WO2022174561A1 - Variable sowing and fertilizing method, system, and device - Google Patents

Abstract

A variable sowing and fertilizing method, comprising: establishing a correspondence model between soil fertility and yield values, obtaining a soil fertility value and a yield value of a land plot under management and control, and determining, according to the correspondence model between soil fertility and yield values, a land plot production management and control mode corresponding to the fertility value of said land plot; generating, according to the land plot production management and control mode, a production management and control instruction corresponding to a target production mode of said land plot, and sending the production management and control instruction to a corresponding execution mechanism of a sower, the production management and control instruction being used for instructing the execution mechanism to adjust corresponding operating parameters; and the execution mechanism adjusting, according to the production management and control instruction, the corresponding operating parameters to make same match the production management and control instruction, and the sower implements sowing and fertilizing according to the operating parameters. By means of such a configuration, an agricultural producer selects appropriate production parameters according to soil fertility and a land plot yield. A variable sowing and fertilizing system uses the corresponding variable sowing and fertilizing method to implement land plot production management and control. A variable sowing and fertilizing device uses the corresponding variable sowing and fertilizing method for sowing and fertilizing. By means of such a configuration, appropriate production parameters can be selected to achieve precise management and control and utilization of land plot production resources.

Description

A kind of variable seeding fertilization method and fertilization system and device technical field

The invention relates to agricultural intelligent machinery technology, in particular to a variable seeding and fertilizing method, a fertilizing system and a device based on terminal equipment and a variable seeding and fertilizing system.

Background technique

With the development of agricultural Internet of Things and agricultural machinery informatization, some achievements have been made in this field in the online perception of key parameters of agricultural machinery operations and the intelligent control and decision-making method of precise sowing and precise application, but the application of modern big data to realize multi-source data fusion decision-making has not yet been realized. Precise and precise application operations, in agricultural production, urgently need to solve the research and application problems of intelligent control decision-making methods, devices and systems for precise sowing and precise application, so that farmland producers can choose appropriate production parameters according to soil fertility and plot yield, So as to realize the precise control and utilization of the production resources of the plot.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a variable seeding fertilization method, a fertilization system and a device for the above problems of the prior art.

In order to achieve the above purpose, the present invention provides a method for variable seeding and fertilization, which includes the following steps:

S100, establishing a model of the corresponding relationship between soil fertility and yield value;

S200. Obtain the soil fertility value and the yield value of the control plot, and determine a plot production control mode corresponding to the fertility value of the control plot according to the soil fertility and yield value correspondence model;

S300. Generate a production control instruction corresponding to the target production mode of the control plot according to the plot production control mode, and send it to the corresponding execution mechanism of the planter, where the production control instruction is used to instruct the execution mechanism Adjust the corresponding working parameters;

S400. The executing agency adjusts the corresponding working parameter to match the production control instruction according to the production control instruction; and

S500. The seeder performs sowing and fertilization according to the working parameters.

The above-mentioned variable seeding and fertilization method, wherein step S100 further comprises:

S101. Divide the farmland into multiple control plots, collect soil samples from the control plots in the early stage of sowing, and obtain soil fertility analysis data; and

S102. According to the fertility detection value of the soil sample and the corresponding yield of the control plot, obtain a reference fertility and yield ratio, and establish a corresponding relationship model between the soil fertility and yield value.

The above-mentioned variable seeding and fertilizing method, wherein, in step S200, further comprising:

It is judged whether the current control plot is within the preset period of the plot production control mode, if yes, execute step S300; if not, execute the current working parameters of the planter.

The above-mentioned variable seeding and fertilization method, wherein, the step S200 further comprises:

Output the variable broadcast decision suggestion prompt information and receive feedback within the preset period. If the feedback accepts the variable broadcast decision suggestion, step S300 is executed; if the feedback does not accept the variable broadcast decision suggestion, execute the Describe the current working parameters of the planter.

The above-mentioned variable seeding and fertilization method, wherein, in step S100, further comprising:

S103, obtaining the working parameters of the planter during the working period, and using the most used working parameters as the initial working parameters of the first year;

S104. If it is detected that the preset period is exceeded, re-count new initial working parameters, acquire soil fertility value and yield value of the controlled plot, and update the soil fertility and yield value correspondence model.

The above-mentioned variable seeding and fertilizing method, wherein, in step S200, further comprising:

Determine whether the soil fertility obtained before sowing in the second year is less than the standard fertility value, and obtain a first judgment result; if the first judgment result is yes, the plot production control mode is to control the planter to increase the amount of fertilization ; if the first judgment result is no, the plot production control mode is to reduce the seeding spacing of the seeding machine.

