CN114568077B - Variable seeding control system and method based on dynamic prescription chart - Google Patents
Variable seeding control system and method based on dynamic prescription chart Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/18—Machines for depositing quantities of seed at intervals
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract
The invention discloses a variable seeding control system and method based on a dynamic prescription chart, belonging to the technical field of agricultural machine control. The method comprises the steps of 1, detecting soil nutrients of a to-be-sowed area and transmitting the soil nutrients to a communication controller; 2. measuring the operation speed, longitude and latitude and course angle of the tractor and transmitting the operation speed, longitude and latitude and course angle to the communication controller; 3. transmitting soil nutrient data and coordinate information to a sowing quantity decision controller; 4. converting the measured single-point data into surface data, generating a real-time seeding rate prescription chart, and returning seeding rate information to the communication controller; 5. the seeding amount is converted into the rotating speed data of the brushless direct current motor and is transmitted to each row of brushless direct current motor drivers; 6. the brushless DC motor reaches the target rotating speed and drives the electrically-driven precise seed sowing device to rotate. The invention can determine the installation position of the sensor and reduce the error of the regulation and control of the seeding quantity; the problem of variable seeding precision reduction caused by large single-point data errors is solved.
Description
Technical Field
The invention relates to the technical field of agricultural machine control, in particular to a variable seeding control system and method based on a dynamic prescription chart.
Background
Seeding is a key link in the crop production process, and the quality of seeding directly influences the final yield of crops. The precision seeding technology commonly used in the prior production is to uniformly distribute seeds in the field according to the same seeding quantity, but the difference of crop growth environments is neglected by the seeding mode of 'one-view-for-one-kernel' seeding, the yield increase potential of soil is difficult to dig deeply, and the resource utilization is insufficient. Therefore, in order to further improve the crop yield and realize the resource optimization configuration, the seed amount is put into the field according to the crop growth environment information and the crop growth and development rules, namely, the variable seeding is carried out. The variable seeding technology is a fine agricultural technology which adjusts the seeding rate of crops according to the spatial heterogeneity of environmental factors such as soil, illumination, moisture and the like, so that the reasonable and accurate matching of the crop growth environment and the seeding rate is realized.
The variable seeding technology can be divided into prescription schema variable seeding and sensor variable seeding according to different implementation forms. The formula variable seeding requires that soil fertility indexes such as soil organic matters, nitrogen, phosphorus and potassium in a region to be seeded are collected and analyzed before seeding operation, a seeding prescription diagram is made according to decision rules, and then variable seeding operation is performed by using the seeding prescription diagram with seeding amount information and position information. The variable seeding technology in the form needs to collect a large amount of data before seeding operation, so that the operation period is prolonged, the labor intensity and the operation cost are increased, and the actual condition of operation cannot be reflected by partial soil attribute information due to the fact that the collection time is inconsistent with the seeding operation time. The sensor type variable seeding technology dynamically acquires data according to a sensor capable of detecting soil nutrients in real time, and obtains seeding rate in real time according to a corresponding decision model to perform variable seeding operation. The sensor type variable sowing realizes the synchronous detection of soil information and variable sowing operation, shortens the operation period, improves the operation efficiency and reduces the operation cost compared with the prescription schema variable sowing technology, and is an ideal variable sowing operation mode, but the specific research on the sensor type variable sowing method and the control system architecture is rarely reported at present. Patent CN109213050 discloses a variable seeding control system and a control method thereof, wherein the implementation mode of the proposed sensor type variable seeding control system is to perform the decision and regulation of the seeding amount immediately after collecting soil point data, and due to the spatial heterogeneity of soil nutrients and the complexity of the farmland environment, the implementation mode of performing variable seeding operation by collecting a single sample point is easy to use abnormal values as the original data of the decision, so that the accuracy of the seeding amount decision is greatly reduced; meanwhile, the implementation mode of immediately regulating and controlling the seeding rate according to the single-point information causes frequent acceleration and deceleration of a driving motor of the seeding apparatus, and causes uneven local seeding plant spacing to influence the final yield. Therefore, it is necessary to design a system and a method for controlling sensor-type variable seeding with low cost and reasonable and reliable implementation mode.
Disclosure of Invention
The invention aims to provide a variable seeding control system and method based on a dynamic prescription chart.
