RU2837897C2 - Method, system and device for automation of processes of planting, processing and harvesting of agricultural plots - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: method comprises determination of high-precision geographic location, speed and orientation of equipment. Operations of soil treatment, sowing, planting, cutting, application of fertilizers, care of plants, harvesting are performed using software and hardware, implementing partial or complete control of installed or additionally installed electric, electrohydraulic or electromechanical actuators of agricultural tools and equipment. Control of movement of equipment along guide lines along or across the site on plots or along paths between them, depending on the performed operation, is carried out by means of data exchange with the equipment movement control unit or using electric, electrohydraulic or electromechanical actuators additionally installed on equipment. Agricultural implement control by data exchange with its control device or direct control of separate executing units for implementation of performed operation with plots is carried out based on high-precision satellite navigation data according to the required virtual plan of the plot area on the field with reference to geographical coordinates without the need for preliminary marking of the field. System comprises: optional unit for receiving satellite signals, generating and transmitting correcting navigation information; unit for obtaining and processing correcting navigation information together with received satellite signals to obtain high-precision location and speed; integrated navigation unit, determining location, speed and orientation of equipment on the field based on high-precision data of satellite navigation and inertial sensors; agricultural implement control unit or data exchange with its control device; optional equipment movement control unit; unit for monitoring various performance indicators of operations on sensors of equipment or tools; control unit, which allows the user through the graphical interface to adjust various parameters of the system, to select various operating modes, determine and change the plan of the plot area and its position, make adjustments and changes, visualize the current position of the equipment and the required direction of movement, indicators and results of operations performed on the field plan. Device includes: an optional reference, base station module for generating and transmitting correcting satellite navigation information over a radio channel or over the Internet; optional gun control module, including electric mounted on the gun, electromechanical or electrohydraulic actuators and sensors for monitoring and controlling the implement depending on its type; optional equipment control module, including equipment rotation angle sensor, additionally installed on equipment electric, electromechanical or electrohydraulic actuators of steering, acceleration or braking and sensors for equipment monitoring and control depending on its type; navigation module for obtaining and processing correcting satellite navigation information for determining the location, speed and orientation of equipment based on high-precision satellite navigation data and inertial sensors, for controlling an agricultural implement or exchanging data with its control device, for controlling movement of equipment, for collecting various indicators of performing operations on sensors of equipment or tools; control module with display, allowing the user through the graphical interface to set up various parameters of the device, select different operating modes, determine the plot plan, making adjustments and changes, visualizing the current position of the equipment and the required direction of movement, indicators and results of operations performed on a two-dimensional or three-dimensional plan of the field.

EFFECT: inventions provide automation of operations when working with plots, reduction of execution time and increase in accuracy of work, minimization of human involvement and number of errors, repeatability and continuity of operations on the same plot area regardless of time and weather conditions.

6 cl, 2 dwg

Description

Field of technology

The method, system and device relate to agriculture and can be used in selection, seed production, growing of planting material, variety testing and research work with various crops to automate the execution of operations with plots (rectangular areas) in the field, such as soil cultivation, sowing, planting, pruning, fertilization, plant care, harvesting, etc.

State of the art

In recent years, there has been a steady increase in the productivity of agricultural machinery, including through the use of various software and hardware automation tools. In particular, automatic steering systems have become widespread, using signals from global navigation satellite systems (GNSS): GLONASS, GPS, Beidou, Galileo to determine the location of equipment and the development and execution of movement routes [1]. Also of great importance are the means of planning, management and control of work processes with reference to geographic coordinates, since they allow the maximum theoretically possible productivity of machines to be realized in practice and costs to be minimized.

However, despite the widespread use of automation tools in the production segment of agriculture, there is a shortage of them in primary seed production, selection and, in general, in the field of scientific research in agronomy when performing specialized operations with plots (rectangular sites) on a designated area of the field. As is known, the successful conduct and results of field experiments critically depend on the correct shape, size and location of the plots, as well as the repetition of experiments on the territory and in time [2]. Technical errors made at any stage of the experimental work (breaking out the experimental plot, soil cultivation, fertilization, sowing, planting, care, harvesting, etc.) violate the comparability of options and distort their effects. These errors cannot be corrected by any mathematical processing and, therefore, completely devalue the results of the experiment. Therefore, compliance with all technical rules for conducting an experiment in the field is the most important condition for obtaining accurate data suitable for an objective assessment of the effect of the agrotechnical methods or varieties studied in the experiment.

