CN1326442C - Virtual GPS accurate agricultural variable subsoil application system - Google Patents

Abstract

The invention relates to an automatic/manual variable fertilization and seeding machine. It is to solve the problem of uneven spatial distribution of farmland nutrients, and realize the fertilization of soil according to the nutritional needs of crops through the virtual GPS system, so as to reduce input, improve efficiency and improve the quality of agricultural products. The system uses the Global Positioning System (GPS) to collect the contour attributes of the cultivated land, uses the geographic information system (GIS) combined with GPS to manage the soil and yield information of the cultivated land, and realizes the contour drawing of the cultivated land, the operation unit grid division, and the soil Automatic identification with yield information management and operation unit; make fertilization decision and write data on IC card. When working, test the working speed of the fertilizer applicator in real time, calculate the operating unit where the fertilizer applicator is located, use a single-chip microcomputer to control the speed of the fertilizer discharge shaft on the fertilizer applicator, adjust the fertilizer discharge amount of the fertilizer dispenser, and apply the fertilizer to the seed side with a deep fertilization opener in the subcultivation layer.

Description

Virtual GPS Precision Agriculture Variable Deep Fertilization System

technical field

The invention designs an agricultural machine, in particular an automatic/manual variable fertilization and seeding machine.

technical background

The traditional method is to use uniform fertilization. Due to the differences in soil nutrients in the cultivated land, the excessive use of chemical fertilizers and pesticides has resulted in decreased soil productivity, soil erosion, pollution of agricultural products and groundwater, and water body enrichment. Nutritization and other ecological and environmental issues. In this context, precision farming techniques using variable inputs were developed.

Precision agriculture is a modern agricultural production form and management mode based on information technology. The current precision agricultural variable fertilization machine realizes variable fertilization in the field by using the GPS receiver installed on the fertilizer applicator to provide real-time positioning information, and performs variable fertilization according to the location of the fertilizer (operating unit) and the demand for nutrients in the operating unit to achieve saving cost and pollution reduction purposes. Under this mode of work, it is required to install a GPS receiver on each work machine in the field. Moreover, in order to ensure a certain positioning accuracy, it is often necessary to use the DGPS working mode.

Existing granular fertilizer variable fertilizer dispensers all adopt special fertilizer dispensers to spread the fertilizer evenly on the ground surface. This structure is more suitable for large-area operations, and has a single function and high cost. There are many small and medium-sized tractors in our country, and basically fertilization and sowing are carried out at the same time. To adapt to the development of my country's agriculture, we must study multifunctional variable fertilization equipment that can be matched with Chinese tractors and combined with precision seeding, so as to realize one machine with multiple functions and improve the performance-price ratio.

Contents of the invention

The purpose of the virtual GPS precision agricultural variable deep fertilization system provided by the present invention is to solve the problem of uneven distribution of farmland nutrients, and realize on-demand fertilization of the soil according to the nutritional needs of crops through the virtual GPS system, so as to reduce investment, improve benefits and improve The purpose of agricultural product quality.

The object of the present invention is achieved like this, described as follows in conjunction with accompanying drawing.

The virtual GPS precision agricultural variable deep fertilization system includes two parts: a virtual GPS navigation system and a variable deep fertilization precision seeder. It is characterized in that the virtual GPS navigation system is separated from the variable deep fertilization seeder. It includes a set of differential global positioning system DGPS , geographical information and field cultivation plot management system and field operation plot grid identification and control program, and an IC card for storing plot management and variable fertilization decision information; the regulator 2 input of the variable deep fertilization precision seeder The terminal is connected with the tractor generator 1, and the output terminal is connected with the storage battery 4; the input terminal of the power distributor 6 is connected with the storage battery 4, and the output terminal is connected with the pulse distributor 7; the input terminal of the variable fertilization controller 5 is connected with the IC card 3, the speed sensor 15 and the The power distributor 6 is connected; the output end is connected with the pulse distributor 7; the output end of the pulse distributor 7 is connected with the stepper motor 8; the stepper motor 8 drives the fertilizer discharger shaft 14 through the coupling 9, and the fertilizer discharger is connected to the output Fertilizer pipe and deep fertilization opener 18; regulator 2, IC card 3, battery 4, variable fertilization controller 5, power distributor 6, pulse distributor 7 are installed on the tractor, and speed sensor 15 is installed on the ground wheel 12 , the stepper motor 8 is installed on the main beam of the variable fertilization planter.

