CN115061129A - Intelligent control method for precision seeder based on Doppler radar speed measurement - Google Patents

Abstract

The invention discloses an intelligent control method for a precision seeder based on Doppler radar speed measurement, which comprises the following steps: acquiring the receiving frequency of the Doppler radar, and calculating the advancing speed of the precision seeder; calculating a target rotating speed of the motor according to the forward speed; driving the motor to operate according to the target rotating speed, and simultaneously controlling the motor to start and stop based on the machine tool state monitoring module; acquiring data collected by the sowing quality monitoring module and calculating sowing quality parameters; and outputting the sowing quality parameters to the parameter display unit. The Doppler radar is used for measuring the running speed of the machine tool, the measured speed is reliable, in addition, the seeding quality monitoring module and the machine tool state monitoring module are arranged, the seeding quality can be detected in real time, the seed sowing device is stopped running when the seeder is in a non-working state, so that the seed waste is reduced, the intelligent level of the machine tool can be effectively improved through the measures, and the operation does not need to depend on manual experience.

Description

Intelligent control method for precision seeder based on Doppler radar speed measurement

Technical Field

The invention relates to the technical field of intelligent control of agricultural machinery, in particular to an intelligent control method for a precision seeder based on Doppler radar speed measurement.

Background

At present, the seeder is applied to agricultural planting in a large scale, the intelligent degree of the existing precision seeder is low, the existing precision seeder mostly depends on the experience of operators during field operation, intelligent systems such as operation quality detection and intelligent regulation are lacked, and the operation quality cannot be accurately regulated, controlled and sensed. The existing control system of the precision seeder mainly focuses on the unilateral function of seeding quality detection or electric-drive seeding, and the speed detection method suitable for the electric-drive seeding is based on an encoder or a GPS (global positioning system), the encoder still has speed measurement errors caused by the slippage of land wheels, and the GPS is easy to generate errors caused by the drift of speed measurement signals due to factors such as operating environment, operating speed and the like.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the intelligent control method for the precision seeder, which is reliable in speed detection and high in intelligent degree and is based on Doppler radar speed measurement.

The technical scheme is as follows: in order to achieve the above object, the intelligent control method for precision seeder based on doppler radar speed measurement of the present invention includes a seeding apparatus driven by a motor to operate, a control system including a speed monitoring module and a control unit implementing the intelligent control method, the control unit adjusting the rotation speed of the motor based on the speed data obtained by the speed monitoring module; the speed monitoring module is a Doppler radar; the control system also comprises a sowing quality monitoring module, a machine tool state monitoring module and a parameter display unit;

the intelligent control method comprises the following steps:

acquiring the receiving frequency of the Doppler radar, and calculating the advancing speed of the precision seeder;

calculating a target rotating speed of the motor according to the forward speed;

driving the motor to operate according to the target rotating speed, and simultaneously controlling the motor to start and stop based on the machine tool state monitoring module;

acquiring data collected by the sowing quality monitoring module and calculating sowing quality parameters;

and outputting the sowing quality parameters to the parameter display unit.

Further, the Doppler radar is installed on a cross beam of the precision seeding machine through an installation frame, and an included angle between the rear end face of the Doppler radar and the ground is 55 degrees.

Furthermore, the mounting frame is provided with a hoop part and a mounting part, and the mounting part is provided with a rotating base hole and two arc-shaped adjusting holes; the hoop part is encircled on the cross beam and tightened and fixed through a first screw;

one mounting hole of the Doppler radar is coaxially mounted with the rotary base hole through a second screw;

and the other two mounting holes of the Doppler radar are connected with third screws, the two third screws respectively penetrate through the two arc-shaped adjusting holes, and the position of each third screw can be adjusted relative to the corresponding arc-shaped adjusting hole.