A variable seeding control system based on a dynamic prescription chart is characterized by comprising a GPS receiver, a communication controller, a seeding quantity decision controller, a Zigbee wireless communication module, a soil nutrient sensor and a seeding monomer driving unit; the seeding single body driving unit comprises a brushless direct current motor driver, a brushless direct current motor and an electrically driven precision seed sowing device;
wherein, the GPS receiver is connected with the communication controller through an RS232 communication line; the communication controller is connected with the broadcast decision controller through a USB communication line; the soil nutrient sensor is connected with the Zigbee wireless communication module; the communication controller is connected with the brushless direct current motor driver through a CAN bus; the brushless DC motor is connected with the brushless DC motor driver through a signal line and a power line, and the electrically-driven precision seed sowing device is connected with the brushless DC motor through a bolt.
A variable seeding control method of a variable seeding control system based on a dynamic prescription chart is characterized by comprising the following steps:
step 1: the soil nutrient sensor detects soil nutrients in the area to be sown and transmits soil nutrient data to the communication controller through the Zigbee wireless communication module;
step 2: the GPS receiver measures the operation speed, the longitude and latitude and the course angle of the tractor according to the fixed frequency, and transmits the data of the operation speed, the longitude and latitude and the course angle to the communication controller through an RS232 communication line;
and step 3: the communication controller obtains the coordinates of various seed falling points and detection points according to the seed falling point positioning model and the detection point positioning model, and transmits soil nutrient data and coordinate information to the sowing quantity decision controller through a USB communication line;
and 4, step 4: the seeding rate decision controller carries out outlier filtering on the received soil nutrient data, predicts the nutrient value of an undetected area by using a kriging interpolation method, converts the measured single-point data into surface data, deduces the seeding rate at each nutrient level according to a seeding rate decision rule, generates a real-time seeding rate prescription chart, inquires the seeding rate of each seeding monomer at the current operation position, and returns the seeding rate information to the communication controller through a USB communication line;
and 5: the communication controller converts the seeding amount into the rotating speed data of the brushless direct current motor of each row of seeding monomers according to the seeding amount-rotating speed model, and transmits the rotating speed data to each row of brushless direct current motor drivers through the CAN bus;
and 6: the brushless direct current motor driver controls the brushless direct current motor to reach a target rotating speed, and drives the electrically-driven precision seed sowing device to rotate, so that the seed sowing quantity is adjusted.
The method for determining the installation position of the soil nutrient sensor comprises the following steps:
step A1: before seeding operation, measuring the time t required for completing a variable seeding operation, including the execution time t of software program 1 Positioning time t of GPS receiver 2 The time t required for the seed sowing device to reach the target rotating speed from the initial speed 3 And the time t required for the seeds to fall from the seed discharging opening to reach the seed trench 4 ；
Step A2: obtaining the minimum installation distance D of the soil nutrient sensor according to the maximum operation speed v set by the operation by the following formula;
step A3: and (4) measuring D meters forward from a seed dropping opening of the sowing monomer according to the minimum installation distance D obtained in the step (2) to serve as the installation position of the soil nutrient sensor.
The software program execution time t 1 The method comprises the steps of wireless transmission time of soil nutrient data, seeding decision time, program execution time of a communication controller and CAN communication time.
The method for acquiring the coordinates of the seed dropping point in the step 3 specifically comprises the following steps:
step B1: converting longitude and latitude information of the tractor into plane rectangular coordinates (x, y);
and step B2: the right triangle ABC and the right triangle OCD which are constructed are solved by utilizing the distance OC between the GPS receiver and a connecting line of the seed dropping points of the seeding monomers, the distance AC between the seed dropping point of the first seeding monomer and the central line of the seeding machine and the course angle theta to obtain the coordinates (x) of the seed dropping point of the first seeding monomer 1 ，y 1 ) (ii) a Wherein the content of the first and second substances,
l is the distance OC between the GPS receiver and the seed drop point connecting line of the seeding monomers, r is the seeding row spacing, and n is the number of the seeding monomers;
and step B3: using the coordinates (x) of the first seeding unit seed drop point 1 ，y 1 ) Obtaining the coordinates (x) of the seed falling point of the ith seeding unit by the seeding row spacing r and the course angle theta i ，y i )，1<i is less than or equal to n; wherein, the first and the second end of the pipe are connected with each other,
the method for generating the real-time seeding rate prescription chart in the step 4 specifically comprises the following steps:
step C1: the sowing quantity decision controller stores the soil nutrient data and the detection point coordinates transmitted by the communication controller into a database;
and C2: judging whether the quantity of the soil nutrient data in the database meets the requirements for generating a prescription chart; if yes, the prescription map generation software takes out the data in the database and stores the data in an array, and then the step C3 is carried out; if not, turning to the step C1;
step C3: filtering the data in the array by adopting a sliding filtering algorithm, estimating the soil nutrient value of the untested points by adopting a kriging interpolation method to obtain a local soil nutrient distribution map, and turning to the step C4;
and C4: mapping soil nutrient data into the seeding amount according to a seeding amount decision rule obtained by expert experience to obtain a local seeding prescription chart, and turning to the step C5 when the mark position 1 is completed;
and C5: judging whether the completion flag bit is 1 or not; if yes, go to step C2; if not, go to step C4.