The above-mentioned variable seeding and fertilizing method, wherein, in step S200, further comprising:

Determine whether the yield ratio of the plot after the harvest in the second year is smaller than the yield ratio of the plot in the first year, and obtain a second judgment result; if the first judgment result is yes, and the second judgment result is yes, The plot production control mode is to control the planter to reduce the seeding spacing; if the first judgment result is yes and the second judgment result is no, the plot production control mode is control The spreader increases the amount of fertilization; if the first judgment result is no and the second judgment result is yes, the plot production control mode is to maintain the sowing parameters of the first year; if the When the first determination result is no, and the second determination result is no, the plot production control mode is to control the spreader to continue to reduce the seeding spacing.

The above-mentioned variable seeding and fertilization method, further comprising: repeating the judgment of the second judgment result after the harvest every year, and executing the production control instruction corresponding to the production control mode of the plot.

In order to better achieve the above purpose, the present invention also provides a variable seeding and fertilization system, wherein the above-mentioned variable seeding and fertilization method is used to control the production of plots, including:

an acquisition unit to acquire the immediate position of the planter and the current working parameters of the planter;

a determining unit, according to a preset production control module for the plot, to confirm the production control mode corresponding to the current location information acquired by the acquisition unit;

The command generating unit generates a production control instruction corresponding to the determined production control mode, where the production control instruction is used to instruct and control the working parameters of the planter;

a sending unit, which sends the production control instruction to the corresponding actuator of the seeder; and

The receiving unit receives the production control instruction and adjusts the working parameters of the seeder to match the production control instruction.

In order to better achieve the above purpose, the present invention also provides a variable seeding and fertilizing device, wherein the above-mentioned variable seeding and fertilizing method is used to control the production of plots, including:

Vehicle terminal, installed on the seeder;

a main board, installed in the vehicle terminal;

Working module, integrated storage, communication, display, input and output, GPS positioning, CAN bus and DTU unit module;

A drive motor, installed on the seeder, includes a seeding motor and a fertilizing motor, the seeding motor adopts a DC motor, directly drives the seeding disc of the seeder, and uses a speed measuring radar or GPS to obtain the operating speed of the seeder, According to the operating speed combined with the preset seeding rate information, the rotation speed of the seeding plate is adjusted in real time, and the vehicle-mounted terminal sends the seeding control command to the seeding motor through the CAN bus, and drives the seeding plate according to the setting. It rotates at a fixed speed; the fertilization motor uses photoelectric and capacitive methods to measure the transient flow, and the weighing method to measure the steady flow. The transient flow and the steady flow are integrated to realize the online measurement of the seed fertilizer sowing flow, and the spiral capacitor is used. and micro-capacitor detection and control of the fertilizer application of the planter, the on-board terminal sends the fertilizer application control command to the fertilizer application motor through the CAN bus, and drives the fertilizer application motor to work according to the set parameters; and

The motor control unit, according to the received production control instructions, adjusts the working parameters of the sowing motor and the fertilization motor to match the production control instructions.

The technical effect of the present invention is:

The present invention can obtain the current working parameters of agricultural machinery operations through the terminal device, and select whether to enter the farmland plot management and control mode according to needs. The plots controlled by the farmland plot management and control mode can be preset, and the terminal device generates target management and control instructions according to the current plot location. It is sent to the drive motor installed on the implement, so as to reasonably control the working parameters of the seeding and fertilizing machine. Appropriate production parameters can be selected according to soil fertility and plot yield, so as to achieve precise control and utilization of plot production resources.

The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention.

Description of drawings

Fig. 1 is the flow chart of the variable seeding and fertilization method of an example of the present invention;

Fig. 2 is the flow chart of the variable seeding and fertilizing method of another example of the present invention;

3 is a schematic structural diagram of a variable seeding and fertilizing device according to an example of the present invention.

where the reference number

1 Vehicle terminal

2 tractor

3 Variable sowing and fertilizing device

31 Motor control unit

32 Fertilizer motor

33 Sowing motor

34 Seeders

S100-S500 steps

Detailed ways

Below in conjunction with accompanying drawing, structure principle and working principle of the present invention are described in detail:

Referring to FIG. 1, FIG. 1 is a flow chart of a variable seeding and fertilizing method according to an example of the present invention. The variable seeding and fertilizing method of the present invention comprises the following steps:

Step S100, the variable seeding and fertilization system obtains soil fertility analysis data, obtains the ratio of reference fertility and yield, and establishes a corresponding relationship model between soil fertility and yield value;

This embodiment may include: the variable seeding and fertilization system obtains from the database the personal information of the farmland manager whose plot information corresponds to the number of the plot, and the information may include the farmland manager's name, telephone number, address, ID card The variable seeding and fertilization system sends the user's personal information and query instructions to the server, and the instructions are used to request the server to obtain the access authority to the user's farmland database, and to query the user's latest uploaded soil analysis data. The data can include the soil fertility distribution data and yield distribution data of the farmland; the variable seeding and fertilization system accepts the soil fertility analysis data sent by the server, establishes the corresponding relationship between yield and fertility, and obtains the benchmark fertility and the yield ratio of each plot.

Among them, the only farmland manager is determined by the user of the plot, so that the manager can control the user terminal at any location, and can operate through the authorization of the farmland manager, so that the variable seeding and fertilization system is not limited. Control the terminal within a specific distance range.

Step S200, acquiring the soil fertility value and yield value of the control plot, and determining a plot production control mode corresponding to the fertility value of the control plot according to the soil fertility and yield value correspondence model;

That is, the vehicle-mounted terminal 1 confirms the plot management mode corresponding to the current plot from the corresponding relationship set by the variable seeding and fertilization system. In this embodiment, the corresponding relationship between the preset plots of the variable seeding and fertilizing system and the management and control mode may be the corresponding relationship between the operation parameters of a large number of machines and tools saved in the server obtained by the vehicle-mounted terminal 1 and the corresponding relationship between the management and control modes, and the most frequently used one is selected from the corresponding relationship. The corresponding relationship between the operating parameters of the machine tool and the management and control mode; or, the management and control mode can be the management and control mode corresponding to the current soil fertility and soil analysis data set by the variable seeding and fertilization system. The logical relationship of the output automatically adjusts the control mode, and the service can be stopped at any time during the execution cycle.

For example, the user manager can set different control modes through the variable seeding and fertilization system, such as variable seeding control, automatic seeding control, manual control, etc. The variable seeding control depends on the soil analysis data of the farmland, which is based on soil fertility, The ratio of benchmark fertility and yield changes, and the annual operation parameters are adjusted. The execution cycle of this mode is relatively long; the automatic seeding control mainly relies on historical operation parameters, and the parameters of the tools that are used the most during the operation time in a certain period are counted as the current control parameters. ; Manual mode does not rely on the decision-making system and completely relies on mechanized parameter settings.

Step S300: Generate a production control instruction corresponding to the target production mode of the control plot according to the plot production control mode, the vehicle terminal 1 sends the production control instruction to the sensor, and the sensor controls the corresponding actuator of the planter, so The production control instruction is used to instruct the actuator to adjust the corresponding working parameters. The sensor-controlled end actuator mainly includes a seeder 34 and a fertilizer applicator, which control the speed of the seeding tray and the amount of fertilizer lowering through the seeding motor 33 and the fertilizing motor 32 respectively. ;

Step S400, the execution mechanism adjusts the corresponding working parameters to match the production control instruction according to the production control instruction, and the production control instruction includes an instruction to adjust the amount of fertilization, the sowing spacing, or the parameter to keep unchanged; and

Step S500, the seeder performs sowing and fertilization according to the working parameters.

In this embodiment, the sensor parses the received production control instructions sent by the vehicle-mounted terminal 1, obtains the control instructions of different sensing devices, and determines the working parameters of the driving motor according to the corresponding relationship between the rotational speed and the fertility or the sowing spacing. It can enable farmland managers to select an appropriate plot management and control mode in advance according to the work plan of the current operating season, so as to realize the rational use of farmland resources. In addition, all farmland production information managed by the user can be accurately searched according to the farmland manager information, thereby improving the efficiency of farmland supervision; the farmland production management is not limited to a specific distance range to control the farmland.