At the same time, one of the most important stages of research before sowing is the breakdown of the experimental plot, i.e. the placement of the experiment in nature according to the schematic plan, traditionally occurs manually using a tape measure, cord, poles, pegs-benchmarks, etc. [2], which requires a significant amount of time, good weather, the participation of a large number of people, has low accuracy and is easily subject to errors. It is worth noting that a number of existing seeders [3-5] and existing individual inventions for the automation of the seed sowing process [6, 7] contain electronic means for partial automation of the technological process of seed sowing and adjusting the length of the plot and the path between the plots, reducing the scale of the necessary breakdown of the experimental plot. These tools use information about the rotation of either a separate additional auxiliary wheel, or a support wheel of a seeder, or the drive wheels of equipment to calculate the distance traveled from the starting point on the current pass (run) and the speed of movement, and on the basis of these calculations they control the seeding units depending on the type of a specific seeder.

Some of the disadvantages of these means are low accuracy and inconsistency of the sizes of plots and paths, which arise due to poor adhesion of the wheels to the soil and slippage. And despite the fact that additional measures can be taken to improve the accuracy of seeding by means of auxiliary adjustments during wheel slippage, as in the invention [7], they do not allow to completely eliminate errors associated with uneven adhesion of the wheels to the soil, and errors in calculating the distance traveled in different parts of the field due to the unevenness of the soil microrelief.

The main disadvantage of these tools is that seeding control is based on a one-dimensional location along the current pass from a certain starting point, which must be set manually at the beginning of each run. Thus, additional manual marking on the field is still required, which introduces additional inaccuracy in the location of plots in adjacent passes, their displacement relative to each other in adjacent rows, and increases the likelihood of additional errors. Also, such information about the relative position of plots in the pass during sowing does not, in principle, allow automation of subsequent operations with them on this site (pruning, fertilization, care, harvesting, etc.), i.e. each subsequent operation in the technological chain will be performed separately, in isolation from all the others.

Also, we would like to separately note the invention [8], dedicated to a bridge automated precision farming complex, which automates agricultural operations using a computer program. When using this complex, the land plot is arranged in the form of cells-plots 10-15 m wide. We would like to note that this is primarily due to the design feature and the mechanics of the self-propelled bridge platform of the complex itself, which consists of metal T-bars 10-15 m wide and long, and the bearing surface on the field is a permanent prepared track made of three-year-old turf, about 3 m wide. However, this complex can be directly used to automate operations with plots (varietal planting, propagation nurseries, etc.). Therefore, we would like to note a number of disadvantages of this invention:

– the complex does not involve the use of existing agricultural machinery, as it is a self-propelled platform with certain size limits and requires additional efforts to change them;

– the complex does not involve the use of existing agricultural implements for working with plots, which are often highly specialized mounted units and are not large-scale products, which will require additional significant costs and efforts to redesign and adapt them to the platform of the bridge automated complex;

– the need to organize from year to year a specially prepared track of turf, which fixes a certain width between the passes, which does not allow, if necessary, to adjust the plot plan at any time, to implement it in another area or to set a complex form with a variable distance between the passes;

– just like the inventions discussed above, the positioning of this platform may have insufficient accuracy, especially in different weather conditions, since it also depends on the adhesion of the wheels to the track and depends on the accuracy of the movement of the mechanics of the support systems of the bridge complex.

Disclosure of the essence of the invention

The present invention was made taking into account the above-described problems and disadvantages of the known prior art, and the purpose of the present invention is to ensure automation of the processes of planting, processing and harvesting agricultural plots by using software and hardware that implement partial or complete control of installed (or additionally installed) actuators of agricultural implements and machinery based on high-precision satellite navigation data according to the required virtual plan of the plot area on the field with reference to geographic coordinates without the need for preliminary marking of the field.