The so-called IC card production: before implementing the variable fertilization operation, use the DGPS receiver to measure the plot outline, draw the electronic map of the plot, import the electronic map into the geographic information system GIS, and determine the size and shape parameters of the variable fertilization operation plot. For each piece of land, it is necessary to determine the width D and length L of the grid of the operation unit of the plot, divide the grid of the operation unit, and then measure the soil nutrients of the cultivated plot according to the operation unit, and establish the soil nutrient information of the cultivated plot The database, according to the soil test results and decision criteria, makes fertilization decisions, obtains the decision fertilization amount of each operation unit in the plot, and writes the code number of the operation unit and its corresponding fertilization amount into the fertilization decision IC card.

The variable deep fertilization precision seeder adopts a single-chip microcomputer control system to control the speed of the stepping motor to drive the fertilizer discharge element, and the fertilization decision IC card file is in a text format with a small storage capacity.

The variable deep fertilization precision seeder has two working modes: automatic mode and manual mode. In the automatic mode, according to the location information of the fertilizer applicator and the working speed information, the output of the fertilization amount is extracted, and the fertilization and seeder can be completed during travel. Variable fertilization operation; in manual working mode, the operator inputs the required fertilization amount through the buttons to complete the variable fertilization operation, and uses the angle-digital encoder installed on the ground wheel shaft to test the ground wheel speed signal of the fertilizer applicator, and calculates accordingly The operating area of the fertilizer applicator determines the operating unit where the fertilizer applicator operates.

When the fertilizer applicator operating in the field is performing variable fertilization operations, by testing the operating speed of the fertilizer applicator, the operating unit where the fertilizer is located is calculated, and the fertilization amount is extracted according to the operating unit where the fertilizer applicator is located for variable fertilization. It not only satisfies the requirement of precise agricultural variable fertilization operation, but also saves the GPS receiver and differential signal receiving device on the working machine.

Description of drawings:

Fig. 1 is the flow chart of fertilization decision-making IC card;

Fig. 2 automatic/manual variable fertilization field implementation control flow chart;

Figure 3 The overall configuration diagram of the variable depth fertilizer applicator;

Fig. 4 block diagram of variable fertilization controller.

The names of the components marked in Figure 3 are as follows:

1. Tractor generator 2. Regulator 3. IC card 4. Battery 5. Variable fertilization controller 6. Power distributor 7. Pulse distributor 8. Stepper motor 9. Coupling 10. Fertilizer box 11. Rack 12. Ground wheel 13. Fertilizer discharger 14. Fertilizer discharger shaft 15. Speed sensor 16. Soil cover device 17. Precision seed metering device 18. Deep fertilization ditch opener 19. Suspension frame

Detailed ways

The specific content and working process of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The design idea of the virtual GPS automatic variable fertilization system: due to the large initial investment required for the implementation of precision agricultural technology, the price of the GPS positioning system is dozens of times the price of other parts of the entire variable fertilization system. As far as my country's current national conditions are concerned, many technologies for implementing precision agriculture are still in the stage of theoretical research and experimental discussion. Especially for the cultivated land in northern my country, it is mostly divided by forest network, which is relatively regular. In order to promote the application of automatic variable fertilization technology, this patent proposes a virtual GPS precision agricultural variable fertilization system, that is, the automatic variable fertilization operation of precision agriculture is implemented through program control instead of GPS system real-time positioning and navigation. The benefits of doing this are:

(1) Less initial investment. Equipped with a GPS receiver, such as an AgGPS132 receiver, the price is $10,000. If the variable fertilization operation is carried out with GPS, the average investment is generally $10,000-15,000, and the positioning accuracy error is more than ten meters, and the pertinence of variable fertilization is poor. . In order to ensure high positioning accuracy, it is necessary to use the DGPS working method, which requires adding a GPS receiver, two sets of radio equipment and other supporting devices, and a total investment of more than $30,000 is required. Based on the current actual conditions in rural areas of our country, it can be said that it is difficult to realize in a short period of time. After adopting the virtual GPS system, this problem can be solved.

(2) The economic benefit is obvious. Due to the obvious reduction of initial investment, variable fertilization will maximize the utilization rate of fertilizer under the same fertilization conditions, which will increase the ratio of output to input.