The invention has the beneficial effects that:
1. the proper installation position of the sensor can be determined by a method for determining the installation position of the soil nutrient sensor, so that the sowing quantity regulation and control error caused by improper installation of the sensor is reduced;
2. the coordinates of each seeding unit and the sensor can be determined according to a single GPS signal through the method for acquiring the seed falling point of the seeding unit;
3. by the method for generating the real-time seeding rate prescription map, a dynamic prescription map which accurately expresses the soil nutrient condition at the detection position and has higher real-time performance can be generated, the problem of reduced variable seeding precision caused by larger single-point data error is solved, and the requirement of sensor type dynamic detection is met;
4. the invention has lower cost and reasonable and reliable implementation mode.
Drawings
FIG. 1 is an overall composition diagram of a variable seeding control system based on a dynamic recipe diagram;
FIG. 2 is a view of the components of the drive unit of the sowing unit;
FIG. 3 is a flow chart of a variable seeding program execution based on a dynamic recipe;
FIG. 4 is a schematic view of a seeding unit seed-setting point positioning model;
FIG. 5 is a flow chart of a dynamic recipe map generation algorithm;
FIG. 6 is a schematic diagram of point data converted into surface data;
FIG. 7 is a diagram of a dynamic recipe display effect.
Detailed Description
The invention provides a variable seeding control system and method based on a dynamic prescription chart, and the invention is further explained by combining the drawings and the specific embodiment.
As shown in fig. 1, the hardware structure of the present invention includes a GPS receiver 1, a communication controller 2, a seeding amount decision controller 3, a Zigbee wireless communication module 4, a soil nutrient sensor 5, and a seeding unit driving unit 6. The broadcast decision controller 3 is an industrial tablet computer which can be provided with an Android program and a Window program. The soil nutrient sensor 5 is connected with the Zigbee wireless communication module 4 through line connection and wirelessly transmits soil nutrient data to the communication controller 2; the GPS receiver 1 is connected with the communication controller 2 through an RS232 communication line and is used for transmitting information such as the operation position, the operation speed and the like to the communication controller 2; the communication controller 2 is connected with the seeding rate decision controller 3 through a USB communication line and is used for sending soil nutrients and operation position data to the seeding rate decision controller 3, and the seeding rate decision controller 3 returns seeding rate information to the communication controller 2; the communication controller 2 is connected with the brushless direct current motor driver 601 in each seeding unit driving unit 6 through a CAN bus and is used for transmitting the seeding amount information.
As shown in fig. 2, the seeding unit driving unit 6 of the present invention is composed of a brushless dc motor driver 601, a brushless dc motor 602, and an electrically driven precision seed metering device 603. The brushless direct current motor driver 601 is connected with the communication controller 2 through a CAN bus, the brushless direct current motor 602 is connected with the brushless direct current motor driver 601 through a signal line and a power line, and the electrically-driven precision seed sowing device 603 is connected with the brushless direct current motor 602 through a bolt.
As shown in fig. 3, the program execution flow of the present invention is as follows:
1. the soil nutrient sensor detects soil nutrients in a to-be-sowed area and transmits soil nutrient data to the communication controller through the Zigbee wireless communication module; 2. the GPS receiver measures information such as the operation speed, longitude and latitude, course angle and the like of the tractor according to fixed frequency, and transmits data to the communication controller through RS232 communication; 3. the communication controller receives information such as nutrients, operation speed, longitude and latitude, course angle and the like, obtains coordinates of various seed falling points and detection points according to the seed falling point positioning model and the detection point positioning model, and transmits nutrient and coordinate information to the broadcast decision controller through USB communication; 4. the seeding rate decision controller receives nutrient and coordinate information, generates a dynamic seeding rate prescription chart in real time by using a dynamic prescription chart generation algorithm, inquires the seeding rate information of each seeding monomer at the current operation position, and returns the seeding rate information to the communication controller through USB communication; 5. the communication controller receives the seeding quantity information of each seeding monomer returned by the tablet personal computer, converts the seeding quantity into the brushless direct current motor rotating speed of each row of seeding monomers according to the seeding quantity-rotating speed model, and transmits the seeding quantity to each row of brushless direct current motor drivers through CAN communication; and a brushless direct current motor driver in the seeding monomer driving unit receives the rotating speed instruction, controls the brushless direct current motor to reach the target rotating speed, and drives the seed sowing device to rotate so as to realize the adjustment of the seeding amount.