According to the method of the invention, agricultural machinery is equipped with software and hardware, including a graphical control interface, and providing:

– determination of high-precision geographic (or locally fixed) location, speed and orientation of equipment based on data from inertial sensors and data from either high-precision satellite navigation using one of the correction methods (DGPS, PPP, RTK, etc.) depending on the required accuracy, or local ground navigation (radar, ultrasonic, optical, etc.);

– the ability for the user to set a virtual field plan by loading a pre-prepared file, or by entering the basic parameters of the plot (number of plots, plot length and width, length and width of paths between plots) and additional ones (row offset, sizes of different groups of plots, etc.), or in some other way;

– the ability for the user to use the coordinates of a previously prepared virtual plan or, if necessary, to set/correct the direction and coordinates of the beginning of the plot area directly on the field, using the movement of equipment;

– control of the movement of equipment along guide lines along or across the plot along the plots or along the paths between them, depending on the operation being performed, by exchanging data with the equipment control unit, if any, or using additional electric, electro-hydraulic or electro-mechanical steering devices installed on the equipment;

– control of an agricultural implement by exchanging data with its control device or direct control of individual actuators to implement the operation being performed with plots depending on the type of specific equipment. For example, for a grain selection seeder – control of the dosing solenoid, the motor for rotating the shaft of the conical seeding units and the drive of the distribution table, for a planting machine – control of the loading platform, for a sprayer – control of the nozzles, for a grain harvester or harvesting machine – control of sampling, etc.;

– monitoring and storing, with reference to geographic coordinates (or to the coordinates of a fixed local reference system), various performance indicators of equipment operations depending on the type of specific equipment. For example, tractor speed, for seeders – readings from the seed/filling material sensor, for a sprayer – readings from liquid agrochemical flow sensors, for a grain harvester – data from the electronic grain weighing system, etc.;

– visualization of the current position of equipment, indicators and results of operations performed on a virtual field plan;

– the ability for the user to configure various system parameters, select different operating modes, make adjustments and changes.

According to the method of automation of the processes of planting, processing and harvesting of agricultural plots, the technological operations of the executive tools are dynamically updated and executed depending on the actual location, speed and direction of the equipment on the plan of the plot. At the same time, during planting, the virtual plan of the plot is directly placed in kind according to the schematic plan with reference to geographic coordinates (or to the coordinates of a fixed local reference system) without the need for preliminary field marking. This plan can then be used to automate subsequent operations on this plot (pruning, fertilizing, plant care, harvesting, etc.), as well as repetition (or implementation of a new experience according to the same plan) on the same or another territory after the required time, for example, after a year.

To build a system for automating the processes of planting, processing and harvesting agricultural plots according to the invention, intended for implementing the method according to the invention, the software and hardware with which the equipment is equipped contain the following components (Fig. 1):

– optional block 1 for receiving satellite signals, generating and transmitting corrective satellite navigation information or local positioning system signals;

– block 2 of satellite or local navigation;

– block 3 of integrated navigation;

– block 4 for controlling agricultural implements;

– optional unit 5 for controlling the movement of equipment;

– monitoring block 6;

– control block 7.

The system operates as follows. When using satellite navigation, block 1 receives GNSS signals, generates and transmits correcting navigation information (DGPS, RTK, etc.) via a selected communication channel (radio channel, Internet, etc.). When using local land navigation, block 1 is a network of reference stations transmitting radar, ultrasonic or other signals to ensure local positioning, and/or a network of visual reference points to ensure optical local positioning. The block is optional, since an external system can act as a source of correcting satellite navigation data or signals/reference points of the local positioning system instead of it.

When using satellite navigation, block 2 receives and processes corrective navigation information from block 1 (or an external system) together with received GNSS signals to obtain a highly accurate location and speed. In addition, block 2 can also calculate the geographic direction of the equipment if two GNSS antennas are used, as well as the orientation of the equipment (tilt, slope) in space if three antennas are used. When using local land navigation, block 2 receives from block 1 (or an external system) and processes radar, ultrasonic or other signals, and/or processes data from optical sensors and video cameras to obtain a highly accurate local location and speed, as well as optionally the direction and orientation of the equipment in space.