Implementation process of virtual GPS precise agricultural variable deep fertilization: according to needs, divide the cultivated land into operation unit grids of appropriate size, and in each operation unit, based on nutrient content information in the soil and crop demand, according to nutrient balance and experts knowledge to make fertilization decisions and generate prescription maps. During the fertilization operation, by obtaining the working speed of the operating machine in real time and calculating the geographic location of the operating machine, the fertilization decision information is extracted according to the code of the operating unit where the fertilizer applicator is located and the corresponding speed of the stepping motor is output to drive the fertilizer discharger to work and realize the variable fertilization amount control. The implementation process of specific fertilization:

Step 1: Production of IC cards for field management and fertilization decisions. Before implementing the variable fertilization operation, use the DGPS receiver to measure the outline of the plot and draw the electronic map of the plot. Import the electronic map into the geographic information system GIS, and determine the size and shape parameters of the plot parameters of the variable fertilization operation. For each piece of land, it is necessary to determine the width (D) and length (L) of the grid of the operation unit of the plot, divide the grid of the operation unit, and then measure the soil nutrients of the cultivated plot according to the operation unit, and establish the cultivated plot Soil nutrient information database. Fertilization decision is made according to the soil test results and decision-making criteria, and the decision fertilization amount of each operation unit in the plot is obtained, and the code number of the operation unit and its corresponding fertilization amount are written into the fertilization decision IC card (operation unit, fertilization amount) . The production process of fertilization decision-making IC card is shown in Figure 1.

The second step: the implementation of field operations. After the fertilizer applicator enters the cultivated land, the fertilization controller reads the signal of the speed sensor in each sampling period T, obtains the machine operating speed V, calculates the distance S that the fertilizer applicator has traveled, and uses the operating distance S and the mechanical operating width B Calculate the working area of the fertilizer applicator S×B. Calculate the code MN of the operating unit where the fertilizer applicator is located from the distance and area, and then extract the amount of fertilizer that should be applied by the operating unit to control the output of the fertilizer dispenser. Its process is shown in Figure 2. In the figure, V——working speed of fertilizer applicator (km/h)

T——working speed sampling period (s)

B——Operating width of fertilizer applicator (m)

D——operating unit width (m)

L——operating unit length (m)

MN——operation unit name code, M—character data, code for the direction between the ridges of the operation unit, M=A, B, C...; N——numeric data, code for the direction of the ridge length of the operation unit, N=1, 2, 3....

Plot parameters include x0, y0, p, q, s, t. Where (x ₀ , y ₀ ) is the two-dimensional position coordinates of the base point of the plot, such as the southwest corner of the cultivated plot, and p, q, s, t are the description parameters of the shape of the operating unit.

There are two working modes of the fertilizer spreader: automatic mode and manual mode. Use the Work Mode Toggle Switch on the control panel to make a selection. The automatic working mode is to calculate the position MN of the fertilizer applicator based on the measured speed information V and the plot parameters x ₀ , y ₀ , p, q, s, t to extract the output of the fertilization amount; Turn the working mode switch to "manual", and the fertilizer amount is input directly from the keyboard by the operator through manual keys. If you need to fertilize 300kg/hm ² , then input 300 on the keyboard. The keyboard uses a 4×4 membrane switch keyboard. The control program directly transmits the pulse number of the stepper motor to the lower computer.

The concrete structure of the present invention is illustrated by the following implementation process and accompanying drawings.

The present invention comprises a regulator 2, an IC card 3, a battery 4, a variable fertilization controller 5, a power distributor 6, a pulse distributor 7, a stepper motor 8, a coupling 9, a speed sensor 15 and a variable depth fertilizer. The variable deep fertilization machine includes: fertilizer box 10, frame 11, ground wheel 12, fertilizer discharge device 13, fertilizer discharge device shaft 14, cover device 16, precision seed metering device 17, deep fertilization ditch opener 18, suspension frame 19 , precision seeder, etc. Given the field parameters and fertilization decision data, the position of the fertilizer applicator is determined through program calculations to realize automatic/manual variable deep fertilization and precision planting of crops such as corn and soybeans.