Wherein, step S100 further includes:

Step S101: Divide the farmland into multiple control plots, collect soil samples from the control plots in the early stage of sowing, and obtain soil fertility analysis data; the farmland manager can set the size of the standard plots and divide them according to the farmland boundaries. For multiple plots, soil samples can be collected using the general quadratic method, and the test results of each plot can be entered into the farmland management database. The sample collection time can be before spring or autumn sowing, and the specific time is not limited. When sowing in the first year, the variable seeding and fertilization system obtains the historical working parameters of the equipment in the current working period of the plot, and uses the most used working parameters as the initial working parameters for the first year, and obtains the different yield distributions of each plot at the time of harvest. ;

Step S102: According to the fertility detection value of the soil sample and the corresponding yield of the controlled plot, obtain the ratio of the benchmark fertility to the yield of the first year, and establish a corresponding relationship model between the soil fertility and the yield value. Establish a graph of soil fertility test values in the first year and the yield of each plot. According to the corresponding relationship between soil fertility and yield, the higher the soil fertility, the higher the yield value, but the yield reaches the highest value after the soil fertility reaches a certain fertility. And as the fertility continues to increase, the output slowly decreases, and the seedlings are burned due to excessive fertilization. Therefore, the fertility value corresponding to the yield turning point is set as the benchmark fertility of the farmland;

Step S103, obtaining the working parameters of the planter during the working period, and using the most used working parameters as the initial working parameters of the first year;

Step S104, if it is detected that the preset period is exceeded, re-statistic new initial working parameters, and obtain the soil fertility value and yield value of the control plot, and update the soil fertility and yield value correspondence model.

Referring to Fig. 2, Fig. 2 is a flow chart of a variable seeding and fertilizing method according to another example of the present invention. In this embodiment, step S200 further includes:

It is judged whether the current control plot is within the preset period of the plot production control mode, if yes, execute step S300; if not, execute the current working parameters of the planter.

Wherein, the step S200 further includes:

Output the variable broadcast decision suggestion prompt information and receive feedback within the preset period. If the feedback accepts the variable broadcast decision suggestion, step S300 is executed; if the feedback does not accept the variable broadcast decision suggestion, execute the Describe the current working parameters of the planter.

In step S200, it may further include:

Determine whether the soil fertility obtained before sowing in the second year is less than the standard fertility value, and obtain the first judgment result; among which, the sowing decision in the second year is mainly based on the comparison between the soil fertility measured in the first year of the current plot and the benchmark fertility. If the first judgment result is yes, the plot production control mode is to control the spreader to increase the amount of fertilizer applied; if the first judgment result is no, the plot production control mode is to reduce the sowing amount. The planting spacing of the machine increases the planting density of the plants in the plot. According to the soil fertility of the plot, the production control mode is adjusted to match the appropriate prescription control mode, and the soil fertility resources can be rationally utilized to adjust the mode according to the soil fertility status. This is the generation method of the farmland sowing prescription in the second year. According to the relationship between the yield and fertility of last year, the fertilizer prescription is implemented for the area with low fertility, and the area with high fertility is densely planted to further improve the farmland yield.

In step S200, it may further include:

Determine whether the yield ratio of the plot after the harvest in the second year is smaller than the yield ratio of the plot in the first year, and obtain a second judgment result; if the first judgment result is yes, and the second judgment result is yes, In order to reduce the interference caused by external factors in different years, the yield measurement value in this embodiment can be replaced by the yield ratio of the plot, and it is mainly based on whether the ratio of the yield of the current plot in this year is lower than that of the previous year. The block production control mode is to control the seeding machine to reduce the sowing spacing and increase the planting density of the plants in the field; if the first judgment result is yes, and the second judgment result is no, the field production The control mode is to control the spreader to increase the amount of fertilizer applied; if the first judgment result is no and the second judgment result is yes, then the plot production control mode is to maintain the sowing parameters of the first year ; if the first judgment result is no and the second judgment result is no, the plot production control mode is to control the seeding machine to continue to reduce the seeding spacing. In this example, the prescription decision is made for the soil fertility of the plot to be lower than the reference fertility. If the soil fertility is lower than the standard fertility, if the yield ratio increases, the fertilization amount will continue to be increased. If it decreases, it may be due to excessive fertilization. The phenomenon of burning seedlings is caused, so appropriately increasing the number of plants can balance the allocation of resources and increase the yield per mu. Also, in order to reduce the interference caused by external factors in different years, the yield measurement value in this embodiment can also be replaced by the yield ratio of the plot, and it is mainly based on whether the yield ratio of the current plot in this year is lower than that of the previous year. In response to the prescription decision of the soil fertility of the plot being higher than the benchmark fertility, if the soil fertility is higher than the standard fertility, if the yield ratio increases, the number of plants will continue to increase. Nutrients are deficient, so keeping the previous seeding parameters lower is the most effective prescribing decision for the plot.

In this embodiment, the management execution period set by default is 5 years, and the period can be set by the user administrator. In the execution period, the second judgment result can also be repeatedly judged after the harvest in the 3rd to 5th years, and The production control instruction corresponding to the production control mode of the plot is executed until the cycle ends or the user manager voluntarily stops the production mode. Soil samples can be re-collected every five years, repeating the above method.