Block 3, based on the data from block 2 and the readings of inertial sensors (gyroscope, accelerometer, odometer, etc.), calculates the location, speed, and orientation of the equipment on the field at a high frequency (50 Hz and higher). Within the system, this block is the source of data on the location of the equipment.

Block 4, based on the data of block 3, controls the agricultural implement by monitoring its individual actuators, including those additionally installed on the implement (if necessary), or exchanging data with its control device to implement the operation being performed with plots depending on the type of specific equipment (see examples in the method according to the invention).

Block 5, based on the data from block 3, controls the movement of equipment along guide lines at a given speed along or across the plot along the plots or along the paths between them, depending on the operation being performed and the user's needs. The block controls the movement by exchanging data with the control unit of a specific machine (if any) or by monitoring additionally installed electrical, electromechanical or electrohydraulic actuators on the machine. The block is optional and is excluded if automatic control is not required by the user, and movement along guide lines is performed manually by the machine operator according to the indicator indicators of the control unit.

Block 6 monitors (observes and stores in non-volatile memory) various events and indicators of the performance of operations according to sensors of equipment or tools depending on the type of specific equipment (see examples in the method according to the invention) with reference to geographic coordinates (or to the coordinates of a fixed local reference system) coming from block 3.

Control unit 7 has a graphical interface and provides the user with the ability to configure various parameters of the system units, select various operating modes, determine and change the plot plan and its position, make adjustments and changes, visualize the current position of the equipment and the required direction of movement, indicators and results of the operations performed on the field plan.

To implement the device for automating the processes of planting, processing and harvesting agricultural plots according to the system according to the invention and to implement the method according to the invention, it contains the following components (Fig. 2):

– optional module 1 reference station(s);

– optional module 2 for gun control;

– optional module 3 for equipment control;

– navigation module 4;

– control module 5.

The device operates as follows. Module 1 is installed in a fixed location with known coordinates on a permanent basis on a building or in a field before starting work. When using satellite navigation, the module receives GNSS signals, generates (produces) and transmits correcting navigation information (DGPS, RTK, etc.) via a selected communication channel (radio channel, Internet or other) depending on the specific modification of the device. When using local land navigation, Module 1 is a set of reference stations transmitting radar, ultrasonic or other signals to ensure local positioning, and/or is a network of reference visual points to ensure optical local positioning. The module is optional, since an external system can act as a source of correcting satellite navigation data or local positioning system signals instead of it.

Module 2, depending on the type of weapon, contains:

– electrical, electromechanical or electrohydraulic actuators additionally installed on the tool (see examples in the method according to the invention);

– additional sensors for monitoring the tool (see examples of indications in the method according to the invention).

Individual parts or the module as a whole are optional and are excluded if a particular tool already contains all the necessary controls and sensors.

Module 3, depending on the type of equipment, contains:

– a steering angle sensor, which is installed on the vehicle and measures the current steering angle of the equipment: drive wheels or articulated frame;

– additionally installed electric, electromechanical or electrohydraulic steering actuators on the machine;

– additionally installed electrical, electromechanical or electrohydraulic actuators on the machine for accelerating or braking the equipment;

– additional sensors for monitoring equipment (see examples of indications in the method according to the invention).

Individual parts or the module as a whole are optional and are excluded if the specific equipment is partially or completely prepared for automatic control from the factory, or automatic steering or cruise control is not required by the user.

When using satellite navigation, navigation module 4 receives correcting satellite navigation information from module 1 (or an external system) via a selected communication channel (radio channel, Internet network or other). Receives GNSS signals. Processes GNSS signals together with the received correcting information using the DGPS, RTK, PPP or other methods (depending on the device modification) and determines high-precision geographic location and speed. The module also determines the geographic direction and orientation of equipment (tilt, slope) in space if two or three GNSS antennas are used, respectively (depending on the device modification).

