CN115226579B - Precision planting method, system and device for oil wheat field painting machinery - Google Patents
Precision planting method, system and device for oil wheat field painting machinery Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G22/00—Cultivation of specific crops or plants not otherwise provided for
- A01G22/20—Cereals
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
Abstract
The invention relates to a mechanical accurate planting method, a system and a device for a wheat field painting, which comprise the following steps: step S1, constructing a wheat field painting planting diagram, step S2, constructing a seed metering device single body positioning model, step S3, constructing a hysteresis compensation model, step S4, matching coordinates of the corrected rape seed metering device single body and the corrected wheat seed metering device single body with longitude and latitude information in the wheat field painting planting diagram and returning to a sowing type, and controlling automatic switching of the rape seed metering device single body and the wheat seed metering device single body according to the sowing type to mechanically plant the wheat field painting. The method is simple to operate and high in feasibility, reduces the operation difficulty of field operators, further improves the planting accuracy of the oil wheat field painting, and can provide an information guiding basis for mechanical accurate planting of the oil wheat field painting.
Description
Technical Field
The invention belongs to the technical field of agricultural informatization and intellectualization, and relates to a method, a system and a device for mechanically and accurately planting oil wheat field pictures.
Background
In recent years, with the increasing rise of sightseeing agriculture, the field painting planting of the oil wheat gradually becomes a unique earth art and has high ornamental value. The rape and wheat field painting is to plant rape and wheat simultaneously on defined farmland land according to designed pattern and to form one drawing on farmland land with the color difference of mature rape and wheat plants.
However, at present, a 'Sudoku' method is commonly adopted for the pattern planting of the wheat, wherein a traditional line drawing device is used for drawing a Sudoku in the field during planting, then a marker post is used for marking the positions of all nodes in the Sudoku according to the node coordinates of the graph or the font, then the outline of the pattern or the font is drawn in the field through a line drawing, and finally the planting of the wheat pattern is realized through a manual planting or transplanting method. The traditional planting method is complex in operation, time-consuming, labor-consuming, high in cost, high in requirement on planting personnel, difficult to globally grasp and conscious when common farmers plant or transplant in areas, and prone to errors. The traditional pattern planting method of the oilseed wheat restricts the popularization of the agricultural tourism sightseeing industry.
The prior related researches determine the position and the sowing type of the sowing points through a field positioning instrument, an RTK positioning instrument, a laser mapping instrument and the like, but most of the related researches still manually mark the figure contour points through manually using markers, so that the related researches have large workload, low efficiency and easy occurrence of errors of the sowing types, and no related report exists on the research on the mechanical accurate planting of the oil wheat field painting.
Disclosure of Invention
Aiming at the technical problems, one of the purposes of the invention is to provide a mechanical accurate planting method for the oil and wheat field painting, which is simple to operate and high in feasibility, reduces the operation difficulty of field operators, further improves the planting accuracy of the oil and wheat field painting, and can provide an information guiding foundation for the mechanical accurate planting of the oil and wheat field painting.
Aiming at the technical problems, one of the purposes of the invention is to provide a system for realizing the mechanical accurate planting method of the oil wheat field painting.
In view of the above-mentioned technical problems, it is an object of one embodiment of the present invention to provide a canola and wheat sowing apparatus including the system.
Note that the description of these objects does not prevent the existence of other objects. Not all of the above objects need be achieved in one embodiment of the present invention. Other objects than the above objects can be extracted from the description of the specification, drawings, and claims.
The technical scheme of the invention is as follows:
a mechanical precise planting method for a wheat field painting comprises the following steps:
s1, constructing a field painting planting diagram of the oil wheat: constructing a field painting planting diagram of the wheat according to a to-be-manufactured wheat Tian Huatu plan, and converting pattern information of the field painting of the wheat into digital information;
S2, constructing a single body positioning model of the seed metering device: the position information and the course angle information received by the GNSS positioning module are transmitted to the main controller, a rape seed sowing device single positioning model and a wheat seed sowing device single positioning model are constructed, and coordinates of the rape seed sowing device single and the wheat seed sowing device single are calculated;
step S3, establishing a hysteresis compensation model: respectively establishing a rape hysteresis compensation model and a wheat hysteresis compensation model to obtain a hysteresis compensation distance of an actual sowing position lagging behind a theoretical sowing position, and correcting a main controller to obtain coordinates of a corrected rape seed sowing device unit and a corrected wheat seed sowing device unit;
step S4, controlling the automatic switching of the wheat and oil sowing: the main controller matches the coordinates of the corrected rape seed sowing device unit and the corrected wheat seed sowing device unit with longitude and latitude information in the rape field drawing planting diagram and returns the sowing type according to the rape field drawing planting diagram, the seed sowing device unit positioning model and the hysteresis compensation model, and controls the rape seed sowing device unit and the wheat seed sowing device unit to automatically switch according to the sowing type so as to mechanically plant the rape field drawing.
In the above scheme, the step S1 of constructing the oil wheat field painting planting chart specifically includes:
S11: drawing and planting field outline lofting of the oil wheat field: measuring longitude and latitude coordinates of the field blocks planted in the oil wheat field painting by using the RTK; minimum measurement of longitude and latitude coordinates (x) of four vertices of maximum square in field i ,y j ) The method comprises the steps of carrying out a first treatment on the surface of the For irregular fields, the maximum square in the field is taken for measurement in the embodiment;
s12: drawing a plane outline drawing of the oil wheat field painting: drawing a plane outline drawing of the wheat pattern by using drawing software;
s13: digitizing the pattern information of the flat outline drawing of the oil wheat field: the software processes the graying and binarization of the plane contour map, and converts the pattern information of the plane contour map into digital information;
s14: the pixel coordinates of the plane contour map correspond to the longitude and latitude of the field block: according to the similarity relation between the plane outline and the field planting blocks of the wheat and oil field, a mapping relation between pixel coordinates of the plane outline and longitude and latitude of the field blocks is established through a coordinate system rotation method, longitude and latitude information and sowing type information are obtained, and the information is combined with sowing row spacing of the wheat and oil field to generate the wheat and oil field planting blocks.