Referring to FIG. 3 , FIG. 3 is a schematic structural diagram of a variable seeding and fertilizing device 3 according to an example of the present invention. The variable seeding and fertilizing device 3 of the present invention can use the above-mentioned variable seeding and fertilizing method to control plot production based on the corn seeding and fertilizing machine. The variable seeding and fertilizing device 3 can be connected to the tractor 2, and includes: a vehicle-mounted terminal 1, installed in the sowing On the machine, the IPCA-7010 industrial vehicle-mounted computer is used, and its Atom motherboard based on X86 architecture is used as the core, which integrates storage, communication, display and input and output modules, and has good compatibility and scalability, which is convenient for operation and maintenance. Preferably, a GPS positioning module, a CAN bus module and a DTU unit, the vehicle terminal 1 can integrate a GPS positioning module, a CAN bus module and a DTU unit. Among them, the GPS positioning module adopts Ublox-Neo M8 module, which supports GPS and Beidou dual-mode positioning, and the maximum positioning error is ≤2.5m, which meets the needs of flexibility, integration, robustness and humanization for mobile data collection in harsh working environments. , also has the best configuration suitable for operation in the vibration environment; the main board is installed in the vehicle terminal 1, and the Atom main board based on the X86 architecture is used as the core, which has good compatibility and scalability, and is easy to operate and maintain; Working module, integrated storage, communication, display, input and output, GPS positioning, CAN bus and DTU unit module, among which the GPS positioning module adopts Ublox-Neo M8 module, supports GPS and Beidou dual-mode positioning, the maximum positioning error ≤ 2.5m; drive The motor, installed on the seeder, includes a seeding motor 33 and a fertilization motor 32. The seeding motor 33 adopts a DC motor to replace the mechanical transmission structure, directly drives the seeding plate of the seeder, and adopts a speed measuring device such as a speed measuring radar or a GPS. The operating speed of the planter is obtained, and the rotation speed of the seeding disc is adjusted in real time according to the operating speed combined with the preset seeding amount information. After the vehicle-mounted terminal 1 makes a decision, the seeding control command is sent to the computer via the CAN bus. The sowing motor 33 drives the seeding disc to rotate according to the set rotation speed; the fertilization motor 32 measures the transient flow by the photoelectric and capacitive method, and measures the steady flow by the weighing method, and compares the transient flow with the steady flow. The on-line measurement of seed fertilizer sowing and application flow is realized by integration, and the fertilizer application of the planter is controlled by using the spiral capacitor supplemented by the micro-capacitor detection. After the vehicle terminal 1 makes a decision, the fertilization control command is sent to the fertilization motor through the CAN bus. 32. Drive the fertilization motor 32 to work according to the set parameters; and the motor control unit 31, according to the received production control instruction, adjust the working parameters of the seeding motor 33 and the fertilization motor 32 to match the production control instruction. match. The motor control unit 31 preferably adopts a K8516 CAN bus analog output module, and its main technical parameters are as follows: 4 output signals; 12-bit DA resolution, output signal range 0-10V; power supply voltage DC9-24V. It communicates with the vehicle-mounted terminal 1 through the CAN bus interface, and according to the production control instruction received by the receiving unit, sets the working parameters of the implement controlled by the drive motor as the working parameters in the production control mode.

The prior art seed meter adopts the form of ground wheel drive. With the continuous increase of the operating speed, vehicle slippage has become one of the important factors affecting the quality of sowing. The motor direct drive technology can effectively eliminate the adverse effects of mechanical transmission. The electric-driven seed metering system mainly uses a DC motor to replace the mechanical transmission structure, directly drives the seed metering disc, and uses a speed measuring radar or GPS to obtain the operating speed of the seeder. The rotation speed of the seed plate can be adjusted to achieve a reasonable match between the seeding rate and the operating speed. The electric-driven seed metering structure can not only be well adapted to high-speed seeding operations, but also further realize the individual start-stop control of each seeding unit. It is preferable to use a BG45×15SI type integrated DC motor as the driving source of the seed metering shaft. The motor has an integrated driving circuit inside, and uses a DC analog voltage signal to realize the dynamic adjustment of the motor speed. The signal range is 0-10V. The output power of the motor is 52.5w, the working voltage is DC12V, and the maximum speed is 3080rpm. At the same time, it is equipped with a PLG52 planetary reducer with a reduction ratio of 50. After the vehicle-mounted terminal 1 passes the decision, it sends a control command to the seeding motor 33 through the CAN bus, and drives the seeding motor 33 to rotate according to the set rotational speed.

