Curve Seeding Position Compensation Of Precision Planter

Curve seeding is a precision agricultural technology aimed at improving planting quality and crop yield.In traditional agricultural production models,planting operations generally use straight seeding.This method can lead to low land use efficiency and affect yield for irregularly shaped land parcels,so it is necessary to study curved seeding techniques.On the other hand,due to the use of ground wheel drive in traditional seeders,the radial spacing between each row of seeds varies during curving seeding,which affects the seeding quality and yield.Therefore,studying the techniques related to positioning compensation for curve seeding,constructing a curve positioning compensation model,achieving uniform seeding units in each row during the curve seeding process,and accurately measuring the drop position are beneficial for improving land use efficiency and crop yield,reducing crop management costs in the later stage,and also enriching and improving smart agricultural technology and theory,which has important application value and academic significance.The paper conducts research on the positioning compensation technology for each row of seeding unit and the precision positioning technology for seed drop in the multi row seeder curve seeding.The main research results are as follows:(1)Propose a positioning compensation model for tractor seeder curving seeding.Based on the working characteristics of the tractor-seeder during the curving seeding process,a positional relationship model of the tractor-seeder during the curving seeding process was constructed.By using the BT-300 multi satellite and multi frequency GNSS antenna installed on the roof of the tractor,high-precision positioning information is obtained and the realtime travel rate,turning radius,and real-time position of each row of seeding units during the curving seeding operation are calculated.Calculate the real-time seeding frequency of each row of seeding units based on the specified optimal planting spacing,and use this as a basis to control the driving motor in real-time.And a regulation scheme for driving the motor speed is designed,and the real-time plant spacing compensation function for each row of seeding units during curving seeding is achieved.The Simulink module in Matlab is used to conduct simulation experiments on the tractor-seeder curving seeding positioning compensation model,verifying the effects of precision rate,number of operation rows,and positioning accuracy on the model,and ultimately obtaining the optimal operation parameters.(2)Design and implement a precision positioning system for seeding.The hardware composition of the system has been determined,including the main control module for seeding positioning,seed falling detection module,high-precision positioning module,and network communication module.The components of each module are introduced,and the data processing process of the high-precision positioning module is analyzed.The decoding process of the NMEA-0183 protocol is designed,and RTCM3.2 message decoding is achieved.Finally,the entire RTK calculation process is automated through code implementation.The final test proves that the positioning accuracy of the seeding precision positioning system can meet the accuracy requirements of the curved seeding compensation model.(3)Provide a precise positioning model for seed placement.Analyze the motion state of the seeds after leaving the seeding tray to determine the precise landing time of the seeds.Record the longitude and latitude information obtained by the precise positioning system for seeding at that time based on the landing time and convert it into coordinate information in a two-dimensional coordinate system.Substitute the two-dimensional coordinates into the positioning compensation model of tractor-seeder curving seeding to calculate the twodimensional coordinates of the center position of the seeding unit.And finally,the twodimensional coordinates of the center position of each seeding unit are converted into longitude and latitude coordinates to obtain accurate seed placement information.Using UTM projection technology,the position information in WGS-84 geographic coordinate system and the coordinate information in 2D plane coordinate system are converted to each other with high precision.Establish a simulation model to analyze the effects of factors such as seeding rate and seed guide tube height on the seed drop position model,determine the relationship between the accuracy of seed drop positioning and the travel rate and height of the seed guide tube,and obtain the optimal seed positioning effect of the model at a travel rate of 1 m/s and a seed guide tube of 45 cm.