Further, the step S14 of the correspondence between the pixel coordinates of the planar contour map and the longitude and latitude of the field block specifically includes the following steps:
s141 in the actual planting process, assuming that the included angle between the short side of the field and the positive direction of the Y axis is alpha, the coordinates of each point of the field in the coordinate system XOY are (x i ,y j )；
S142, rotating the coordinate system XOY by an alpha degree anticlockwise by taking the origin O of the coordinate as a base point through a coordinate system rotation method to enable the boundary of the block ABCD to be parallel to the longitude and latitude lines, and obtaining the coordinates (X ') of each point of the block ABCD in the coordinate system X' OY 'through a coordinate system anticlockwise rotation coordinate transformation formula' i ,y′ j ) The coordinate transformation formula for counterclockwise rotation of the coordinate system is as follows:
s143, grid division is carried out on the plane contour map by combining sowing row spacing through the similarity relation between the plane contour map abcd of the oil wheat field painting and the field blocks A 'B' C 'D', and the mapping relation between pixel coordinates of the plane contour map abcd of the oil wheat field painting and longitude and latitude coordinates of the field blocks A 'B' C 'D' is established:
(x′ i ,y′ j )＝F(x p ,y q ) (2)
s144, according to the coordinate transformation relation of the field block ABCD and the field block A 'B' C 'D' and the mapping relation of the pixel coordinates of the pattern ABCD and the longitude and latitude coordinates of the field block A 'B' C 'D', the mapping relation of the pixel coordinates of the pattern ABCD and the longitude and latitude coordinates of the field block ABCD is obtained by the simultaneous formula (1) and the formula (2), an example table with longitude and latitude coordinates and a sowing type is generated, wherein the sowing type is represented by sowing rape when the sowing type is 1, and sowing wheat is represented by the sowing type when the sowing type is 0;
s145, importing excel file information into ArcGIS to generate a field painting planting diagram of the oil wheat.
In the above scheme, the step S2 of constructing a single positioning model of the seed metering device specifically includes:
the GNSS positioning module receives the position information and the course angle information of traction equipment of the rape and wheat sowing integrated machine and transmits the information to the main controller, the main controller constructs a rape seed sowing device single body positioning model and a wheat seed sowing device single body positioning model, and calculates coordinates of an ith row of rape seed sowing device single body and a jth row of wheat seed sowing device single body, wherein i is [1, m ], j is [1, n ], m is the number of rape seed sowing device single bodies, n is the number of wheat seed sowing device single bodies, and m and n are even numbers.
Further, the construction of the single positioning model of the rape seed sowing device and the single positioning model of the wheat seed sowing device specifically comprises the following steps:
s21, obtaining coordinates (x, y) and a course angle alpha of a GNSS receiver according to a GNSS positioning module, wherein the course angle is an included angle between the advancing direction of the machine and the north direction, the east direction is positive, and alpha epsilon [ -pi, pi ];
s22, rotating the coordinate system XOY by an alpha degree anticlockwise by taking the coordinate origin O as a base point, enabling the positive direction of the Y axis to be parallel to the advancing direction of the machine tool, obtaining a coordinate system X 'OY', and obtaining a coordinate (X ', Y') of the GNSS receiver under the coordinate system X 'OY' through a coordinate system anticlockwise rotation coordinate transformation formula, wherein the coordinate system anticlockwise rotation coordinate transformation formula is as follows:
S23, obtaining coordinates of the rape ith row seed metering device monomer in a coordinate system X 'OY' according to a vertical distance L1 from the GNSS receiver to the rape seed metering device monomer and a vertical distance L2 from the wheat seed metering device monomer, wherein the rape seeding row spacing D1 and the wheat seeding row spacing D2 are as follows:
coordinates of the j-th row wheat seed sowing device monomer under the coordinate system X 'OY':
s24, converting the coordinates of each single body in the coordinate system X 'OY' into the coordinates in the coordinate system XOY by rotating the coordinate conversion formula clockwise in the coordinate system, and the coordinates of the single body of the rape ith row seed sowing device in the coordinate system XOY:
coordinates of the j-th row wheat seed sowing device monomer under a coordinate system XOY:
in the above scheme, the step S3 of establishing the hysteresis compensation model specifically includes the following steps:
dividing the whole sowing process into an information acquisition stage, a sowing decision stage, an execution stage and a seed dropping stage;
the lag time t generated in the information acquisition stage 1 The sampling frequency f of the GNSS receiver is obtained by the following steps:
the lag time t generated by the seeding decision stage 2 The method comprises the steps of obtaining the transmission data frame number, the transmission speed and the execution time of a main controller algorithm by adding;
the time required for the motor speed change in the execution stage is as follows:
t 3 ＝f 1 (Δω)
t′ 3 ＝f′ 1 (Δω′)
wherein: t is t 3 For the time required by the rotation speed change of the rape motor, delta omega is the rotation speed change quantity of the motor, and f 1 At t 3 And Δω, t' 3 For the time required by the change of the motor rotation speed of the wheat, delta omega 'is the change quantity of the motor rotation speed and f' 1 Is t' 3 And Δω';
time required for seeds to fall from the seed discharging port to the seed groove in the seed falling stage:
t 4 ＝f 2 (ω)
t′ 4 ＝f′ 2 (ω′)
wherein: t is t 4 For the time required for rape seeds to fall from the seed metering opening to the seed groove, omega is the rotation speed of a single driving motor of the rape seed metering device, and f 2 At t 4 Function of ω, t' 4 For the time required for wheat seeds to fall from the seed metering mouth to the seed groove, omega ' is the rotation speed of a single driving motor of the wheat seed metering device, and f ' ' 2 Is t' 4 As a function of ω' and,
the hysteresis compensation distance S is calculated by the following formula:
S 1 ＝v q (t 1 +t 2 +t 3 +t 4 )
S 2 ＝v q (t 1 +t 2 +t′ 3 +t′ 4 )
wherein: s is S 1 Hysteresis compensation distance for rape sowing S 2 Hysteresis compensation distance for wheat sowing, v q Is the advancing speed of the seeder;
in the above scheme, the step S4 of controlling the automatic switching of the wheat seeding is to determine the coordinates of the modified rape ith row seed metering unit under the coordinate system XOY according to the positioning model of the rape seed metering unit in the step S2 and the rape hysteresis compensation model in the step S3, and determine the coordinates of the modified wheat jth row seed metering unit under the coordinate system XOY according to the positioning model of the wheat seed metering unit and the wheat hysteresis compensation model; determining the sowing type of each seed metering unit according to the coordinates of each seed metering unit and the wheat field painting planting pattern in the step S1; the main controller controls the motors of the rape seed sowing device unit and the wheat seed sowing device unit to start or stop in advance through controlling the motor controller, and the types of the wheat sowing are switched at the boundary of the wheat, so that the mechanical planting of the wheat field painting is performed.