Among them, the variable seeding and fertilization system can be installed in various terminal devices such as vehicle-mounted computers, tablet computers, mobile phones, and notebook computers, and the terminal devices can be used by agricultural machinery operators and farm managers. The variable seeding and fertilizing system of this embodiment is preferably developed by using the Labwindows/CVI2012 platform, adopts the principles of modularization and structuring, and uses the Windows7 operating system as the system operating platform. It is mainly used for the collection and display of planter operation status information, the real-time acquisition of GPS positioning information, the control of sowing and fertilization variables, and the real-time storage and processing of system data. The variable seeding and fertilization system may include: an acquisition unit for acquiring the immediate position of the planter and the current working parameters of the planter, and may include a first acquisition unit and a second acquisition unit, where the first acquisition unit is used to acquire the terminal device The real-time position of the controlled drive motor; the second acquisition unit is used to obtain the current working parameters of the implement controlled by the drive motor; data acquisition and control are the key components of the variable seeding and fertilization system software of the corn planter, which mainly completes various tasks. Road data information such as seeding quality, fertilizer box material level, GPS and other information collection, the system external equipment and interactive terminal communication mode mainly has two forms of RS232 serial communication and CAN bus communication. Among them, the seeding quality information and the vehicle speed information are communicated with the interactive terminal through the CAN bus. The measurement and control system determines the expected speed of seeding and fertilization according to the loaded prescription information and the current GPS information of the vehicle and the parameters of the implement, etc., and sends it to the control unit through the CAN bus to control the fertilization motor 32 and the seeding motor 33 to run at the desired speed; The set production control module of the plot confirms to save the production control mode corresponding to the current location information obtained by the acquisition unit, and the data is stored in the variable seeding and fertilization system acquisition software. The displayed values on the interface include GPS location information, seeding depth and Vehicle working condition parameters (travel speed, fertilizer box material level status, etc.), and the system will also save the information of each channel, which is convenient for subsequent analysis and processing; the command generation unit generates the production corresponding to the determined production control mode. A control instruction, the production control instruction is used to instruct and control the working parameters of the planter; a sending unit sends the production control instruction to the corresponding execution mechanism of the seeder; and a receiving unit receives the production control instruction and sends The working parameters of the planter are adjusted to match the production control instructions. It can also include a parameter setting module, which is used to complete the parameter configuration of sowing and fertilization work and the parameter setting of tools and the like, so that the equipment can work normally.

The determining unit may include: a first judging unit for judging whether the time of the current plot is within a preset period of the plot production management and control mode, and the preset period is within the sowing time range preset by the farmland production management user, And when the judgment result is no, trigger the second acquisition unit to execute the acquisition of the current working parameters of the equipment controlled by the drive motor; the second judgment unit is used to judge whether the current plot has set the production control mode in advance The first setting unit is used to set the plot production control mode to the production control mode when the first judgment unit and the second judgment unit judge that the result is yes, and trigger the command generation unit to execute the execution according to the determination unit. The determined production control instruction corresponding to the production control mode.

The variable seeding and fertilization system may further include: a prompt unit for outputting suggestion prompt information, the suggestion prompt information for prompting the farmland production management user whether to accept the plot production control mode; a first detection unit for Detect whether the farmland production management user accepts an instruction suggesting the plot production control mode, and when the farmland production management user accepts the instruction suggesting the plot production control mode is not received, trigger the second The acquisition unit executes the acquired current working parameters of the implement controlled by the drive motor; the second setting unit is configured to set the plot production control mode to the target control mode when receiving the farmland production management user acceptance suggestion, And trigger the command generation unit to execute the control instruction corresponding to the production control mode.

