| Field sowing quality data during unmanned sowing of oilseed rape direct seeding units is of great significance for assessing field sowing effects and improving the intelligent level of oilseed rape sowing.In order to solve the problem that it is difficult to visually display field sowing quality information in real time during the unmanned sowing operation of the direct seeding unit,a remote monitoring system for unmanned sowing operation of the direct seeding unit of rape was designed to realize the unmanned sowing operation of the direct seeding unit and the collection and storage and visual display of field sowing quality information,and road and field trials were conducted.The specific research contents and conclusions are as follows:(1)The unmanned seeding operation system of rape direct seeding unit was constructed.In this paper,the overall scheme of the system is designed and its working principle is clarified with the Reeva 804 tractor and its mounted 2BYQ-8 air-fed rape direct seeding machine as the test platform,the electric control modification scheme of the tractor steering,gear,clutch and suspension mechanism is determined,and the closed-loop control of the hydraulic modification mechanism is realized by adding electromagnetic control valve set,hydraulic cylinder and Hall proximity switch and other components;the tractor steering and hydraulic mechanism control boxes are designed and packaged respectively to develop the closed-loop control strategy of the hydraulic mechanism;the navigation path of the unmanned seeding unit is designed and developed.The tractor steering and hydraulic mechanism control boxes were designed and packaged respectively to develop the closed-loop control strategy for the hydraulic mechanism;the unmanned sowing operation navigation path of the live broadcast unit was designed and the control method of the sowing equipment was determined.The road test shows that the system can realize unmanned sowing operation based on rape direct seeding unit,and the electro-hydraulic mechanism operates stably to meet the demand of unmanned sowing operation.(2)An unmanned seeding operation data acquisition system was designed.In order to realize the fusion and synchronization of sowing quality data and navigation and positioning data,the overall structure of the data acquisition system was designed,the vehicle router was used to form a vehicle LAN to fuse sowing and positioning data,the hardware design of the data acquisition system was carried out,the design,fabrication and assembly of the housing of the sowing monitoring terminal and sensing device,the schematic diagram of the detection circuit and the PCB circuit board were carried out,the data synchronization acquisition was designed and developed The software program was designed and developed to integrate seeding and positioning data for cloud storage,and finally the unmanned seeding operation data package was designed to ensure the safe and efficient transmission of monitoring data.The seeding detection accuracy bench test showed that the seeding detection accuracy of the data acquisition system was not less than 96.81% when the seeding frequency was in the range of 20Hz～40Hz,and no blockage occurred during the test.(3)A cloud platform for monitoring the quality of sowing operations was designed.In order to visually display the sowing status information in rapeseed fields,the overall structure of the sowing monitoring cloud platform was determined,the design of the database,server and web side of the cloud platform was carried out,the sowing data storage data table design was carried out,the cloud server was designed and web Socket web service was deployed,the web interface of the cloud platform was designed,the sowing status map generation method was determined,the field sowing quality data calculation was carried out,the The mapping model of the seeding position between the direct seeder and each channel was constructed,the seeding status map of the field operation area was generated,and the display effect of the status map was analyzed.(4)The unmanned seeding operation remote monitoring system test was carried out.In order to verify the actual operation effect of the unmanned seeding operation system,a road test was carried out,which showed that the rape directing unit could track the unmanned operation navigation path and the seeding actuator could cooperate to complete the unmanned seeding operation,in which the average deviation of the lateral tracking of the seeding operation section was 0.037 m and the maximum deviation was0.125 m.A data transmission real-time test of the data acquisition system was carried out,which showed that the maximum data transmission time delay between the on-board computer and the cloud platform was no more than 100 ms,meeting the data transmission real-time requirement.The results show that the maximum data transmission time delay between the vehicle computer and the cloud platform does not exceed 100 ms,which meets the data transmission real-time requirements.The seeding detection accuracy bench test was carried out,and the test results showed that the seeding detection accuracy was not less than 96.81% in the range of 20Hz～40Hz,and no blockage occurred.The field test of state diagram generation was conducted,and the field test showed that the tractor electric control hydraulic modification system was stable and reliable;the field detection sowing accuracy was not less than 96.16%;the field data transmission time delay did not exceed 100 ms,and the transmission real-time was high;the remote monitoring system of sowing operation had high stability,and the sowing state diagram could effectively reflect the actual sowing effect in the field. |
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