Further, the step S4 of controlling the automatic switching of the wheat and oil sowing specifically includes:
s41, determining that the modified rape i-th row seed metering device monomer is under a coordinate system XOY according to the positioning model of the rape seed metering device monomer in the step S2 and the rape hysteresis compensation model in the step S3Coordinates (x) ix ，y ix )；
(x′ ix ，y′ ix ) Coordinates of rape seed sowing device monomers corrected by the rape hysteresis compensation model under X 'OY';
determining coordinates (x) of the modified wheat jth row seed metering device monomer under a coordinate system XOY according to the wheat seed metering device monomer positioning model in the step S2 and the wheat hysteresis compensation model in the step S3 jx ，y jx )：
(x′ jx ，y′ jx ) Coordinates of a wheat seed sowing device monomer under X 'OY' after correction of the wheat hysteresis compensation model;
correcting the position coordinates of the seed sowing device monomers under a coordinate system X 'OY' according to the hysteresis compensation distance S, and converting the corrected coordinates into coordinates under a coordinate system XOY;
s42, determining the sowing type of each seed metering device unit according to the coordinates of each seed metering device unit and the wheat field painting planting diagram in the step S1;
s43, controlling motors of the rape seed sowing device unit and the wheat seed sowing device unit to start or stop in advance through a motor controller, switching the type of the wheat sowing at the boundary of the wheat, and carrying out mechanical planting of the wheat field painting.
A control system for realizing the mechanical precise planting method of the oil wheat field painting comprises a GNSS positioning module and a main controller;
the positioning receiver of the GNSS positioning module is arranged on the central axis of the traction equipment of the rape and wheat sowing integrated machine, is used for collecting the position information and the course angle information of the traction equipment and is transmitted to the main controller;
the main controller comprises an oil wheat field painting information processing module and an oil wheat seeding automatic switching control module
The main controller comprises a wheat field painting planting diagram construction module, a seed sowing device single positioning module, a hysteresis compensation module and a wheat seeding automatic switching module
The oilseed rape field painting planting diagram construction module is used for constructing an oilseed rape field painting planting diagram according to the Tian Huatu scheme of the oilseed rape to be manufactured and converting pattern information of the oilseed rape field painting into digital information;
the seed metering device single body positioning module is used for receiving the position information and the course angle information through the GNSS positioning module, transmitting the position information and the course angle information to the main controller, constructing a rape seed metering device single body positioning model and a wheat seed metering device single body positioning model, and calculating coordinates of a rape seed metering device single body and a wheat seed metering device single body;
the hysteresis compensation module is used for respectively establishing a rape hysteresis compensation model and a wheat hysteresis compensation model to obtain a hysteresis compensation distance of an actual sowing position lagging behind a theoretical sowing position, and correcting the main controller to obtain coordinates of a corrected rape seed sowing device monomer and a corrected wheat seed sowing device monomer;
The automatic switching module for the wheat seeding is used for matching the coordinates of the corrected rape seed sowing device unit and the corrected wheat seed sowing device unit with longitude and latitude information in the wheat field painting planting diagram and returning to the seeding type according to the wheat field painting planting diagram, the positioning model of the seed sowing device unit and the hysteresis compensation model, and controlling the automatic switching of the rape seed sowing device unit and the wheat seed sowing device unit according to the seeding type to mechanically plant the wheat field painting.
A rape wheat seeding device comprises a control system, traction equipment and a rape wheat seeding integrated machine;
the traction equipment is a tractor, the tractor is used for hanging and dragging the rape and wheat sowing integrated machine through three points, and the positioning receiver of the GNSS positioning module is arranged on the central axis of the tractor;
the rape and wheat seeding integrated machine is provided with a plurality of wheat seed metering units and a plurality of rape seed metering units, and each rape seed metering unit and each wheat seed metering unit are driven by a servo motor respectively.
Compared with the prior art, the invention has the beneficial effects that:
according to one mode of the invention, the pattern information of the oil wheat field painting can be converted into digital information to guide the operation of the oil wheat field painting mechanical accurate planting device, so that information guidance is provided for the oil wheat field painting mechanical accurate planting, the cost of the oil wheat field painting planting is reduced, and the popularization of agricultural tourism sightseeing industry is facilitated; precisely calculating the single coordinates of each seed sowing device of the rape and the wheat according to a single GNSS positioning system; according to one mode of the invention, a rape and wheat sowing lag compensation model can be established, the offset distance of a rape sowing boundary caused by lag is reduced, and the accurate and rapid switching of the rape sowing type at the rape sowing boundary in a rape field picture is realized.
Note that the description of these effects does not hinder the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above are obvious and can be extracted from the description of the specification, drawings, claims, and the like.
Drawings
FIG. 1 is a plan view of a field painting according to an embodiment of the present invention;
FIG. 2 is a schematic gray scale drawing of a field plan outline of a field according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating binarization of a field plan outline of a field of oil according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a mapping method between pixel coordinates and longitude and latitude coordinates of a field according to an embodiment of the present invention;
FIG. 5 is a table file with latitude and longitude information and seed type according to an embodiment of the present invention;
FIG. 6 is a diagram of a field painting of wheat and oil according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a straight-moving positioning model of each monomer of a precision planter for oil and wheat field painting in accordance with one embodiment of the present invention;
FIG. 8 is a schematic diagram of a precision planting device for oil and wheat field painting in an X 'OY' coordinate system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram showing the compensation of the hysteresis of the straight seeding of the precision planter for the oil and wheat field painting machine according to one embodiment of the present invention;
FIG. 10 is a schematic diagram of a planter unit and hysteresis compensation according to one embodiment of the present invention;
FIG. 11 is a schematic diagram of rape and wheat boundary and hysteresis compensation regulation according to an embodiment of the present invention;
fig. 12 shows the automatic switching control principle of the wheat and oil sowing according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention provides a mechanical precise planting method for a wheat field painting, which comprises the following steps:
constructing a field painting planting diagram of the wheat according to a to-be-manufactured wheat Tian Huatu plan, and converting pattern information of the field painting of the wheat into digital information; precisely calculating the single coordinates of each seed sowing device of the rape and the wheat according to a single GNSS positioning system; establishing a rape and wheat sowing lag compensation model, reducing the offset distance of a rape sowing boundary caused by lag, and realizing accurate and rapid switching of the rape sowing type at the rape boundary in a rape field picture; the method can realize mechanical accurate planting of the oil wheat field painting, reduces the planting difficulty of the oil wheat field painting, reduces the planting cost, and is favorable for popularization of agricultural tourism sightseeing industry.