The variable seeding and fertilization system may further include: a second detection unit, configured to detect the number of years of the production management and control mode of the current plot, and when the detection is the first year, obtain the historical working parameters of the drive motor during the working period, The most used working parameters are used as the initial working parameters of the first year; the third judgment unit is used to judge whether the soil fertility of the current plot is greater than the standard fertility; the fourth judgment unit is used to judge the Whether the yield ratio of the current plot is higher than the fertility ratio of the plot last year; the first control command unit is used to instruct the working parameters of the machines and tools controlled by the fertilization motor 32 to indirectly control the amount of fertilization; the second control command unit , used to instruct the working parameters of the implements controlled by the sowing motor 33, and indirectly control the sowing distance; the third control command unit is used to instruct the sowing motor 33 and the fertilizing motor 32 to maintain the working parameters of the implements last year; the third setting unit , used to execute the first control instruction when the second detection unit detects that the number of years of the production control mode of the current plot is the second year, and when the judgment result of the third judgment unit is yes, and when the judgment result is no , execute the second control instruction; the fourth setting unit is used for when the second detection unit detects that the number of years of the production control mode of the current plot is the 3rd to the 5th year, when the third judgment unit is no, and the fourth judgment When the judgment result of the unit is YES, execute the first control instruction, when the third judgment unit is NO, and the judgment result of the fourth judgment unit is NO, execute the third control instruction, when the third judgment unit is YES, and the fourth judgment The second control instruction is executed when the judgment result of the unit is YES, and the third control instruction is executed when the judgment result of the third judgment unit is YES and the judgment result of the fourth judgment unit is NO.

During work, the variable seeding and fertilization system obtains the soil fertility value and yield value of the plot it controls, and determines the plot production control mode corresponding to the fertility value of the plot from the pre-analyzed correspondence between soil fertility and yield value; The variable seeding and fertilization system generates control instructions corresponding to the target production mode according to the plot production control mode through the vehicle-mounted terminal 1, and sends the control instructions to the corresponding drive motors, where the control instructions are used to indicate The drive motor adjusts the working parameters of the implement controlled by the drive motor; the drive motor receives the control instruction sent by the vehicle terminal 1, and according to the control instruction, adjusts the implement installed by the drive motor with the control instruction. The working parameters of the tools matched with the control instructions are adjusted to be consistent.

The variable seeding and fertilization system determines whether the time of the current plot is within the preset period of the plot production management and control mode, and the preset period is within the sowing time range preset by the farmland production management user; if not, the variable seeding and fertilization The system executes the acquisition of the current working parameters of the drive motor it controls; if so, the variable seeding and fertilization system will execute the plot production control mode to which it belongs, and execute the plot production control mode according to the described plot production control mode. A control instruction corresponding to the target production mode is generated.

The variable seeding and fertilization system can also output variable seeding decision suggestion prompt information within the set seeding time range, and the suggested prompt information is used to prompt the farmland production management user whether to accept the plot production control mode; when the system When it is detected that the farmland production management user does not accept the variable seeding decision suggestion, the variable seeding and fertilization system executes the acquisition of the current working parameters of the drive motor it controls; when the system detects that the farmland production management When the user accepts the variable seeding decision suggestion, the variable seeding and fertilization system will enter the plot production control mode, and execute the generation according to the plot production control mode that is consistent with the target production mode. corresponding control instructions.

The maximum management period of the plot production management and control mode is preferably 5 years; the variable seeding and fertilization system obtains the working parameters of the drive motor during the working period, and uses the most used working parameters as the initial start of the first year. Working parameters; if it is detected that the farmland production management user terminates the plot production control mode within the management period, the variable seeding and fertilization system executes the acquisition of the current working parameters of the drive motor it controls; if the plot is detected If the management period of the production control mode exceeds 5 years, the new initial working parameters will be re-statistical, and the soil fertility value and yield value of the controlled plot will be obtained, and the corresponding relationship between soil fertility and yield value will be updated and analyzed.

The invention relates to the field of agricultural intelligent machinery manufacturing, which enables farmland producers to automatically select and match suitable production parameters according to the soil fertility of the plots and the yield ratio of the plots, thereby realizing intelligent and precise control and utilization of the production resources of the farmland plots.

Of course, the present invention can also have other various embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding Changes and deformations should belong to the protection scope of the appended claims of the present invention.

Claims (10)