When using local land navigation, navigation module 4 receives radar, ultrasonic or other signals of the local positioning system from module 1 (or an external system). It processes these signals and/or processes data from optical sensors and video cameras installed on equipment to obtain high-precision local location and speed, as well as optionally the direction and orientation of equipment in space.

Navigation module 4 records readings from inertial sensors (gyroscope, accelerometer, odometer, etc.). The received navigation and inertial data are used by the module to calculate the location, speed, and orientation of the equipment at a high frequency (50 Hz and higher). The module calculates the location of various points of the equipment and implement (front, rear axle, coulters, etc.) according to the user-defined equipment and implement profiles (a set of measurements of displacements of various points of the machine relative to the GNSS antenna and/or navigation module).

Using the received data, to implement the operation with the plots, the module controls the agricultural implement by exchanging data with the control unit of a specific implement (if any) or by monitoring the devices already present or additionally installed on the implement (see module 2). The module also controls the movement of equipment by exchanging data with the control unit of a specific machine (if any) or by monitoring the devices already present or additionally installed on the equipment (see module 3).

Module 4 collects various indicators and monitors existing or additionally installed sensors (see modules 2 and 3). The navigation module receives equipment and tool profiles, a plot plan, modes and operating parameters from control module 5 and transmits navigation data, operating status, equipment or tool sensor indicators (see examples in the method according to the invention) and other data for monitoring.

The control module 5 contains a display and a graphical interface with control elements, through which the user can configure various parameters of the navigation module and the control module, select various operating modes, determine the plot plan, make adjustments and changes. The graphical interface of the module visualizes on a two-dimensional or three-dimensional field plan the current position of the equipment and the required direction of movement, indicators and results of the operations performed, based on the data received from the navigation module. The control module also constantly monitors various events and indicators of the performance of operations based on the information received. The module stores equipment and tool profiles, events, indicators and results of work in non-volatile memory, which allows continuing work previously interrupted for any reason.

The technical result of the invention consists in automation of various operations when working with plots, which allows to reduce the time of execution and increase the accuracy of work, minimize human participation and the number of errors, ensure repeatability and continuity of operations on the same plot regardless of time and weather conditions. As a result, the costs of planting and processing materials are reduced, the yield, purity and accuracy of research experiments and tests are increased.

The invention also advantageously provides the possibility of using software and hardware installed on equipment and ensuring the determination of the location, speed and orientation of equipment using high-precision satellite (or local ground) navigation data, not only for the automation of operations with plots, but also for other "universal" agricultural operations in the production segment. As a result, it allows reducing the overall costs of equipping equipment with navigation equipment within one farm.

In conclusion, it should be noted that the presented system and device are only examples of the invention, although it may have various modifications and alternative forms. A specialist in this field understands that various changes and modifications are possible in the implementation of the invention within the scope of protection. It should also be emphasized that the use of the singular in the description with respect to various features does not exclude the possibility of their presence in the plural.

References

1. Balabanov V. I., Zhelezova S. V., Berezovsky E. V., Belenkov A. I., Egorov V. V. Navigation systems in agriculture. Coordinate farming. Under the general editorship of prof. V. I. Balabanov. - M.: Publishing house of the Russian State Agrarian University - Moscow Agricultural Academy named after K. A. Timiryazev, 2013. - 148 p.

2. Dospekhov B.A. Methodology of field experiment (with the basics of statistical processing of research results). 5th ed., supplemented and revised. - M.: Agropromizdat, 1985. - 351 p.

3. Plot / Row Motion Seeder. URL: https://www.wintersteiger.com/ru/Selections-and-Seeds-Products/Assortment/Selections-seeders/361-Plot-Row-Motion

4. Dynamic Disc Plus seeder. URL: https://www.wintersteiger.com/ru/Breeding-and-seed-growing/Products/Assortment/Dotted-sowing-seeders/312-Dynamic-Disc-Plus

5. MAPLE selection seeder – 2.8C. URL: https://ugsnabagro.ru/seyalka-selektsionnaya-klen-2-8s/

6. Patent of the Russian Federation No. 2573765 C1 (13.10.2014).

7. Patent of the Russian Federation No. 2789549 C1 (08/25/2022).

8.  Patent of the Russian Federation 2754999 C1 (06.10.2020).

Claims (18)