The invention is further described below with reference to the drawings and examples;
the mechanical precise planting method for the oil wheat field painting comprises the following steps:
s1, constructing a field painting planting diagram of the oil wheat: constructing a field painting planting diagram of the wheat according to a to-be-manufactured wheat Tian Huatu plan, and converting pattern information of the field painting of the wheat into digital information;
s2, constructing a single body positioning model of the seed metering device: according to the position relation between a tractor and a seeder and the distance between two adjacent rows of seed metering devices, combining the position information and course angle information received by a GNSS positioning module, constructing a seed metering device single positioning model comprising a rape seed metering device single positioning model and a wheat seed metering device single positioning model, and calculating coordinates of an ith row of rape seed metering device single and a jth row of wheat seed metering device single, wherein i epsilon [1, m ], j epsilon [1, n ], m is the number of rape seed metering device single, n is the number of wheat seed metering device single, and m and n are both even numbers;
step S3, establishing a hysteresis compensation model: respectively establishing a rape hysteresis compensation model and a wheat hysteresis compensation model, correcting the main controller, reducing the hysteresis distance of the actual sowing position lagging the theoretical sowing position caused by the control hysteresis of the main controller, and improving the sowing precision of the main controller;
Step S4, controlling the automatic switching of the wheat and oil sowing: and the main controller matches the corrected longitude and latitude coordinates with longitude and latitude information in the oil-wheat field painting planting diagram and returns to a sowing type according to the oil-wheat field painting planting diagram, the seed metering device single positioning model and the hysteresis compensation model, controls the automatic switching of the oil-wheat field painting single and the wheat seed metering device single, and performs mechanical planting of the oil-wheat field painting.
Constructing a wheat-oil planting diagram in the step S1, and drawing a plane outline diagram of the wheat-oil pattern according to the actual field size by using AutoCAD and Photoshop or other drawing software in proportion; converting the pattern information of the plane outline map into digital information through graying and binarizing the plane outline map by MATLAB or other processing software; according to the similarity relation between the pattern and the field, establishing a mapping relation between pixel coordinates of the pattern and longitude and latitude of the field, and obtaining a table with longitude and latitude information and sowing types; and importing the excel file information into an ArcGIS to generate the wheat pattern planting map. The method for constructing the oil wheat planting map specifically comprises the following steps of:
s11: drawing and planting field outline lofting of the oil wheat field: measuring longitude and latitude coordinates of the field blocks planted in the oil wheat field painting by using the RTK; minimum measurement of longitude and latitude coordinates (x) of four vertices of maximum square in field i ,y j ) The method comprises the steps of carrying out a first treatment on the surface of the For irregular fields, the maximum square in the field is taken for measurement in the embodiment;
s12: drawing a plane outline drawing of the oil wheat field painting: drawing a plane outline drawing of the wheat pattern by utilizing AutoCAD and Photoshop software or other drawing software;
s13: digitizing the pattern information of the flat outline drawing of the oil wheat field: converting pattern information of the plane outline map into digital information through graying and binarizing the plane outline map by MATLAB or other software;
s14: the pixel coordinates of the plane contour map correspond to the longitude and latitude of the field block: according to the similarity relation between the plane contour map and the field planting blocks of the oil wheat field painting, establishing a mapping relation between pixel coordinates of the plane contour map and longitude and latitude of the field blocks by a coordinate system rotation method, and obtaining a table with longitude and latitude information and sowing types; and importing excel file information into ArcGIS, and generating a field drawing planting diagram of the oil wheat by combining the sowing row spacing of the oil rape and the wheat.
The drawing of the plane outline drawing of the field painting of the oil wheat in the step S12 specifically comprises the following steps:
drawing a plane outline drawing of the oil wheat field painting: preferably, this embodiment selects the oil wheat field pattern "five-pointed star" shown in fig. 1. Drawing a five-pointed star pattern on a canvas through AutoCAD software, then trimming the pixel size of the planar pattern according to the actual field size by utilizing Photoshop in proportion, and exporting the trimmed picture into a PNG format;
The digitizing of the pattern information of the field drawing plan outline in the step S13 specifically includes the following steps:
reading a plane outline drawing of the oil field painting through Matlab, and then converting the pattern into a gray image, as shown in figure 2; then, carrying out threshold binarization processing on the gray level image, wherein the effect after the processing is shown in fig. 3, and converting the pattern information of the plane contour map into digital information;
the method for correspondence between pixel coordinates of the plane contour map and longitude and latitude of the field in the step S14 is to establish a mapping relationship between pixel coordinates of the pattern and longitude and latitude of the field by combining a seeding row spacing through a similar relationship between coordinate system rotation and plane contour map and field, and obtain a table with longitude and latitude information and a seeding type, wherein when the value of the seeding type is 1, it represents seeding rape, and when the value of the seeding type is 0, it represents seeding wheat, as shown in fig. 2; the method specifically comprises the following steps:
s141 As shown in FIG. 4, in the actual planting process, the boundary of the field ABCD is not parallel to the warp and weft, the included angle between the short side of the field and the positive direction of the Y axis is alpha, and the coordinates of each point of the field in the coordinate system XOY are (x i ,y j )；
S142, rotating the coordinate system XOY by an alpha degree anticlockwise by taking the origin O of the coordinate as a base point through a coordinate system rotation method to enable the boundary of the block ABCD to be parallel to the longitude and latitude lines, and obtaining the coordinates (X ') of each point of the block ABCD in the coordinate system X' OY 'through a coordinate system anticlockwise rotation coordinate transformation formula' i ,y′ j ) The coordinate transformation formula for counterclockwise rotation of the coordinate system is as follows:
s143, grid division is carried out on the plane contour map by combining sowing row spacing through the similarity relation between the plane contour map abcd of the oil wheat field painting and the field blocks A 'B' C 'D', and the mapping relation between pixel coordinates of the plane contour map abcd of the oil wheat field painting and longitude and latitude coordinates of the field blocks A 'B' C 'D' is established:
(x′ i ,y′ j )＝F(x p ,y q ) (2)
s144, according to the coordinate transformation relation of the field block ABCD and the field block A 'B' C 'D' and the mapping relation of the pixel coordinates of the pattern ABCD and the longitude and latitude coordinates of the field block A 'B' C 'D', the mapping relation of the pixel coordinates of the pattern ABCD and the longitude and latitude coordinates of the field block ABCD is obtained by the simultaneous formula (1) and the formula (2), an example table with longitude and latitude coordinates and a sowing type is generated, wherein the sowing type is represented by sowing rape when the sowing type is 1, and sowing wheat is represented by the sowing type when the sowing type is 0, as shown in figure 5;
s145, importing excel file information into ArcGIS to generate a field painting planting diagram of the oil wheat, as shown in FIG. 6.