In the embodiment of the invention, the GPS receiver is arranged at the top of a tractor, the communication controller and the sowing quantity decision controller are arranged in a cab, the soil nutrient sensor and the sowing unit are both dragged by the tractor to operate, the soil nutrient sensor is arranged in front of a seed falling point of the sowing unit, and the soil nutrient condition of a region to be sown is detected before sowing. The installation of the soil nutrient sensor relates to a sensor installation position determining algorithm. The time t required for completing a variable seeding operation is measured before the seeding operation, and the execution time t of a software program is mainly measured 1 Positioning time t of GPS receiver 2 Time t required for the seed sowing device to reach the target rotating speed from the initial speed 3 And the time t required for the seeds to fall from the seed discharging opening to the seed furrow 4 . Wherein the execution time of the software program comprises the wireless transmission time of soil nutrient data and the sowing amount decision timeThe program execution time of the communication controller and the CAN communication time. And D m is measured forwards from a seed dropping opening of the seeding monomer by using the mounting distance D obtained by the formula 1, and is the proper mounting position of the sensor.
In the formula: v is the maximum operation speed of the seeder, km/h; t is the time required for completing the variable seeding operation, s; d is the minimum installation distance of the sensor, m.
The sowing single seed falling point positioning model and the sensor detection point positioning model in the program flow relate to a positioning method, and are explained by taking sowing single seed falling point positioning as an example. As shown in fig. 4, the tractor pulls the soil nutrient sensor and the seeder to operate, the soil nutrient sensor and the seeding units are respectively and uniformly distributed on the bearing beam and the seeder, and the distances between the two seeding units are equal and are the seeding row spacing. The GPS receiver is installed on the central line of the tractor, the central line of the tractor coincides with the projections of the central line of the seeder and the central line of the bearing beam on the ground, the straight line where the tractor suspension device is located is perpendicular to the straight lines where the seeder and the bearing beam are located, and the central line of the seeding single body is perpendicular to the straight line where the seeder is located. The coordinates of each seeding unit seed falling point can be obtained by the following method:
(1) Obtaining longitude and latitude of the position where the receiver is located and a course angle theta of a tractor by using a GPS receiver, and converting the longitude and latitude information into a plane rectangular coordinate system (x, y);
(2) Solving a constructed right triangle ABC and a constructed right triangle OCD by utilizing the distance OC from a GPS receiver to a seed dropping point connecting line of the seeding monomers, the distance AC from a first seeding monomer seed dropping point to the central line of the seeder and the course angle theta to obtain the coordinate of the first seeding monomer;
(3) And obtaining the coordinates of each seeding single body by using the coordinates of the first seeding single body, the seeding row spacing r and the heading angle theta.
Setting the obtained plane coordinate converted by the GPS receiver as (x, y), wherein the seed falling point from the GPS receiver to the sowing single bodyThe distance OC of the connecting line is l, the distance OC needs to be measured before operation, the distance between the two seeding monomers, namely the seeding row spacing is r, and the coordinate of the first seeding monomer is set as (x) 1 ，y 1 ) The coordinate of the ith seeding monomer is (x) i ，y i ) Then the coordinates of the first seeding monomer in step 2 can be calculated by the following formula:
the coordinates of each seeding monomer in the step 3 can be obtained by calculation according to the following formula, wherein 1 & lt i & gt is less than or equal to n:
the above-mentioned process relates to a dynamic recipe map generation algorithm, and its program flow chart is shown in fig. 5. Firstly, the sowing quantity decision controller stores soil nutrient data and sensor detection point coordinates transmitted by the communication controller into a database; judging whether the quantity of the soil nutrient data in the database meets the requirement for generating the prescription chart, if not, continuing to receive the data, if so, taking out the data in the database by the prescription chart generation software, storing the data in an array, and continuing to receive the data by the database; filtering the data in the array by adopting a sliding filtering algorithm, and estimating the soil nutrient value of the untested points by adopting a kriging interpolation method to obtain a local soil nutrient distribution map; converting soil nutrients into corresponding appropriate seeding quantity according to a seeding quantity decision rule obtained by expert experience to obtain a local seeding prescription diagram, and marking a position 1 with a completion mark; and judging whether the flag bit is 1, if so, taking out the data meeting the quantity requirement from the database again to generate a second section of prescription chart, and if not, continuing to wait for the generation of the current prescription chart. In the operation process, the algorithm is executed circularly, a local dynamic prescription chart is generated continuously, and the seeding quantity information is provided for variable seeding operation.