Further, the measurement of the frequency of the pulse signal output by the doppler radar is completed by a timer of the control unit, the timer is set to be in an input capture working state, and the working process is as follows:

after the interruption, firstly judging whether the capturing is successful at the moment;

if the capture is successful, indicating that the main program does not finish the speed calculation, giving up the interrupt processing and exiting the interrupt program;

if the capture is not successful, judging whether the interrupt is an overflow interrupt;

if the overflow interruption is detected, judging whether the overflow is in a high level state; if the high level state overflows, the overflow times are +1, and the interrupt program is quitted;

if the interruption is not the overflow interruption, the interruption is the capture interruption;

judging whether to capture a falling edge;

if capturing the falling edge, indicating that the capturing is finished, marking the successful capturing, acquiring the current capturing value, calculating the high-level duration and the pulse frequency, and setting a timer for capturing the rising edge to prepare for the next capturing;

if a falling edge is not captured, i.e. a rising edge is captured, the rising edge captures the marker position 1 and the timer is set to falling edge capture, preparing for this time waiting to capture the falling edge.

Further, the seeding quality monitoring module is a photoelectric sensor arranged at the outlet of the seed sowing device;

the acquiring the data collected by the sowing quality monitoring module and calculating the sowing quality parameters comprises the following steps:

acquiring a signal generated by the photoelectric sensor;

calculating the actual time difference of every two seeds falling, and counting the total number of the seeds falling;

when the total number reaches a set value, calculating the sowing quality parameter according to all the collected actual time differences; the sowing quality parameters comprise plant spacing qualification rate, miss-seeding rate, re-seeding rate and variation coefficient.

Further, the planting distance qualified rate, the miss-seeding rate and the re-seeding rate are calculated according to the following steps:

acquiring a numerical value of each actual time difference;

judging the interval in which the actual time difference falls according to the numerical value of the actual time difference, and carrying out cumulative statistics on the cumulant corresponding to the corresponding interval; the interval comprises a replay area, a qualified area and a miss area, and the corresponding cumulative numbers of the replay area, the qualified area and the miss area are replay numbers, qualified numbers and miss numbers respectively;

and respectively calculating the plant spacing qualification rate, the miss-seeding rate and the re-seeding rate according to the re-seeding number, the qualified number and the miss-seeding number.

Further, the coefficient of variation is calculated according to the following steps:

acquiring each actual time difference;

will be qualifiedZone time difference by 0.1 Δ t _{i_ref} The interval is divided into 10 intervals, and the frequency of the actual time difference occurring in each interval is counted, wherein, delta t _{i_ref} Is the theoretical time difference;

and calculating the standard deviation of the actual time differences distributed in 10 intervals to obtain the coefficient of variation.

Further, the machine tool state monitoring module is a travel switch, and when the precision seeder is in a non-working state, the travel switch is not closed;

the control of starting and stopping the motor based on the implement state monitoring module comprises:

judging whether the travel switch is closed or not;

when the travel switch is not closed, the control unit controls the motor to stop running;

when the travel switch is closed, the control unit controls the motor to operate so as to enable the seed sowing device to work.

Furthermore, the control system also comprises a GPS positioning module connected with the control unit; the intelligent control method further comprises the following steps:

acquiring a data message generated by the GPS positioning module, and analyzing the position information of the precision seeder;

and outputting the position information to the parameter display unit.

Has the advantages that: the intelligent control method for the precision seeder based on Doppler radar speed measurement measures the running speed of the seeder through the Doppler radar, the measured speed is reliable, in addition, the seeding quality monitoring module and the seeder state monitoring module are arranged, the seeding quality can be detected in real time, the seeding unit stops running when the seeder is in a non-working state so as to reduce seed waste, the intelligent level of the seeder can be effectively improved through the measures, and manual experience operation is not required.