The step S2 of establishing a single positioning model of the rape seed sowing device and a single positioning model of the wheat seed sowing device comprises the following steps:
s21, obtaining coordinates (x, y) and a course angle alpha of the GNSS receiver according to the GNSS positioning module 2, wherein the course angle is an included angle between the advancing direction of the machine tool and the north direction, the east direction is positive, and alpha epsilon [ -pi, pi ];
S22, rotating the coordinate system XOY by an alpha degree anticlockwise by taking the coordinate origin O as a base point, enabling the positive direction of the Y axis to be parallel to the advancing direction of the machine tool, obtaining a coordinate system X 'OY', and obtaining a coordinate (X ', Y') of the GNSS receiver under the coordinate system X 'OY' through a coordinate system anticlockwise rotation coordinate transformation formula, wherein the coordinate system anticlockwise rotation coordinate transformation formula is as follows as shown in FIG. 9:
s23, according to the vertical distance L1 from the GNSS receiver to the rape seed sowing unit 6 and the vertical distance L2 from the wheat seed sowing unit 7; obtaining coordinates of a rape ith row seed sowing device monomer under a coordinate system X 'OY' by using a rape sowing row spacing D1 and a wheat sowing row spacing D2:
coordinates of the j-th row wheat seed sowing device monomer under the coordinate system X 'OY':
s24, converting the coordinates of each single body in the coordinate system X 'OY' into the coordinates in the coordinate system XOY by rotating the coordinate conversion formula clockwise in the coordinate system, and the coordinates of the single body of the rape ith row seed sowing device in the coordinate system XOY:
coordinates of the j-th row wheat seed sowing device monomer under a coordinate system XOY:
in the step S3, the establishment of the rape and wheat hysteresis compensation model comprises the following steps:
s31, dividing the whole sowing process into 4 parts of an information acquisition stage, a sowing decision stage, an execution stage and a seed dropping stage.
S32, lag time t generated in information acquisition stage 1 Mainly caused by the sampling frequency of the GNSS receiver, the sampling frequency f of the GNSS receiver can be obtained:
s33, lag time t generated in seeding decision stage 2 The method mainly comprises data communication time and main controller algorithm execution time, and lag time t generated in seeding decision stage can be obtained by collecting transmission data frame number, transmission speed and main controller algorithm execution time 2
S34, the time required by motor speed change in the execution stage is mainly caused by motor speed change caused by sowing type change, so that the quantitative relation between the time required by motor speed change in the execution stage and the motor speed change amplitude can be obtained through an acceleration and deceleration test of a driving motor of the seed sowing device;
t 3 ＝f 1 (Δω)
t′ 3 ＝f′ 1 (Δω′)
wherein: t is t 3 The time required for the rotation speed change of the rape motor is shortened; Δω is the motor rotational speed variation; f (f) 1 At t 3 And Δω; t' 3 The time required for the change of the rotating speed of the wheat motor is; Δω' is the motor rotational speed variation; f's' 1 Is t' 3 And Δω';
s35, the time t required for the seeds to fall from the seed discharging port to the seed grooves in the seed falling stage 4 Mainly determined by the seed falling height and the motor rotation speed, the seed falling height is almost unchanged in the sowing process, thus t 4 Mainly influenced by the rotation speed of the motor, so t can be obtained through seed sowing tests of the seed sowing device at different rotation speeds 4 And quantitative relation under different motor speeds;
t 4 ＝f 2 (ω)
t′ 4 ＝f′ 2 (ω′)
wherein: t is t 4 The time required for the rape seeds to fall from the seed discharging port to the seed groove; omega is the rotation speed of a single driving motor of the rape seed sowing device, f 2 At t 4 Function with ω; t' 4 The time required for the wheat seeds to fall from the seed discharging port to the seed groove; omega ' is the rotation speed of a single driving motor of the wheat seed sowing device, and f ' ' 2 Is t' 4 Function with ω'; the hysteresis compensation distance S in the hysteresis compensation method is calculated by the following formula:
S 1 ＝v q (t 1 +t 2 +t 3 +t 4 )
S 2 ＝v q (t 1 +t 2 +t′ 3 +t′ 4 )
wherein: s is S 1 Hysteresis compensation distance for sowing rape, m; s is S 2 Sowing wheat for a hysteresis compensation distance m; v q The advancing speed of the seeder is m/s;
as shown in FIG. 10 and FIG. 11, the rape seed sowing lag distance is S 1 The wheat seeding lag distance is S 2 ；
And a compensation distance S is added for each seed sowing device unit in the advancing direction of the machine tool, so that the deviation distance of the boundary of the wheat due to hysteresis is reduced, and the accurate switching of the wheat types at the boundary position is realized.
The automatic switching control method for the wheat seeding type in the step S4 specifically comprises the following steps:
as shown in fig. 12, the automatic switching control module for the rape seed sowing device monomer positioning model, the wheat seed sowing device monomer positioning model and the hysteresis compensation model match the coordinate information of the rape seed sowing device monomer and the wheat seed sowing device monomer after correction with the sowing information in the rape field painting planting chart, acquire the sowing type of each seed sowing device monomer, control the starting and stopping of the motor of each seed sowing device monomer, and realize the accurate and rapid switching of the rape sowing type at the boundary of the wheat in the rape field painting; and the encoder is used for collecting the real-time rotating speed of the motor and feeding back the rotating speed information to the control module, so that the control precision of the rotating speed of the motor is improved.
