| 基于卫星定位的玉米高位精播种子着床位置预测方法 |
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| 引用本文： | 颜丙新,付卫强,武广伟,肖跃进,孟志军.基于卫星定位的玉米高位精播种子着床位置预测方法[J].农业机械学报,2021,52(2):44-54. |
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| 作者姓名： | 颜丙新 付卫强 武广伟 肖跃进 孟志军 |
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| 作者单位： | 北京农业智能装备技术研究中心 |
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| 基金项目： | 国家重点研发计划项目（2017YFD0700402）、山东省重大科技创新工程项目（2019JZZY010732）和现代农业产业技术体系专项（CARS-02） |
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| 摘 要： | 玉米植株的精确空间位置分布信息可为中耕、植保、对行收获等田间精准作业提供数据支撑,是玉米精细化生产的基础。本文提出一种基于卫星定位的玉米高位精播种子着床位置预测方法。基于卫星精准定位播种机组位置,结合播种机结构特点构建播种机组与播种单体相对位置模型,基于EDEM数值模拟和动态仿真,构建高位精播种子着床补偿模型,搭建种子着床位置预测系统,实现了玉米播种环节种子着床位置的精准预测。田间试验表明,作业速度、定位数据更新率对着床位置偏差影响极显著(p<0.01),播种株距对着床位置偏差影响显著(p<0.05);作业速度对着床位置预测准确率影响显著(p<0.05),播种株距、定位数据更新率对着床位置预测准确率影响不显著(p>0.05)。着床位置偏差随着作业速度的减小、播种株距和定位数据更新率的增大而减小;着床位置预测精确率随作业速度的减小而增大。作业速度、播种株距、定位数据更新率为3 km/h、0.4 m、10 Hz时,着床位置预测最准确,平均着床位置偏差和着床位置预测准确率分别为24.3 mm和88.9%。该系统能将玉米高位精播种子着床位置的预测控制在厘米级。
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| 关 键 词： | 玉米 高位精播 卫星定位 EDEM仿真 着床位置预测 |
| 收稿时间： | 2020/11/6 0:00:00 |
Seed Location Prediction Method of Maize High-height Precision Planting Based on Satellite Positioning |
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| YAN Bingxin,FU Weiqiang,WU Guangwei,XIAO Yuejin,MENG Zhijun.Seed Location Prediction Method of Maize High-height Precision Planting Based on Satellite Positioning[J].Transactions of the Chinese Society of Agricultural Machinery,2021,52(2):44-54. |
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| Authors: | YAN Bingxin FU Weiqiang WU Guangwei XIAO Yuejin MENG Zhijun |
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| Institution: | Beijing Research Center of Intelligent Equipment for Agriculture |
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| Abstract: | In order to meet the needs of precision agriculture for crop location information,achieve accurate plant position of crops,and solve the problem of low resource utilization rate and high operation cost caused by repeated identification and positioning of plants in each part of field management,a seed location method at planting process was proposed.Seed position,which was regarded as plant location,was mapped and saved during planting process,and it could be shared and used in the follow-up field management links.This method was based on a seeder equipped with a satellite receiver and four seed quality detection sensors.Seeder was mounted with an automatic navigation tractor.Tractor and seeder were hinge joint,relative positions changing during the operation,thus,satellite receiver was installed on seeder frame girder instead of tractor cab roof.Real-time kinematic(RTK)receiver collected satellite observation data from satellite antenna and fixed base station data from radio antenna at a frequency of 10 Hz,and formed differential data in system for real-time analytical processing,to achieve accurate acquisition of information such as the position of seeding unit and coordinated universal time(UTC).Seed quality detection sensors were triggered when seed passed through seeds tube,and signal acquisition circuit recorded trigger time and row number at the same time,then transmitted the information to main controller.Seed touched ditch time was determined in combination with UTC time,trigger time and time difference.Position of seeding unit at seed touched ditch time was determined by using equal velocity interpolation method.A mathematic model of seeding unit and planter monomer relative position was established based on spatial location of the seeder,planter monomer position could be extrapolated by this model.Combining with E-discrete element method(EDEM)numerical simulation and dynamic simulation,time and distance difference compensation model was established,seeds localization could be predicted.The operation quality of the seed location method was evaluated for the operation speed(3 km/h,5 km/h and 7 km/h),sowing spacing(0.2 m,0.3 m and 0.4 m)and GPS frequency(1 Hz,5 Hz and 10 Hz)by deviation of implantation position(D IP)and accuracy of implantation position(A IP).Field trails results showed that operation speed and GPS frequency significantly affected D IP(p<0.01),sowing spacing affected D IP(p<0.05);operation speed affected A IP(p<0.05),while sowing spacing and GPS frequency had no significant effect on A IP(p>0.05).With the decrease of operation speed,the increase of sowing spacing and GPS frequency,the D IP was decreased.With the decrease of operation speed,the A IP was increased.At the operation speed of 3 km/h,sowing spacing of 0.4 m and GPS frequency of 10 Hz,the system gave the best D IP and A IP of 24.3 mm and 88.9%,respectively.This method can provide theoretical reference for synchronous generation of seed map in seeding process,provide position information support for each link of field management in crop growth process,such as precise weeding,top dressing and application,and provide technical and data support for digital and intelligent precision operations. |
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| Keywords: | maize high-height precision planting satellite positioning EDEM simulation seed location predicting |
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