1. A method for automating the processes of planting, cultivating and harvesting agricultural plots, which consists in determining the high-precision geographic location, speed and orientation of equipment; the operations of tillage, sowing, planting, pruning, fertilizing, caring for plants, and harvesting are performed using software and hardware that implement partial or complete control of installed or additionally installed electric, electrohydraulic or electromechanical actuators of agricultural implements and equipment, while the movement of equipment along guide lines along or across the plots or along paths between them, depending on the operation being performed, is carried out by exchanging data with the equipment movement control unit or using electric, electrohydraulic or electromechanical actuators additionally installed on the equipment; control of an agricultural implement by exchanging data with its control device or direct control of individual actuators for the implementation of the operation being performed with plots is carried out on the basis of high-precision satellite navigation data in accordance with the required virtual plan of the plot area on the field with reference to geographic coordinates without the need for preliminary marking of the field. 2. The method according to paragraph 1, characterized in that high-precision local ground navigation data is additionally used and the operations can be performed with reference to the coordinates of a fixed local reference system. 3. A system for automating the processes of planting, cultivating and harvesting agricultural plots, implementing the method according to paragraph 1, automating the execution of operations of soil cultivation, sowing, planting, pruning, fertilizing, caring for plants, harvesting using software and hardware that implement partial or complete control of installed or additionally installed actuators of agricultural implements and machinery based on high-precision satellite navigation data in accordance with the required virtual plan of the plot area on the field with reference to geographic coordinates without the need for preliminary marking of the field, and containing: optional block for receiving satellite signals, generating and transmitting corrective navigation information; a unit for receiving and processing corrective navigation information together with received satellite signals to obtain high-precision location and speed; an integrated navigation unit that determines the location, speed and orientation of equipment in the field based on high-precision satellite navigation data and inertial sensors; a control unit for an agricultural implement or for exchanging data with its control device; optional vehicle motion control unit; a unit for monitoring various performance indicators of operations using equipment or tool sensors; a control unit that allows the user to configure various system parameters through a graphical interface, select various operating modes, determine and change the plot plan and its position, make adjustments and changes, visualize the current position of the equipment and the required direction of movement, indicators and results of the operations performed on the field plan. 4. The system according to item 3, characterized in that it implements the method according to item 2 and additionally uses high-precision local ground navigation data. 5. A device for automating the processes of planting, processing and harvesting agricultural plots, implementing the system according to paragraph 3, implementing the method according to paragraph 1, automating the execution of operations of soil processing, sowing, planting, pruning, fertilizing, caring for plants, harvesting using software and hardware that implement partial or complete control of installed or additionally installed actuators of agricultural implements and machinery based on high-precision satellite navigation data according to the required virtual plan of the plot area on the field with reference to geographic coordinates without the need for preliminary marking of the field, and including: optional module of a reference, base, station for generating and transmitting corrective satellite navigation information via a radio channel or the Internet; an optional gun control module that includes additionally installed electrical, electromechanical or electrohydraulic actuators and sensors on the gun to monitor and control the gun, depending on its type; an optional equipment control module, including an equipment rotation angle sensor, additionally installed electrical, electromechanical or electrohydraulic actuators for steering, acceleration or braking, and sensors for monitoring and controlling the equipment depending on its type; a navigation module for receiving and processing corrective satellite navigation information to determine the location, speed and orientation of equipment based on high-precision satellite navigation data and inertial sensors, for controlling an agricultural implement or exchanging data with its control device, for controlling the movement of equipment, for collecting various indicators of the performance of operations from sensors of equipment or an implement; a control module with a display that allows the user to configure various device parameters via a graphical interface, select various operating modes, determine the plot plan, make adjustments and changes, visualize the current position of the equipment and the required direction of movement, indicators and results of the operations performed on a two-dimensional or three-dimensional field plan. 6. The device according to item 5, characterized in that it implements the system according to item 4, implementing the method according to item 2, and additionally uses high-precision local ground navigation data.

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