Self-adaptive seeding control system based on unmanned driving technology and control method thereof

Abstract

The invention discloses a self-adaptive seeding control system based on an unmanned driving technology. The self-adaptive seeding control system comprises a vehicle-mounted central controller, an automatic driving system controller, a seeding system controller, a driving state monitoring device and an agricultural machine state monitoring device, the vehicle-mounted central controller responds tothe agricultural machine and moves to the seeding path, and drives the seeding system controller to adjust the rotating speed of the motor according to preset seeding parameters so as to execute seeding operation; the agricultural machinery state monitoring is used for monitoring agricultural machinery seeding state parameters in real time, generating a reseeding control signal if the abnormal type is seed shortage, and calculating a reseeding navigation planning path. According to the invention, the automatic driving system and the seeding system in a completely independent state can be effectively coordinated, and the seeding operation task can be efficiently and adaptively completed; the abnormal state in the seeding operation task process is processed in time, particularly, seed shortage abnormity is processed in time, and route adjustment and reseeding operation are completed in a self-adaptive mode on the premise that seeding efficiency is not affected.

Description

technical field [0001] The invention relates to the technical field of intelligent agricultural machinery, in particular to an adaptive sowing control system based on unmanned driving technology and a control method thereof. Background technique [0002] Agricultural machinery auxiliary technology and unmanned technology are a development trend. The article "Design of Navigation Immune PID Controller for Small Tracked Rapeseed Planter" written by Ding Youchun, Huazhong Agricultural University, etc. To simplify the intelligent problem of seeder, a navigation controller of small crawler rape seeder based on immune PID is designed. Based on the small tracked rape seeder, the steering system is electronically modified by using electromagnets, and the high-precision Beidou positioning module and electronic compass are used for combined navigation to obtain the position and heading information of the tracked seeder as the navigation controller. Input, designed a small crawler rap...

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Problems solved by technology

However, the article does not explain how the seeder works in coordination with the automatic driving of the tracked main platform

In fact, it is still difficult to realize full automation in the sowing process of existing agricultural machinery. The reasons include but are not limited to the following: the farmland environment is complex, and various abnormal states are prone to occur during the sowing process (for example, the sowing area is too large and needs to be replanted midway. ;Multiple sowing areas need to sow different types of seeds; the terrain of the farmland is complex, and some obstacles will affect the sowing operation, and even affect the progress of the agricultural machinery, etc.); the requirements for sowing accuracy are high, once the accuracy drops due to abnormal conditions , crop yield will be greatly affected. For farmland areas with low sowing precision, rework is difficult and costly

However, in the prior art, there is no feasible solution that does not affect the sowing efficiency for various abnormal states that occur during the sowing process.

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