The input end of the regulator 2 is connected to the tractor generator 1, and the output end is connected to the battery 4; the input end of the power distributor 6 is connected to the battery 4, and the output end is connected to the pulse distributor 7; the input end of the variable fertilization controller 5 is connected to the IC card 3 , the speed sensor 15 is connected with the power distributor 6, and the output end is connected with the pulse distributor 7; the output terminal of the pulse distributor 7 is connected with the stepper motor 8; the stepper motor 8 drives the fertilizer discharger shaft 14 through the coupling 9; Connect fertilizer delivery pipe and deep fertilization ditch opener 18 below the fertilizer device. A regulator 2, an IC card 3, a storage battery 4, a variable fertilization controller 5, a power distributor 6 and a pulse distributor 7 are installed on the tractor. The speed sensor 15 is installed on the ground wheel 12 . The stepper motor 8 is installed on the main beam of the automatic/manual variable fertilization seeder, and the stepper motor 8 drives the fertilizer discharger shaft 14 to rotate through the shaft coupling 9 .

The invention adopts virtual GPS technology to realize precise agricultural variable fertilization operations without GPS real-time navigation. Its characteristics are: use DGPS combined with GIS to manage field plots in advance, and establish a database of soil nutrient information in the working plot; when the fertilizer applicator performs field fertilization operations, it can also be used without installing a GPS receiver and a differential signal receiving device. Realize the positioning function of the fertilizer applicator, and realize the variable fertilization operation of precision agriculture. Thereby saving the GPS receiver and the differential signal receiving device.

Claims (4)

1. virtual GPS accurate agricultural variable subsoil application system, comprise virtual GPS navigation system and variable subsoil application precision planter two parts, it is characterized in that said virtual GPS navigation system separates with the variable subsoil application precision planter, it comprises a cover differential Global Positioning System DGPS, geography information and field farming plot management system and identification of farm work plot grid and control program, and the IC-card of management of storage plot and variable fertilization decision information; The adjuster of said variable subsoil application sower (2) input is connected with tractor generators (1), and output is connected with storage battery (4); Electric power source distribution device (6) input is connected with storage battery (4), and output is connected with pulsqe distributor (7); Variable fertilization controller (5) input is connected with IC-card (3), velocity sensor (15) and electric power source distribution device (6); Output is connected with pulsqe distributor (7); Pulsqe distributor (7) output is connected with stepper motor (8); Stepper motor (8) drives fertilizer apparatus axle (14) by shaft joint (9), connects fertilizer delivering pipe and deep-fertilizing furrow opener (18) below the fertilizer apparatus; Velocity sensor (15) is installed on the land wheel (12), and stepper motor (8) is installed on the Variable Rate Seeding Machine girder.

2. virtual GPS accurate agricultural variable subsoil application system according to claim 1, it is characterized in that said IC-card making: before implementing the variable fertilization operation, adopt the DGPS receiver to measure the plot profile, draw the plot electronic chart, electronic chart is imported among the geographic information system GIS, determine variable fertilization operation ground block size and form parameter, at every plot, need to determine the width (D) and the length (L) of this plot operating unit grid, carrying out the operating unit grid divides, measure the soil nutrient in farming plot then by operating unit, set up the soil nutrient information database in this farming plot, survey the decision-making of applying fertilizer of native result and decision rule according to it, obtain the decision-making fertilizing amount of each operating unit in this plot, operating unit code clerk and its corresponding fertilizing amount are write in the fertilising decision-making IC-card.

3. virtual GPS accurate agricultural variable subsoil application system according to claim 1, it is characterized in that described variable subsoil application precision planter adopts single-chip computer control system control step motor speed, drive the fertilizer element, fertilising decision-making IC-card file adopts and takies the little text formatting of memory capacity.

4. virtual GPS accurate agricultural variable subsoil application system according to claim 1, it is characterized in that described variable subsoil application precision planter has automated manner and two kinds of working methods of manual mode, automatically under the working method, positional information and operating rate information according to the fertilizer distributor place, the output of extraction fertilizing amount, the realization combined seed and fertilizer drill is finished the variable fertilization operation between advancing; During the manual work mode, fertilizing amount is finished the variable fertilization operation by the operator by the fertilizing amount that the button input needs, employing is installed in the angle-digital encoder test fertilizer distributor land wheel tach signal on the land axle, calculate the fertilizer distributor active area according to this, thereby determine the operating unit at fertilizer distributor operation place.

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