Drawings

Fig. 1 is a configuration diagram of a control system;

FIG. 2 is a flow diagram of an intelligent control method for a precision seeder based on Doppler radar speed measurement;

FIG. 3 is a schematic flow chart of velocity measurement by a Doppler radar;

FIG. 4 is a view showing an installation structure of a Doppler radar;

FIG. 5 is a perspective view of a Doppler radar;

in the figure: 1. a control unit; 21. a motor; 22. a driver; 23. a seed sowing device; 3. a Doppler radar; 4. a photosensor; 5. a travel switch; 6. a cross beam; 7. a mounting frame; 71. a hoop part; 72. an installation part; 721. rotating the base hole; 722. an arc-shaped adjusting hole; 73. a first screw; 74. a second screw; 75. a third screw; 8. a parameter display unit; 9. and a GPS positioning module.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The control system shown in fig. 1 is used for a precision seeding machine, the precision seeding machine comprises a seeding apparatus 23 driven by a motor 21 to operate, the control system comprises a control unit 1, a speed monitoring module, a seeding quality monitoring module, a machine tool state monitoring module and a parameter display unit 8, and the speed monitoring module is a doppler radar 3; the control unit 1 adjusts the rotation speed of the motor 21 based on the speed data obtained by the speed monitoring module; the control unit 1 obtains sowing quality parameters based on the sowing quality monitoring module; the control unit 1 controls the start and stop of the motor 21 based on the implement state monitoring module.

In the present embodiment, the precision seeder has 4 seed meters 23 capable of performing seeding operation on four seeding rows simultaneously, and each seed meter 23 is equipped with one motor 21 and one seeding quality monitoring module. The motor 21 is a dc brushless motor 21, and the control unit 1 is a single chip microcomputer, and controls each motor 21 to operate through a driver 22.

The parameter display unit 8 is in communication connection with the control unit 1; the parameter display unit 8 has a data input function and a data display function. In this embodiment, the parameter display unit 8 is a tablet computer. The parameter display unit 8 comprises two interfaces, namely a parameter setting interface and a main interface, wherein the parameter setting interface is used for manually inputting operation parameters required to be set, such as operation width, seed plate type hole number, theoretical planting distance and the like; the main interface is used for displaying the current seeding quality parameters and operation parameters of the machine tool.

Based on this, the intelligent control method for precision seeder based on doppler radar speed measurement of the present invention comprises the following steps S101-S105 (step sequence number is not used to restrict the execution sequence of the steps):

step S101, obtaining the receiving frequency of the Doppler radar 3, and calculating the advancing speed of the precision seeder;

the output of the Doppler radar 3 is a pulse signal which is required to be processed according to the frequency f of the pulse signal _d Calculating the current operating speed v of the tool according to the following calculation formula:

v＝29.78×10 ^-3 f _d 。

step S102, calculating a target rotating speed of the motor according to the forward speed;

step S103, driving the motor to operate according to the target rotating speed, and simultaneously controlling the motor to start and stop based on the machine tool state monitoring module;

step S104, acquiring data collected by the sowing quality monitoring module and calculating sowing quality parameters;

step S105, outputting the seeding quality parameter to the parameter display unit.

In the control method, the Doppler radar 3 measures the running speed of the machine, the measured speed is reliable, in addition, the seeding quality monitoring module and the machine state monitoring module are arranged, the seeding quality can be detected in real time, the seed sowing device 23 is stopped running when the seeder is in a non-working state so as to reduce seed waste, the intelligent level of the machine can be effectively improved through the measures, and manual experience operation is not needed.

The measurement of the frequency of the pulse signal output by the doppler radar is performed by the timer of the control unit 1, the timer is set to the input capture operation state, the operation flow is shown in fig. 3, and the following steps a1-A8 are included:

step A1, after the interruption, firstly judging whether the capture is successful;

step A2, if the capture is successful, it indicates that the main program has not completed the speed calculation, then abandons the interrupt process and exits the interrupt process;

step A3, if the capture is not successful, judging whether the interrupt is an overflow interrupt;

step A4, if the interruption is overflow interruption, judging whether the overflow is high level state overflow; if the high level state overflows, the overflow times are +1, and the interrupt program is exited;

step A5, if not, indicating that the current interrupt is a capture interrupt;

step A6, judging whether to capture a falling edge;

step A7, if capturing the falling edge, indicating that the capturing is finished, marking the capturing success, obtaining the current capturing value, calculating the high level duration and the pulse frequency, and setting a timer for capturing the rising edge to prepare for the next capturing;

if the falling edge is not captured, i.e., the rising edge is captured, the rising edge captures marker position 1, and the timer is set to the falling edge capture, preparing for this next wait to capture the falling edge, step A8.