FIG. 6 is a schematic diagram of point data being converted to surface data by a dynamic prescription generating algorithm. Fig. 7 is a dynamic prescription chart interface displayed by the volume decision controller, which can display the information of the prescription chart formed during the operation process, the operation speed and the operation position information in real time.
In summary, the working process of the embodiment of the invention is as follows:
before operation, measuring the execution time of a software program, the positioning time of a GPS receiver, the time of a seed sowing device reaching a target rotating speed and the time required by seeds falling from a seed sowing port to a seed ditch, and installing a sensor at a proper position according to a sensor installation distance determining method; installing a GPS receiver on a central line at the top of a tractor, and connecting all hardware according to the connection requirement of the control system; measuring the distance from the GPS receiver to a seeding point connecting line of the seeding unit, and writing the distance into a program of the communication controller; and starting switches of the Zigbee wireless communication module, the communication controller and the broadcast quantity decision controller, and entering a standby working state. When the tractor works, the tractor pulls the soil nutrient sensor and the seeder to work, and the soil nutrient sensor detects soil nutrient information and transmits the soil nutrient information to the communication controller through wireless communication; the GPS receiver measures the operation speed in real time and transmits the operation position information to the communication controller through RS 232; the communication controller receives nutrient and position information, transmits the nutrient and position information to the sowing quantity decision controller through USB communication, and obtains sowing points and detection point coordinates according to a sowing unit sowing point positioning model and a sensor detection point positioning model; the sowing quantity decision controller generates a dynamic sowing quantity prescription chart in real time by using a prescription chart generation algorithm, and inquires and returns sowing quantity information at the current operation position; the communication controller receives the sowing amount information, obtains the motor rotating speed of each row of sowing monomers according to the sowing amount-rotating speed model, and transmits the motor rotating speed to a brushless direct current motor driver in a sowing monomer driving unit in a CAN (controller area network) communication mode; the brushless direct current motor driver receives the rotating speed instruction and controls the brushless direct current motor to control the brushless direct current motor to reach the target rotating speed, the seeding device is driven to rotate, the seeding quantity is adjusted, and variable seeding operation is completed. The suitable mounted position of sensor can be confirmed to this embodiment, reduces the volume of broadcasting regulation and control error that brings because the sensor installation is improper, and the cost is lower, and the implementation mode is reasonable reliable.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A variable seeding control method of a variable seeding control system based on a dynamic prescription chart is characterized in that the system comprises a GPS receiver (1), a communication controller (2), a seeding quantity decision controller (3), a Zigbee wireless communication module (4), a soil nutrient sensor (5) and a seeding monomer driving unit (6); the seeding unit driving unit (6) comprises a brushless direct current motor driver (601), a brushless direct current motor (602) and an electric driving type precision seed metering device (603);
wherein, the GPS receiver (1) is connected with the communication controller (2) through an RS232 communication line; the communication controller (2) is connected with the broadcast decision controller (3) through a USB communication line; the soil nutrient sensor (5) is connected with the Zigbee wireless communication module (4); the communication controller (2) is connected with the brushless direct current motor driver (601) through a CAN bus; the brushless direct current motor (602) is connected with a brushless direct current motor driver (601) through a signal line and a power line, and the electrically-driven precision seed metering device (603) is connected with the brushless direct current motor (602) through a bolt;
the variable seeding control method comprises the following steps:
step 1: the soil nutrient sensor (5) detects soil nutrients in the area to be sowed and transmits soil nutrient data to the communication controller (2) through the Zigbee wireless communication module (4);
step 2: the GPS receiver (1) measures the operation speed, longitude and latitude and course angle of the tractor according to fixed frequency, and transmits the data of the operation speed, longitude and latitude and course angle to the communication controller (2) through an RS232 communication line;
and step 3: the communication controller (2) obtains coordinates of various seed dropping points and detection points according to the seed dropping point positioning model and the detection point positioning model, and transmits soil nutrient data and coordinate information to the seeding rate decision controller (3) through a USB communication line;
and 4, step 4: the seeding rate decision controller (3) filters abnormal values of received soil nutrient data, predicts nutrient values of undetected areas by using a Krigin interpolation method, converts measured single-point data into surface data, infers seeding rate at each nutrient level according to a seeding rate decision rule, generates a real-time seeding rate prescription chart, inquires the seeding rate of each seeding monomer at the current operation position, and returns seeding rate information to the communication controller (2) through a USB communication line;
and 5: the communication controller (2) converts the seeding rate into the rotating speed data of the brushless direct current motor (602) of each row of seeding monomers according to the seeding rate-rotating speed model, and transmits the rotating speed data to each row of brushless direct current motor drivers (601) through a CAN bus;
and 6: the brushless direct current motor driver (601) controls the brushless direct current motor (602) to reach a target rotating speed, and drives the electrically-driven precision seed metering device (603) to rotate, so that the seeding quantity is adjusted.