S41, determining coordinates (x) of the modified rape ith row seed metering unit monomer under a coordinate system XOY according to the positioning model of the rape seed metering unit monomer in the step S2 and the rape hysteresis compensation model in the step S3 ix ，y ix )；
(x′ ix ，y′ ix ) Coordinates of rape seed sowing device monomers corrected by the rape hysteresis compensation model under X 'OY';
determining coordinates (x) of the modified wheat jth row seed metering device monomer under a coordinate system XOY according to the wheat seed metering device monomer positioning model in the step S2 and the wheat hysteresis compensation model in the step S3 jx ，y jx )：
In order to simplify the algorithm and improve the solving efficiency of the single correction position of each seed metering device, the invention adopts the calculation strategy as follows: firstly, correcting the position coordinates of the seed sowing device monomers under a coordinate system X 'OY' according to a hysteresis compensation distance S, and then converting the corrected coordinates into coordinates under a coordinate system XOY;
s42, determining the sowing type of each seed metering device unit according to the coordinates of each seed metering device unit and the wheat field painting planting diagram in the step S1;
s43, controlling motors of the rape seed sowing device unit and the wheat seed sowing device unit to start or stop in advance through the motor controller, realizing accurate switching of the types of the wheat sowing at the boundary of the wheat, and further realizing mechanical planting of the wheat field painting.
Step S5: a planting method of a wheat field painting;
the mechanical planting modes of the oil wheat field painting are two, and concretely comprise the following two modes:
1, acquiring the longitude and latitude of a seeding point in the field through a GNSS Beidou positioning system, and comparing the longitude and latitude coordinate of the point with the longitude and latitude in the table with the longitude and latitude coordinate and the seeding type generated by the invention to acquire the seeding type under the longitude and latitude coordinate.
2, guiding the rape and wheat variable sowing integrated machine to perform variable sowing according to longitude and latitude information acquired by the GNSS Beidou positioning system through the rape and wheat pattern planting map, and realizing mechanized planting of the rape and wheat field painting.
As shown in fig. 7, a control system for implementing the precise planting method of the oil and wheat field painting machine comprises a GNSS positioning module 2 and a main controller;
the positioning receiver of the GNSS positioning module 2 is arranged on the central axis of the traction equipment of the rape and wheat sowing integrated machine 3, is used for collecting the position information and the course angle information of the traction equipment and is transmitted to the main controller;
the main controller comprises an oil wheat field painting information processing module 4 and an oil wheat seeding automatic switching control module 5
The main controller comprises a wheat field painting planting diagram construction module 4, a seed sowing device single positioning module, a hysteresis compensation module and a wheat seeding automatic switching module 5
The oilseed rape field painting planting diagram construction module 4 is used for constructing an oilseed rape field painting planting diagram according to a Tian Huatu scheme of the oilseed rape to be manufactured and converting pattern information of the oilseed rape field painting into digital information;
the seed metering device single body positioning module is used for constructing a rape seed metering device single body positioning model and a wheat seed metering device single body positioning model and calculating coordinates of a rape seed metering device single body 6 and a wheat seed metering device single body 7 through position information and course angle information received by the GNSS positioning module 2 and transmitting the position information and the course angle information to the main controller;
the hysteresis compensation module is used for respectively establishing a rape hysteresis compensation model and a wheat hysteresis compensation model to obtain a hysteresis compensation distance of an actual sowing position lagging behind a theoretical sowing position, and correcting the main controller to obtain coordinates of a corrected rape seed sowing device monomer and a corrected wheat seed sowing device monomer;
the automatic switching module 5 for wheat seeding is used for matching the coordinates of the corrected rape seed sowing device unit 6 and the corrected wheat seed sowing device unit 7 with longitude and latitude information in the wheat field painting planting diagram and returning to a seeding type according to the wheat field painting planting diagram, the positioning model of the seed sowing device unit and the hysteresis compensation model, and controlling the rape seed sowing device unit 6 and the wheat seed sowing device unit 7 to automatically switch according to the seeding type so as to mechanically plant the wheat field painting.
As shown in fig. 7, the central axis of the tractor 1 coincides with the projection of the central axis of the rape and wheat sowing integrated machine 3 on the ground; the positioning receiver in the GNSS positioning module 2 is arranged on the central axis of the tractor 1; and although the longitude and latitude coordinates acquired by the GNSS positioning module 2 are coordinate values in a geographic coordinate system of a three-dimensional spherical surface, the area of the land is not large, so that the influence of the land is ignored, and the longitude and latitude coordinates are regarded as coordinates (x, y) in a planar coordinate system; the wheat seed sowing device monomers 7 and the rape seed sowing device monomers 6 are uniformly and symmetrically distributed on two sides of the central axis of the seeder, the adjacent monomers have the same spacing, and the rape seed sowing device monomers 6 and the wheat seed sowing device monomers 7 are driven by servo motors respectively; the automatic switching module 5 for sowing the oilseed rape combines the single body positioning model and the hysteresis compensation model to control the servo motors of the single body 6 of the oilseed rape seed sowing device and the single body 7 of the wheat seed sowing device to start and stop at the boundary of planting the oilseed rape and the wheat in the oilseed rape field picture in real time, as shown in figure 8.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (9)
1. The mechanical precise planting method for the oil wheat field painting is characterized by comprising the following steps of:
S1, constructing a field painting planting diagram of the oil wheat: constructing a field painting planting diagram of the wheat according to a to-be-manufactured wheat Tian Huatu plan, and converting pattern information of the field painting of the wheat into digital information;
s2, constructing a single body positioning model of the seed metering device: the position information and the course angle information received by the GNSS positioning module (2) are transmitted to the main controller, a rape seed sowing device single positioning model and a wheat seed sowing device single positioning model are constructed, and the coordinates of a rape seed sowing device single (6) and a wheat seed sowing device single (7) are calculated;