The Doppler radar 3 is mounted on a cross beam 6 of the precision seeding machine through a mounting frame 7, and an included angle between the rear end face of the Doppler radar 3 and the ground is 55 degrees. The installation angle enables the doppler radar 3 to work in an optimal speed measurement state.

Specifically, as shown in fig. 4 and 5, the mounting bracket 7 has a hoop portion 71 and a mounting portion 72, and the mounting portion 72 has a rotating base hole 721 and two arc-shaped adjusting holes 722; the hoop part 71 is embraced on the cross beam 6 and tightened and fixed through a first screw 73; a mounting hole of the doppler radar 3 is coaxially mounted with the rotating base hole 721 by a second screw 74; the other two mounting holes of the doppler radar 3 are connected to third screws 75, the two third screws 75 respectively pass through the two arc-shaped adjusting holes 722, and each third screw 75 can adjust the position relative to the corresponding arc-shaped adjusting hole 722.

By adopting the mounting structure, the Doppler radar 3 can be conveniently mounted on the cross beam 6, and the position and the orientation angle of the Doppler radar 3 can be adjusted. Specifically, when the position of the doppler radar 3 needs to be adjusted, the hoop part 71 is loosened, the position of the mounting frame 7 on the cross beam 6 is moved, and the hoop part 71 is tightened and fixed after the hoop part is moved to the right position; when the orientation angle of the doppler radar 3 needs to be adjusted, the second screws 74 and all the third screws 75 are loosened, the doppler radar 3 is rotated, the doppler radar 3 rotates around the rotating base hole 721 to adjust the orientation, and after the doppler radar is adjusted to the right position, the second screws 74 and all the third screws 75 are screwed down.

Preferably, the seeding quality monitoring module is a photoelectric sensor 4 arranged at the outlet of the seed sowing device 23; based on this, the process of the control unit 1 obtaining the seeding quality parameter includes the following steps S201 to S203:

step S201, acquiring signals collected by the sowing quality monitoring module;

step S202, calculating the actual time difference of every two seeds falling, and counting the total number of the falling seeds;

step S203, when the total number reaches a set value (such as 250), calculating the seeding quality parameter according to all the collected actual time differences; the sowing quality parameters comprise plant spacing qualification rate, miss-seeding rate, re-seeding rate and variation coefficient. Wherein the coefficient of variation is used to evaluate within the qualified zone (i.e., Δ t) _i ∈(0.5Δt _{i_ref} ～≤1.5Δt _{i_ref} ) Standard deviation of time difference, Δ t _{i_ref} To reference time difference (theoretical time difference), Δ t _i Is the actual time difference.

In step S203, the planting distance qualified rate, the miss-seeding rate and the re-seeding rate are calculated according to the following steps S301-S303:

step S301, obtaining the numerical value of each actual time difference;

step S302, judging the section where the actual time difference falls according to the numerical value of the actual time difference, and carrying out cumulative statistics on the cumulant corresponding to the corresponding section; the interval comprises a replay area, a qualified area and a miss-seeding area, and the corresponding accumulated numbers of the replay area, the qualified area and the miss-seeding area are replay numbers, qualified numbers and miss-seeding numbers respectively;

in this step, the actual time difference Δ t _i ∈(0～≤0.5Δt _{i_ref} ) The time difference belongs to the replay area, the replay number + 1; Δ t _i ∈(1.5Δt _{i_ref} ～≤2.5Δt _{i_ref} ) The time difference belongs to a 1-time miss-seeding area, and the miss-seeding number is + 1; Δ t _i ∈(2.5Δt _{i_ref} ～≤3.5Δt _{i_ref} ) The time difference belongs to the miss-seeding region for 2 times, and the miss-seeding number is + 1; Δ t _i ∈(3.5Δt _{i_ref} Infinity), the time difference belongs to a miss-seeding zone of 3 times, and the miss-seeding number is + 1. The time difference is that the miss-seeding areas of 1 time, 2 times and 3 times belong to miss-seeding.

