| As a crucial facet of leisure and tourism agriculture,creative landscape farming hinges on the natural milieu,using the aesthetic arrangement of crops as its principal representation.It is not only captivating and decorative but also fosters enhancement of crop yield and quality.Yet,the creation of these crop designs largely relies on manual labor.Even though the implementation of auxiliary positioning methods like chromatic projection lighting and GPS instrumentation can augment planting efficiency,complexities in operation,time and labor intensiveness,along with elevated planting costs,still persist.These factors deter the widespread adoption of agricultural landscape patterns and impede the growth of creative landscape farming.In this manuscript,we introduce an automated sowing technique for rape-wheat field painting predicated on the prescription pattern variable sowing control method.We construct an rape-wheat field painting automated sowing control system,facilitating the rape-wheat field painting seeder to dynamically switch the seeding type in alignment with the rape-wheat field painting pattern.This presents a novel solution for the mechanical plantation of creative landscape crops across vast fields.The primary research aspects discussed in this paper encompass:(1)Predicated on the rape-wheat field painting automatic sowing control method,we propose the design requirements for the rape-wheat field painting seeder.We ascertain the overall structure design scheme and elaborate on the structural composition and working principle of the rape-wheat field painting seeder.We propose and design an electrically-driven rapeseed and wheat sowing unit with independent control capability.A Controller Area Network(CAN)bus-based communication mode is designed to enable precise control over the sowing state of the sowing unit and the flexible adjustment of the number of sowing units per the requirement of sowing rows.This aids the synergistic control of multiple motors.(2)We investigate the digitization method of the envisaged planting pattern within the rapewheat field,constructing a planting map for rape-wheat field painting.Utilizing the image processing module in the Python language library,we generate a planting map imbued with image location information and seeding type data based on the desired pattern.Furthermore,we analyze the correlation between the image position information in the rape-wheat field painting planting map and the coordinate points within the to-be-planted area.We establish a mapping model linking the rape-wheat field painting planting map and the prospective planting area,sequentially mapping the image coordinates within the rape-wheat field painting planting map to the planting area.The seeding type at each coordinate point in the area set for planting is determined based on the corresponding image coordinate’s seeding type information.Simulation results of the field planting effect indicate that the rape-wheat field painting planting map and the planting area mapping model can accurately align each point within the pattern to the corresponding position in the area meant for planting,substantiating the feasibility of the rape-wheat field painting automatic seeding control method proposed herein.(3)We examine the spatial positional relationship between the primary and secondary positioning antennas of the GNSS positioning module and each rape and wheat seeding unit during the planting process of the rape-wheat field painting seeder.By integrating the real-time position information of the seeder,we construct a positioning model for each rapeseed and wheat seeding unit in any forward direction of the seeder.This allows us to utilize the position information obtained from a single GNSS positioning module to compute the location of multiple on-board rapeseed and wheat seeding units.(4)We analyze factors causing the rape-wheat boundary offset when the rape-wheat field painting planter crosses the boundary between different sowing type zones.Utilizing the concept of overrun control,we establish an oil-wheat boundary lag compensation model.The control cycle of the oil-wheat field painting automatic seeding control system is segmented into four stages:position information acquisition,seeding type decision,seeding execution,and seed drop.We derive the total lag time of the control system via theoretical analysis and experimental measurement,constructing the oil-wheat boundary distance lag compensation model based on this.Road test results show the lag compensation model can effectively decrease the rape-wheat boundary offset and mitigate the impact of forward speed on offset magnitude.After adopting the hysteresis compensation model,the offset distance of the rape-wheat boundary is diminished by0.6～1.41 m,and the offset distance following compensation regulation essentially stays within the range of 0.07～0.38 m.(5)We analyze the fundamental principle of landscape planting of the rape-wheat field painting and reference the control logic of the prescribed graphical variable seeding control system.Under the Windows system architecture,we construct an automatic seeding control system for rape-wheat field painting based on GNSS positioning information,an embedded system,and a CAN bus.We design the GNSS position information extraction algorithm to accurately obtain the seeder’s position information,and the library function ensures fast and precise judgment of the seeding type.We also establish a speed-based seeding control model,adjusting the drive motor speed in real time according to the forward speed.Road tests demonstrate that the control system can adapt swiftly to changes in the seeder’s forward speed,whether the changes occur across a wide range or rapidly.Field planting results of the rape-wheat field painting reveal that the actual planting pattern during the flowering period shares a 92% similarity with the intended pattern.The actual field planting effect is satisfactory,meeting the demands of mechanical planting for rapewheat field painting. |
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