step S3, establishing a hysteresis compensation model: respectively establishing a rape hysteresis compensation model and a wheat hysteresis compensation model to obtain a hysteresis compensation distance of an actual sowing position lagging behind a theoretical sowing position, correcting a main controller to obtain coordinates of a corrected rape seed sowing device monomer and a corrected wheat seed sowing device monomer,
the hysteresis compensation model is established specifically by the following steps:
dividing the whole sowing process into an information acquisition stage, a sowing decision stage, an execution stage and a seed dropping stage;
the lag time t generated in the information acquisition stage 1 The sampling frequency f of the GNSS receiver is obtained by the following steps:
the lag time t generated by the seeding decision stage 2 The method comprises the steps of obtaining the transmission data frame number, the transmission speed and the execution time of a main controller algorithm by adding;
The time required for the motor speed change in the execution stage is as follows:
t 3 ＝f 1 (Δω)
t′ 3 ＝f 1 ′(Δω′)
wherein: t is t 3 For the time required by the rotation speed change of the rape motor, delta omega is the rotation speed change quantity of the motor, and f 1 At t 3 And Δω, t' 3 For the time required by the change of the motor rotation speed of the wheat, delta omega 'is the change quantity of the motor rotation speed and f' 1 Is t' 3 And Δω';
time required for seeds to fall from the seed discharging port to the seed groove in the seed falling stage:
t 4 ＝f 2 (ω)
t′ 4 ＝f′ 2 (ω′)
wherein: t is t 4 For the time required for rape seeds to fall from the seed metering opening to the seed groove, omega is the rotation speed of a single driving motor of the rape seed metering device, and f 2 At t 4 Function of ω, t' 4 For the time required for wheat seeds to fall from the seed metering mouth to the seed groove, omega ' is the rotation speed of a single driving motor of the wheat seed metering device, and f ' ' 2 Is t' 4 As a function of ω' and,
the hysteresis compensation distance S is calculated by the following formula:
S 1 ＝v q (t 1 +t 2 +t 3 +t 4 )
S 2 ＝v q (t 1 +t 2 +t′ 3 +t′ 4 )
wherein: s is S 1 Hysteresis compensation distance for rape sowing S 2 Hysteresis compensation distance for wheat sowing, v q Is the advancing speed of the seeder;
step S4, controlling the automatic switching of the wheat and oil sowing: the main controller matches the coordinates of the corrected rape seed sowing device unit (6) and the corrected wheat seed sowing device unit (7) with longitude and latitude information in the rape field drawing planting diagram and returns to the sowing type according to the rape field drawing planting diagram, the seed sowing device unit positioning model and the hysteresis compensation model, and controls the rape seed sowing device unit (6) and the wheat seed sowing device unit (7) to automatically switch according to the sowing type so as to carry out mechanical planting of the rape field drawing.
2. The mechanical precise planting method of the oil wheat field painting according to claim 1, wherein the constructing the oil wheat field painting planting chart in the step S1 specifically comprises:
s11: drawing and planting field outline lofting of the oil wheat field: measuring longitude and latitude coordinates of the field blocks planted in the oil wheat field painting by using the RTK; minimum measurement of longitude and latitude coordinates (x) of four vertices of maximum square in field i ,y j ) The method comprises the steps of carrying out a first treatment on the surface of the Taking the maximum square in the irregular field to measure;
s12: drawing a plane outline drawing of the oil wheat field painting: drawing a plane outline drawing of the wheat pattern by using drawing software;
s13: digitizing the pattern information of the flat outline drawing of the oil wheat field: the software processes the graying and binarization of the plane contour map, and converts the pattern information of the plane contour map into digital information;
s14: the pixel coordinates of the plane contour map correspond to the longitude and latitude of the field block: according to the similarity relation between the plane outline and the field planting blocks of the wheat and oil field, a mapping relation between pixel coordinates of the plane outline and longitude and latitude of the field blocks is established through a coordinate system rotation method, longitude and latitude information and sowing type information are obtained, and the information is combined with sowing row spacing of the wheat and oil field to generate the wheat and oil field planting blocks.
3. The mechanical precision planting method of the oil wheat field painting according to claim 2, wherein the pixel coordinates of the plane contour map in the step S14 correspond to the longitude and latitude of the field, specifically comprising the following steps:
s141 in the actual planting process, assuming that the included angle between the short side of the field and the positive direction of the Y axis is alpha, the coordinates of each point of the field in the coordinate system XOY are (x i ,y j )；
S142, rotating the coordinate system XOY by an alpha degree anticlockwise by taking the origin O of the coordinate as a base point through a coordinate system rotation method to enable the boundary of the block ABCD to be parallel to the longitude and latitude lines, and obtaining the coordinates (X ') of each point of the block ABCD in the coordinate system X' OY 'through a coordinate system anticlockwise rotation coordinate transformation formula' i ,y′ j ) The coordinate transformation formula for counterclockwise rotation of the coordinate system is as follows:
s143, grid division is carried out on the plane contour map by combining sowing row spacing through the similarity relation between the plane contour map abcd of the oil wheat field painting and the field blocks A 'B' C 'D', and the mapping relation between pixel coordinates of the plane contour map abcd of the oil wheat field painting and longitude and latitude coordinates of the field blocks A 'B' C 'D' is established:
(x′ i ，y′ j )＝F(x p ,y q ) (2)
s144, according to the coordinate transformation relation of the field block ABCD and the field block A 'B' C 'D' and the mapping relation of the pixel coordinates of the pattern ABCD and the longitude and latitude coordinates of the field block A 'B' C 'D', the mapping relation of the pixel coordinates of the pattern ABCD and the longitude and latitude coordinates of the field block ABCD is obtained by the simultaneous formula (1) and the formula (2), an example table with longitude and latitude coordinates and a sowing type is generated, wherein the sowing type is represented by sowing rape when the sowing type is 1, and sowing wheat is represented by the sowing type when the sowing type is 0;
S145, importing excel file information into ArcGIS to generate a field painting planting diagram of the oil wheat.
4. The mechanical precise planting method for oil wheat field painting according to claim 1, wherein the step S2 of constructing a single positioning model of a seed sowing device is specifically as follows:
the GNSS positioning module (2) receives position information and course angle information of traction equipment of the rape and wheat sowing integrated machine (3) and transmits the information to the main controller, the main controller constructs a rape seed sowing device single positioning model and a wheat seed sowing device single positioning model, coordinates of an ith row of rape seed sowing device single and a jth row of wheat seed sowing device single are calculated, wherein i epsilon [1, m ], j epsilon [1, n ], m is the number of rape seed sowing device single, n is the number of wheat seed sowing device single, and m and n are both even numbers.
