Authors

Abstract

Aiming at the problems of poor seed distribution uniformity and low sowing accuracy in traditional sowing operations, this paper studies and develops a variable-rate monitoring and control technology system based on an unmanned tractor-towed seeding machine. The system adopts a distributed controller architecture, including a cooperative control ECU, a seed-metering monitoring and control ECU, and a sowing depth monitoring and control ECU, achieving multi-source information interaction and cooperative decision-making through a CAN bus. In terms of hardware, the seed-metering device's electric drive scheme has been improved by replacing the original split-type chain transmission scheme with an integrated torque servo motor, enhancing the system integration and transmission efficiency. Field test results show that the optimized electric drive seed-metering device, at forward speeds of 4 km/h, 8 km/h, and 12 km/h, outperforms the traditional ground wheel-driven method in terms of seed spacing qualification index, standard deviation, and coefficient of variation. Especially under the medium-speed condition of 8 km/h, the performance is optimal, with the coefficient of variation as low as 6.45%. The system demonstrates good robustness and adaptability in complex field environments, providing reliable technical support for achieving precise, efficient, and intelligent sowing operations.

Abstract in Chinese

本文针对传统播种作业方式存在的种子分布均匀性差、播种精度低等问题，研究开发了一种基于播种机器人的变量测控技术系统。系统采用分布式控制器架构，包括协同控制ECU、排种测控ECU和播深测控ECU，通过CAN总线实现多源信息交互与协同决策。硬件方面，改进了排种器电驱方案，采用一体式力矩伺服电机替代原分体式链传动方案，提升了系统集成度与传动效率。田间试验结果表明，优化后的电驱排种器在4 km/h、8 km/h和12 km/h前进速度下，播种粒距合格指数、标准差和变异系数均优于传统地轮驱动方式，尤其在8 km/h中速条件下性能最优，变异系数低至6.45%。系统在复杂田间环境下表现出良好的鲁棒性与适应性，为实现精准、高效、智能化的播种作业提供了可靠的技术支撑。