And step S303, respectively calculating the plant spacing qualification rate, the miss-seeding rate and the re-seeding rate according to the re-seeding number, the qualified number and the miss-seeding number.

The qualification rate, the miss-seeding rate and the rebroadcasting rate are calculated according to the following methods:

by comparing the actual falling time difference delta t of two seeds _i And a reference time difference Δ t _{i_ref} The qualified broadcast, the repeated broadcast and the missed broadcast are divided into the following 5 areas:

run-back zone: Δ t _i ∈(0～≤0.5Δt _{i_ref} ) And the number of occurrences is recorded as n ₁ ’；

And a qualified area: Δ t _i ∈(0.5Δt _{i_ref} ～≤1.5Δt _{i_ref} ) And the number of occurrences is recorded as n ₂ ’；

③ 1 time miss-seeding area: Δ t _i ∈(1.5Δt _{i_ref} ～≤2.5Δt _{i_ref} ) And the number of occurrences is recorded as n ₃ ’；

Fourthly, 2 miss-seeding areas: Δ t _i ∈(2.5Δt _{i_ref} ～≤3.5Δt _{i_ref} ) And the number of occurrences is recorded as n ₄ ’；

Fifthly, a miss-seeding area for 3 times: Δ t _i ∈(3.5Δt _{i_ref} Infinity), the number of occurrences is recorded as n ₅ ’。

The total number N of time differences is:

N＝n ₁ ’+n ₂ ’+n ₃ ’+n ₄ ’+n ₅ ’；

the following equation is established:

(ii) rebroadcastingNumber: n is ₂ ＝n ₁ ’；

The qualified number: n is ₁ ＝N-2n ₂ ；

Number of missed seeding: n is ₀ ＝n ₃ ’+2n ₄ ’+3n ₅ ’；

Interval number: n ═ N ₂ ’+2n ₃ ’+3n ₄ ’+4n ₅ ’；

Calculating the seeding performance index:

the percent of pass is:

replay rate:

the miss-seeding rate:

calculating the coefficient of variation according to the following steps S401-S403:

step S401, acquiring each actual time difference;

step S402, the qualified area time difference is adjusted to 0.1 delta t _{i_ref} Dividing the interval into 10 intervals (0.1 time of theoretical time difference), and counting the frequency of the actual time difference in each interval;

step S403, calculating a standard deviation of the actual time differences distributed in the 10 intervals to obtain a coefficient of variation.

Specifically, the coefficient of variation is calculated as follows:

for a qualified zone, i.e. the time difference Δ t _i ∈(0.5Δt _{i_ref} ～≤1.5Δt _{i_ref} ) Difference in time Δ t _i According to 0.1 Deltat _{i_ref} The division into 10 intervals:

Δt _i ∈(0.5Δt _{i_ref} ～≤0.6Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₀ ’；

Δt _i ∈(0.6Δt _{i_ref} ～≤0.7Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₁ ’；

Δt _i ∈(0.7Δt _{i_ref} ～≤0.8Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₂ ’；

Δt _i ∈(0.8Δt _{i_ref} ～≤0.9Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₃ ’；

Δt _i ∈(0.9Δt _{i_ref} ～≤1.0Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₄ ’；

Δt _i ∈(1.0Δt _{i_ref} ～≤1.1Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₅ ’；

Δt _i ∈(1.1Δt _{i_ref} ～≤1.2Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₆ ’；

Δt _i ∈(1.2Δt _{i_ref} ～≤1.3Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₇ ’；

Δt _i ∈(1.3Δt _{i_ref} ～≤1.4Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₈ ’；

Δt _i ∈(1.4Δt _{i_ref} ～≤1.5Δt _{i_ref} ) And the number of occurrences is recorded as n ₂₉ ’；

Coefficient of variation σ _GB ：

Wherein:

by the method, the plant spacing miss-seeding rate, the re-seeding rate, the qualification rate and the variation coefficient are all counted according to the frequency in the division area, the conversion relation between the time difference and the plant spacing can be not considered, the time difference is directly calculated in the control system for simplifying the calculation process, the calculation is convenient, and the efficiency is high.