5. The mechanical precise planting method for oil and wheat field painting according to claim 4, wherein the construction of the single positioning model of the rape seed sowing device and the single positioning model of the wheat seed sowing device specifically comprises the following steps:
s21, obtaining coordinates (x, y) and a course angle alpha of the GNSS receiver according to the GNSS positioning module (2), wherein the course angle is an included angle between the advancing direction of the machine and the north direction, and the east direction is positive, and alpha epsilon [ -pi, pi ];
S22, rotating the coordinate system XOY by an alpha degree anticlockwise by taking the coordinate origin O as a base point, enabling the positive direction of the Y axis to be parallel to the advancing direction of the machine tool, obtaining a coordinate system X 'OY', and obtaining a coordinate (X ', Y') of the GNSS receiver under the coordinate system X 'OY' through a coordinate system anticlockwise rotation coordinate transformation formula, wherein the coordinate system anticlockwise rotation coordinate transformation formula is as follows:
s23, obtaining coordinates of the rape ith row seed metering device monomer in a coordinate system X 'OY' according to a vertical distance L1 from the GNSS receiver to the rape seed metering device monomer and a vertical distance L2 from the wheat seed metering device monomer, wherein the rape seeding row spacing D1 and the wheat seeding row spacing D2 are as follows:
coordinates of the j-th row wheat seed sowing device monomer under the coordinate system X 'OY':
s24, converting the coordinates of each single body in the coordinate system X 'OY' into the coordinates in the coordinate system XOY by rotating the coordinate conversion formula clockwise in the coordinate system, and the coordinates of the single body of the rape ith row seed sowing device in the coordinate system XOY:
coordinates of the j-th row wheat seed sowing device monomer under a coordinate system XOY:
6. the method for mechanically and accurately planting the oil wheat field painting according to claim 1, wherein the step S4 of controlling the automatic switching of the oil wheat sowing is to determine the coordinates of the modified rape ith row seed metering unit in a coordinate system XOY according to the positioning model of the oil vegetable seed metering unit in the step S2 and the rape hysteresis compensation model in the step S3, and determine the coordinates of the modified wheat jth row seed metering unit in the coordinate system XOY according to the positioning model of the wheat seed metering unit and the wheat hysteresis compensation model; determining the sowing type of each seed metering unit according to the coordinates of each seed metering unit and the wheat field painting planting pattern in the step S1; the main controller controls the motors of the rape seed sowing device unit (6) and the wheat seed sowing device unit (7) to start or stop in advance through controlling the motor controller, and the types of the wheat sowing are switched at the boundary of the wheat, so that the mechanical planting of the wheat field painting is performed.
7. The mechanical precision planting method of the oil wheat field painting according to claim 6, wherein the controlling the automatic switching of the oil wheat seeding in the step S4 is specifically:
s41, determining coordinates (x) of the modified rape ith row seed metering unit monomer under a coordinate system XOY according to the positioning model of the rape seed metering unit monomer in the step S2 and the rape hysteresis compensation model in the step S3 ix ，y ix )；
(x′ ix ，y′ ix ) Coordinates of rape seed sowing device monomers corrected by the rape hysteresis compensation model under X 'OY';
determining coordinates (x) of the modified wheat jth row seed metering device monomer under a coordinate system XOY according to the wheat seed metering device monomer positioning model in the step S2 and the wheat hysteresis compensation model in the step S3 jx ，y jx )：
(x′ jx ，y′ jx ) Coordinates of a wheat seed sowing device monomer under X 'OY' after correction of the wheat hysteresis compensation model;
correcting the position coordinates of the seed sowing device monomers under a coordinate system X 'OY' according to the hysteresis compensation distance S, and converting the corrected coordinates into coordinates under a coordinate system XOY;
s42, determining the sowing type of each seed metering device unit according to the coordinates of each seed metering device unit and the wheat field painting planting diagram in the step S1;
s43, controlling motors of the rape seed sowing device unit and the wheat seed sowing device unit to start or stop in advance through a motor controller, switching the type of the wheat sowing at the boundary of the wheat, and carrying out mechanical planting of the wheat field painting.
8. A control system for implementing the mechanical precision planting method of the oil and wheat field painting according to any one of claims 1-7, characterized by comprising a GNSS positioning module (2) and a main controller;
the positioning receiver of the GNSS positioning module (2) is arranged on the central axis of the traction equipment of the rape and wheat sowing integrated machine (3), is used for collecting the position information and the course angle information of the traction equipment and is transmitted to the main controller;
the main controller comprises an oil wheat field painting information processing module (4) and an oil wheat seeding automatic switching control module (5)
The main controller comprises a wheat field painting planting diagram construction module (4), a seed sowing device single positioning module, a hysteresis compensation module and a wheat seeding automatic switching module (5)
The wheat field painting planting diagram construction module (4) is used for constructing a wheat field painting planting diagram according to a wheat Tian Huatu scheme to be manufactured and converting pattern information of the wheat field painting into digital information;
the seed metering device single body positioning module is used for constructing a rape seed metering device single body positioning model and a wheat seed metering device single body positioning model through the position information and the course angle information received by the GNSS positioning module (2) and transmitting the position information and the course angle information to the main controller, and calculating coordinates of a rape seed metering device single body (6) and a wheat seed metering device single body (7);
The hysteresis compensation module is used for respectively establishing a rape hysteresis compensation model and a wheat hysteresis compensation model to obtain a hysteresis compensation distance of an actual sowing position lagging behind a theoretical sowing position, and correcting the main controller to obtain coordinates of a corrected rape seed sowing device monomer and a corrected wheat seed sowing device monomer;
the automatic switching module (5) for wheat seeding is used for matching the coordinates of the corrected rape seed sowing device unit (6) and the corrected wheat seed sowing device unit (7) with longitude and latitude information in the wheat field painting planting diagram and returning to a seeding type according to the wheat field painting planting diagram, the rape seed sowing device unit (6) and the wheat seed sowing device unit (7) are controlled to be automatically switched according to the seeding type, and mechanical planting of the wheat field painting is performed.
9. A rape wheat seeding apparatus, characterized by comprising a control system as claimed in claim 8, and a traction device and a rape wheat seeding integrated machine (3);
the traction equipment is a tractor (1), the tractor (1) is used for hanging and towing the rape and wheat seeding integrated machine (3) through three points, and a positioning receiver of the GNSS positioning module (2) is arranged on the central axis of the tractor (1);
the rape wheat seeding all-in-one machine (3) is provided with a plurality of wheat seed metering device monomers (7) and a plurality of rape seed metering device monomers (6), and each rape seed metering device monomer (6) and each wheat seed metering device monomer (7) are driven by a servo motor respectively.
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