A method for variable sowing and fertilization, comprising the steps of: S100, establishing a model of the corresponding relationship between soil fertility and yield value; S200. Obtain the soil fertility value and the yield value of the control plot, and determine a plot production control mode corresponding to the fertility value of the control plot according to the soil fertility and yield value correspondence model; S300. Generate a production control instruction corresponding to the target production mode of the control plot according to the plot production control mode, and send it to the corresponding execution mechanism of the planter, where the production control instruction is used to instruct the execution mechanism Adjust the corresponding working parameters; S400. The executing agency adjusts the corresponding working parameter to match the production control instruction according to the production control instruction; and S500. The seeder performs sowing and fertilization according to the working parameters. The variable seeding and fertilizing method according to claim 1, wherein step S100 further comprises: S101. Divide the farmland into multiple control plots, collect soil samples from the control plots in the early stage of sowing, and obtain soil fertility analysis data; and S102. According to the fertility detection value of the soil sample and the corresponding yield of the control plot, obtain a reference fertility and yield ratio, and establish a corresponding relationship model between the soil fertility and yield value. The variable seeding and fertilizing method according to claim 2, characterized in that, in step S200, further comprising: It is judged whether the current control plot is within the preset period of the plot production control mode, if yes, execute step S300; if not, execute the current working parameters of the planter. The variable seeding and fertilizing method according to claim 3, wherein the step S200 further comprises: Output the variable broadcast decision suggestion prompt information and receive feedback within the preset period. If the feedback accepts the variable broadcast decision suggestion, step S300 is executed; if the feedback does not accept the variable broadcast decision suggestion, execute the Describe the current working parameters of the planter. The variable seeding and fertilizing method according to claim 4, characterized in that, in step S100, further comprising: S103, obtain the working parameters of the planter in the working period, and use the most used working parameters as the initial working parameters in the first year; S104. If it is detected that the preset period is exceeded, re-count new initial working parameters, acquire soil fertility value and yield value of the controlled plot, and update the soil fertility and yield value correspondence model. The variable seeding and fertilizing method according to claim 5, characterized in that, in step S200, further comprising: Determine whether the soil fertility obtained before sowing in the second year is less than the standard fertility value, and obtain a first judgment result; if the first judgment result is yes, the plot production control mode is to control the planter to increase the amount of fertilization ; if the first judgment result is no, the plot production control mode is to reduce the seeding spacing of the seeding machine. The variable seeding and fertilizing method according to claim 6, characterized in that, in step S200, further comprising: Determine whether the yield ratio of the plot after the harvest in the second year is smaller than the yield ratio of the plot in the first year, and obtain a second judgment result; if the first judgment result is yes, and the second judgment result is yes, The plot production control mode is to control the planter to reduce the seeding spacing; if the first judgment result is yes and the second judgment result is no, the plot production control mode is control The spreader increases the amount of fertilization; if the first judgment result is no and the second judgment result is yes, the plot production control mode is to maintain the sowing parameters of the first year; if the When the first determination result is no, and the second determination result is no, the plot production control mode is to control the spreader to continue to reduce the seeding spacing. The method for variable seeding and fertilization according to claim 7, further comprising: repeatedly judging the second judgment result after harvest every year, and executing a production control instruction corresponding to the production control mode of the plot. A variable seeding and fertilizing system, characterized in that, the variable seeding and fertilizing method according to any one of the above claims 1-8 is used for field production control, comprising: an acquisition unit to acquire the immediate position of the planter and the current working parameters of the planter; a determining unit, according to a preset production control module for the plot, to confirm the production control mode corresponding to the current location information acquired by the acquisition unit; The command generating unit generates a production control instruction corresponding to the determined production control mode, where the production control instruction is used to instruct and control the working parameters of the planter; a sending unit, which sends the production control instruction to the corresponding actuator of the seeder; and The receiving unit receives the production control instruction and adjusts the working parameters of the seeder to match the production control instruction. A variable seeding and fertilizing device, characterized in that the method for variable seeding and fertilizing according to any one of the preceding claims 1-8 is used to control the production of plots, comprising: Vehicle terminal, installed on the seeder; a main board, installed in the vehicle terminal; Working module, integrated storage, communication, display, input and output, GPS positioning, CAN bus and DTU unit module; A drive motor, installed on the seeder, includes a seeding motor and a fertilizing motor, the seeding motor adopts a DC motor, directly drives the seeding disc of the seeder, and uses a speed measuring radar or GPS to obtain the operating speed of the seeder, According to the operating speed combined with the preset seeding rate information, the rotation speed of the seeding plate is adjusted in real time, and the vehicle-mounted terminal sends the seeding control command to the seeding motor through the CAN bus, and drives the seeding plate according to the setting. It rotates at a fixed speed; the fertilization motor uses photoelectric and capacitive methods to measure the transient flow, and the weighing method to measure the steady flow. The transient flow and the steady flow are integrated to realize the online measurement of the seed fertilizer sowing flow, and the spiral capacitor is used. and micro-capacitor detection and control of the fertilizer application of the planter, the on-board terminal sends the fertilizer application control command to the fertilizer application motor through the CAN bus, and drives the fertilizer application motor to work according to the set parameters; and The motor control unit, according to the received production control instruction, adjusts the working parameters of the seeding motor and the fertilization motor to match the production control instruction.

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