By calculating the coefficient of variation, it can be determined whether the current strategy for adjusting the motor 21 matches the forward speed of the implement. If the coefficient of variation is large, when the motor 21 is adjusted, the adjusted rotating speed is obtained by multiplying the target rotating speed calculated according to the previous control strategy by the adjustment coefficient, the motor 21 is controlled to operate according to the adjusted rotating speed, and whether the coefficient of variation returns to a normal value or not is judged at the next stage.

Preferably, the implement state monitoring module is a travel switch 5, and when the precision seeder is in a non-working state, the travel switch 5 is not closed; when the travel switch 5 is not closed, the control unit 1 controls the motor 21 to stop running; when the travel switch 5 is closed, the control unit 1 controls the motor 21 to operate the seed sowing device 23.

Here, the non-operation state means that the seeder is in a lifting state, or the tractor is driving the precision seeder to turn, the stroke switch 5 may be installed at a tractor suspension position on the precision seeder, and in the above non-operation state, the stroke switch 5 is not closed and does not generate an electric signal, and the control unit 1 determines whether the motor 21 is operated according to whether the stroke switch 5 generates a signal, so that it is possible to avoid waste of seeds when the precision seeder is in a lifting state or turns. In the prior art, the seeding unit 23 is controlled to stop running by manpower when the precision seeding machine does not work, which increases the complexity of manual operation and has instability depending on manual operation.

Preferably, the control system further comprises a GPS positioning module 9 connected to the control unit 1, wherein the GPS positioning module 9 is only used for acquiring position data of the implement, so that the position of the implement can be displayed on the parameter display unit 8.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (9)

1. The intelligent control method for the precision seeder based on Doppler radar speed measurement comprises the steps that the precision seeder comprises a seed sowing device driven by a motor to run, a control system comprises a speed monitoring module and a control unit for implementing the intelligent control method, and the control unit adjusts the rotating speed of the motor based on speed data obtained by the speed monitoring module; the system is characterized in that the speed monitoring module is a Doppler radar; the control system also comprises a sowing quality monitoring module, a machine tool state monitoring module and a parameter display unit;

the intelligent control method comprises the following steps:

acquiring the receiving frequency of the Doppler radar, and calculating the advancing speed of the precision seeder;

calculating a target rotating speed of the motor according to the forward speed;

driving the motor to operate according to the target rotating speed, and simultaneously controlling the motor to start and stop based on the machine tool state monitoring module;

acquiring data collected by the sowing quality monitoring module and calculating sowing quality parameters;

and outputting the sowing quality parameters to the parameter display unit.

2. The intelligent control method for the precision seeding machine based on the Doppler radar speed measurement is characterized in that the Doppler radar is installed on a cross beam of the precision seeding machine through a mounting frame, and the included angle between the rear end surface of the Doppler radar and the ground is 55 degrees.

3. The intelligent control method for the precision seeder based on doppler radar speed measurement according to claim 2, wherein the mounting bracket has a hoop portion and a mounting portion, and the mounting portion has a rotating base hole and two arc-shaped adjusting holes; the hoop part is encircled on the cross beam and tightened and fixed through a first screw;

one mounting hole of the Doppler radar is coaxially mounted with the rotary base hole through a second screw;

and the other two mounting holes of the Doppler radar are connected with third screws, the two third screws respectively penetrate through the two arc-shaped adjusting holes, and the position of each third screw can be adjusted relative to the corresponding arc-shaped adjusting hole.

