving of the GNSS signal to the falling of the fertilizer of the variable fertilizer applicator;
acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and a fertilizer dropping port;
calculating fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator, and determining a correction distance according to the difference value of the fertilization lag distance and the horizontal distance; the method for acquiring the total lag time from the receiving of the GNSS signals to the falling of the fertilizer for the variable rate fertilizer applicator comprises the following steps:
determining the response time of the outer sheave according to the moment of sending the command of the driving motor and the moment of triggering the initial reading of the encoder connected with the outer sheave;
determining the falling time of the fertilizer according to the triggering time of a photoelectric sensor arranged at the fertilizer outlet and the triggering time of a ground weighing sensor when the fertilizer falls;
determining the total lag time by combining the acquired GNSS signal acquisition time;
the total lag time comprises the GNSS signal acquisition time, the outer sheave response time and the fertilizer falling time.
2. The variable fertilizer applicator lag correction method of claim 1, further comprising, after determining the correction distance:
and determining the corrected variable fertilization position by combining the theoretical variable fertilization position according to the correction distance.
3. The variable fertilizer applicator lag correction method of claim 1, wherein prior to determining the total lag time period, further comprising:
and determining the GNSS signal acquisition time length according to the antenna receiving frequency.
4. The method for correcting the hysteresis of the variable fertilizer applicator according to claim 2, wherein the determining the corrected variable fertilizing position in combination with the theoretical variable fertilizing position according to the correction distance comprises:
if the fertilization delay distance is greater than the horizontal distance, the fertilization delay condition occurs, delay correction is needed, and the corrected variable fertilization position is located behind the theoretical variable fertilization position by the correction distance so as to lead fertilization in time;
if the fertilization lagging distance is smaller than the horizontal distance, the situation of fertilization advancing occurs, advanced correction is needed, and the corrected variable fertilization position is located in front of the theoretical fertilization position by the correction distance so as to achieve the lag of fertilization in time;
if the fertilization lag distance is equal to the horizontal distance, the horizontal distance just compensates for the fertilization lag distance, and correction is not needed;
the front and the back of the theoretical fertilization position are determined by taking the running direction of the fertilizer applicator as a standard, the front direction is consistent with the running direction, and the back direction is opposite to the running direction.
5. A variable rate fertilizer applicator hysteresis amount correcting device characterized by comprising:
the delay time acquisition module is used for acquiring the total delay time from the receiving of the GNSS signals to the falling of the fertilizer of the variable fertilizer applicator;
the antenna distance acquisition module is used for acquiring the horizontal distance between a GNSS antenna of the fertilizer applicator and the fertilizer dropping port;
the correction value processing module is used for calculating fertilization lag distance according to the total lag time and the running speed of the fertilizer applicator and determining a correction distance according to the difference value of the fertilization lag distance and the horizontal distance;
the lag time obtaining module is specifically configured to:
determining the response time of the outer sheave according to the moment of sending the command of the driving motor and the moment of triggering the initial reading of the encoder connected with the outer sheave;
determining the falling time of the fertilizer according to the triggering time of a photoelectric sensor arranged at the fertilizer outlet and the triggering time of a ground weighing sensor when the fertilizer falls;
determining the total lag time by combining the acquired GNSS signal acquisition time;
the total lag time comprises the GNSS signal acquisition time, the outer sheave response time and the fertilizer falling time.
6. A system for correcting hysteresis of a variable rate fertilizer applicator, comprising: a load cell, a photosensor, an encoder, and the variable rate fertilizer applicator hysteresis correction device of claim 5;
the encoder is arranged at a preset position of the fertilizer discharging driving shaft and used for acquiring the trigger moment when the fertilizer discharging driving shaft starts to rotate and sending the trigger moment to the variable fertilizer applicator lag correcting device;
the photoelectric sensor is arranged at a preset position of the fertilizer outlet and used for acquiring the trigger moment when the fertilizer applicator starts to fall off fertilizer and sending the trigger moment to the variable fertilizer applicator hysteresis correcting device;
the weighing sensor is arranged on the ground right below a fertilizer dropping point of the variable fertilizer applicator to be tested, is used for acquiring the trigger moment when the fertilizer drops on the ground, and sends the trigger moment to the variable fertilizer applicator hysteresis correcting device.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method for correcting hysteresis of a variable fertilizer applicator as claimed in any one of claims 1 to 4.
8. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method for correcting the hysteresis of a variable fertilizer applicator according to any one of claims 1 to 4.
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