2. The variable sowing control method of the variable sowing control system based on the dynamic prescription chart according to claim 1, wherein the method of determining the installation location of the soil nutrient sensor is as follows:
step A1: before seeding operation, measuring the time t required for completing a variable seeding operation, including the execution time t of software program 1 Positioning time t of GPS receiver 2 The time t required for the seed sowing device to reach the target rotating speed from the initial speed s And the time t required for the seeds to fall from the seed discharging opening to the seed furrow 4 (ii) a The software program execution time t 1 The method comprises the steps of wirelessly transmitting soil nutrient data, determining sowing amount, executing time of a communication controller program and CAN communication time;
step A2: obtaining the minimum installation distance D of the soil nutrient sensor according to the maximum operation speed v set by the operation and through the following formula;
step A3: and (4) measuring D meters forward from a seed dropping opening of the sowing monomer according to the minimum installation distance D obtained in the step (2) to serve as the installation position of the soil nutrient sensor.
3. The variable seeding control method of the variable seeding control system based on the dynamic recipe according to claim 1, wherein the method for obtaining the coordinates of the seeding point in the step 3 is specifically as follows:
step B1: converting longitude and latitude information of the tractor into plane rectangular coordinates (x, y);
and step B2: the right triangle ABC and the right triangle OCD which are constructed by solving the distance OC between the GPS receiver and the connecting line of the seed falling points of the sowing units, the distance AC between the seed falling point of the first sowing unit and the central line of the sowing machine and the course angle theta are utilized to obtain the coordinate (x) of the seed falling point of the first sowing unit 1 ，y 1 ) (ii) a Wherein the content of the first and second substances,
l is the distance OC between the GPS receiver and the seed drop point connecting line of the seeding monomers, r is the seeding row spacing, and n is the number of the seeding monomers;
and step B3: using the coordinates (x) of the seed dropping point of the first seeding unit 1 ，y 1 ) Obtaining the coordinates (x) of the seed falling point of the ith seeding unit by the seeding row spacing r and the course angle theta i ，y i )，1<i is less than or equal to n; wherein the content of the first and second substances,
4. the variable seeding control method of the variable seeding control system based on the dynamic formula, according to claim 1, wherein the method for generating the real-time seeding rate formula in the step 4 is specifically as follows:
step C1: the sowing quantity decision controller stores the soil nutrient data and the detection point coordinates transmitted by the communication controller into a database;
and step C2: judging whether the quantity of the soil nutrient data in the database meets the requirement of generating a prescription chart or not; if yes, the prescription chart generation software takes out the data in the database and stores the data in an array, and then the step C3 is carried out; if not, turning to the step C1;
step C3: filtering the data in the array by adopting a sliding filtering algorithm, estimating the soil nutrient values of untested points by adopting a kriging interpolation method to obtain a local soil nutrient distribution map, and turning to the step C4;
and C4: mapping soil nutrient data into the seeding amount according to a seeding amount decision rule obtained by expert experience to obtain a local seeding prescription chart, setting a completion flag bit to be 1, and then turning to the step C5;
step C5: judging whether the completion flag bit is 1 or not; if yes, go to step C2; if not, go to step C4.
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