4. The intelligent control method for precision seeding machine based on Doppler radar speed measurement as claimed in claim 1, wherein the measurement of the frequency of the pulse signal output by the Doppler radar is completed by a timer of the control unit, the timer is set to an input capture working state, and the working flow is as follows:

after the interruption, firstly judging whether the capturing is successful at the moment;

if the capture is successful, indicating that the main program does not finish the speed calculation, giving up the interrupt processing and exiting the interrupt program;

if the capture is not successful, judging whether the interrupt is an overflow interrupt;

if the overflow interruption is detected, judging whether the overflow is in a high level state; if the high level state overflows, the overflow times are +1, and the interrupt program is quitted;

if the interruption is not the overflow interruption, the interruption is the capture interruption;

judging whether to capture a falling edge;

if capturing the falling edge, indicating that the capturing is finished, marking the successful capturing, acquiring the current capturing value, calculating the high-level duration and the pulse frequency, and setting a timer for capturing the rising edge to prepare for the next capturing;

if a falling edge is not captured, i.e. a rising edge is captured, the rising edge captures the marker position 1 and the timer is set to falling edge capture, preparing for this time waiting to capture the falling edge.

5. The intelligent control method for precision seed drills based on Doppler radar speed measurement according to claim 1, wherein the seeding quality monitoring module is a photoelectric sensor arranged at the outlet position of the seed sowing device;

the acquiring the data collected by the sowing quality monitoring module and calculating the sowing quality parameters comprises the following steps:

acquiring a signal generated by the photoelectric sensor;

calculating the actual time difference of every two seeds falling, and counting the total number of the seeds falling;

when the total number reaches a set value, calculating the sowing quality parameter according to all the collected actual time differences; the sowing quality parameters comprise plant spacing qualification rate, miss-seeding rate, re-seeding rate and variation coefficient.

6. The intelligent control method for precision seed drills based on Doppler radar speed measurement according to claim 5, wherein the planting distance qualification rate, the miss-seeding rate and the re-seeding rate are calculated according to the following steps:

acquiring a numerical value of each actual time difference;

judging the interval in which the actual time difference falls according to the numerical value of the actual time difference, and carrying out cumulative statistics on the cumulant corresponding to the corresponding interval; the interval comprises a replay area, a qualified area and a miss-seeding area, and the corresponding accumulated numbers of the replay area, the qualified area and the miss-seeding area are replay numbers, qualified numbers and miss-seeding numbers respectively;

and respectively calculating the plant spacing qualification rate, the miss-seeding rate and the re-seeding rate according to the re-seeding number, the qualified number and the miss-seeding number.

7. The intelligent control method for precision seed drills based on Doppler radar speed measurement according to claim 5, wherein the coefficient of variation is calculated according to the following steps:

acquiring each actual time difference;

the time difference of the qualified area is adjusted to 0.1 delta t _{i_ref} The interval is divided into 10 intervals, and the frequency of the actual time difference occurring in each interval is counted, wherein, delta t _{i_ref} The theoretical time difference;

and calculating the standard deviation of the actual time differences distributed in 10 intervals to obtain the coefficient of variation.

8. The intelligent control method for precision seed drills based on doppler radar speed measurement according to claim 1, wherein the implement status monitoring module is a travel switch that is not closed when the precision seed drill is in a non-operating state;

the control of starting and stopping the motor based on the implement state monitoring module comprises:

judging whether the travel switch is closed or not;

when the travel switch is not closed, the control unit controls the motor to stop running;

when the travel switch is closed, the control unit controls the motor to operate so as to enable the seed sowing device to work.

9. The intelligent control method for precision seed drills based on Doppler radar speed measurement according to claim 1, wherein the control system further comprises a GPS positioning module connected with the control unit; the intelligent control method further comprises the following steps:

acquiring a data message generated by the GPS positioning module, and analyzing the position information of the precision seeder;

and outputting the position information to the parameter display unit.

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