CN111656922B - Self-adaptive zero-speed seed feeding device, seed feeding control method and seed sowing device - Google Patents

Abstract

The present disclosure provides an adaptive zero-speed seeding device, a seeding control method and a seed metering device, which relate to the field of seeders, and include a bottom shell, a driving mechanism and a seeding plate. The bottom shell is provided with a seeding plate and the seeding plate It is installed at the outlet of the bottom shell, and the drive mechanism drives the seeding plate to adjust the angle between the seeding plate and the outlet of the bottom shell, which is used to change the seeding angle of the seeds output by the seeding plate from the outlet of the bottom shell. When the seed is output, the speed vector and attitude of the seeds that are separated from the seeding plate are corrected under the action of the seeding plate, and the forward speed of the seeder is adjusted. , Matching the operating speed of the seeding disc, which solves the problem that the seeds randomly enter the seed guide tube under different operating conditions, resulting in a large variation coefficient of grain spacing.

Description

A self-adaptive zero-speed seeding device, seeding control method and seed metering device

technical field

The present disclosure relates to the field of seeders, in particular to an adaptive zero-speed seeding device, a seeding control method and a seed metering device.

Background technique

The statements in this section merely provide background related to the present disclosure and do not necessarily constitute prior art.

With the promotion of large-scale planting operations, high-speed precision seed metering devices have been widely used in the cultivation of major food crops such as corn and soybeans. After the seeds discharged by the seed metering device are separated from the type hole, the initial speed is generally taken as the initial speed, and they are thrown into the seed guiding tube under the action of gravity, and then fall into the groove opened by the opener along the pipeline. In this delivery process, the horizontal velocity component during the falling process of the grains does not match the forward velocity component of the implement, and the randomness of the incident angle causes the grains to collide with the pipe wall frequently during the entire falling process, resulting in a relatively high variation coefficient of seeding depth and grain spacing. large, affecting the control of seedling emergence time and plant spacing.

The inventor found that, for high-precision seeding, artificial seeding is often used to avoid the randomness of the direction of seeds entering the seed tube caused by the traditional method of relying on gravity to drop seeds. However, this method of seeding is compared with mechanical operation. The efficiency is low, and it is difficult to meet the needs of large-scale crop planting; in addition, the need to control the movement process of the grains and achieve zero-speed seeding can also be achieved by improving the curve shape of the seed guide tube. However, due to the same seed guide tube It can only adapt to the seeding process at a certain traveling speed. In the actual sowing process, the traveling speed changes. Therefore, the control of the curve shape of the seed guide tube has higher requirements on the traveling system, and it is difficult to meet the requirements of the seeding traveling speed. It is difficult to obtain higher seeding quality due to large fluctuations in working conditions.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide a self-adaptive zero-speed seed throwing device, a seed throwing control method and a seed metering device in view of the defects in the prior art. The seed plate rotates and adjusts the angle at the outlet of the bottom shell. When the seeds are output, the speed vector and attitude of the seeds that are separated from the seeding plate are corrected under the action of the seeding plate, and are consistent with the forward speed of the seeder and the operating speed of the seeding plate. Matching solves the problem that seeds randomly enter the seed tube under different operating conditions, resulting in a large coefficient of variation in grain spacing.

The first object of the present disclosure is to provide an adaptive zero-speed seeding device, which adopts the following technical solutions:

It includes a bottom shell, a driving mechanism and a seeding board. The bottom shell is provided with a seeding plate. The seeding board is installed at the outlet of the bottom shell. The driving mechanism drives the seeding board to adjust the angle between the seeding board and the bottom shell outlet. The seeding angle of the seed tray output from the bottom shell outlet.

Further, it also includes a data acquisition module and a controller, the data acquisition module obtains the traveling speed of the bottom casing and the angle between the seeding plate and the outlet of the bottom casing, the driving mechanism and the data acquisition module are respectively connected to the controller, and the controller is based on the data acquisition module. The acquired data controls the action of the drive mechanism.

Further, the seed throwing plate is rotatably connected with the bottom casing, and the driving mechanism is mounted on the bottom casing and cooperates with the seed throwing plate for transmission.

Further, one side of the seeding plate is matched with the bottom shell, and the other side is an arc-shaped plate, the arc-shaped plate and the outlet of the bottom shell form a seeding channel, and the seeding tray outputs the seeds through the seeding channel.

Further, the side of the arc-shaped plate facing the seeding channel is in the structure of a plane and a circular arc surface, and the circular arc surface is used to correct the falling posture of the seeds in the seeding channel.

The second object of the present disclosure is to provide an adaptive zero-speed seeding control method, using the above-mentioned adaptive zero-speed seeding device, comprising the following steps:

Obtain the traveling speed of the bottom shell in real time, and calculate the optimal working angle for the seeds to be discharged from the outlet of the bottom shell, so that the speed of the output seeds in the traveling direction is consistent with the traveling speed of the bottom shell;

Adjust the angle between the seeding plate and the outlet of the bottom shell according to the optimal working angle, until the speed of the seed output in the traveling direction is zero relative to the bottom shell.

Further, calculating the optimal working angle includes the following steps:

Obtain the traveling speed of the bottom shell in real time, and calculate the speed of the seeding plate according to the requirements of plant spacing and the number of holes in the seeding plate;

Calculate the initial speed of the seeds leaving the seeding plate according to the rotating speed of the seeding plate and the diameter of the seeding plate;

Calculate and obtain the best seeding angle of the seeding board.

Further, the driving mechanism drives the seeding plate to rotate, and adjusts the angle between the seeding plate and the outlet of the bottom casing to a desired value.

Further, the angle change of the seeding plate is acquired by the angle sensor, and the traveling speed of the bottom casing is acquired by the speed sensor.

The third object of the present disclosure is to provide a seed meter, on which the self-adaptive zero-speed adjustment device as described above is installed.

Compared with the prior art, the advantages and positive effects of the present disclosure are:

(1) Calculate the matching angle of the seeding board through the forward speed of the seed metering device, the rotating speed of the seeding plate and related reference values, and adjust the angle of the seeding board in real time to ensure that the seeding board is within the optimal angle range and avoid improper angles. Decreased sowing quality;

(2) Calculate the angle of the seeding board in real time according to the real-time forward speed and the rotating speed of the seeding plate, and automatically adjust the angle of the fixed seeding board in real time through the driving mechanism, so that the seeding board is always in the best zero-speed seeding attitude, which ensures the seeder. the quality of work;

(3) Correct the speed vector and attitude of the seeds that are separated from the seeding plate, and match the forward speed of the seeder and the operating speed of the seeding plate, so as to solve the problem that the seeds randomly enter the seed guide tube under different operating conditions, resulting in the variation of the grain distance. The problem of large coefficient greatly improves the working quality of the seeder.

Description of drawings

The accompanying drawings that constitute a part of the present disclosure are used to provide further understanding of the present disclosure, and the exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure.

1 is a schematic diagram of the overall structure of the seeding device in Embodiments 1 and 2 of the disclosure;

2 is a schematic structural diagram of a seeding plate in Embodiments 1 and 2 of the disclosure;

3 is a schematic diagram of the connection of each element in Embodiment 2 of the present disclosure;

FIG. 4 is a schematic flowchart of seeding control in Embodiment 2 of the present disclosure.

In the picture: 1. Controller, 2. Driver, 3. Drive motor, 4. Angle sensor, 5. Reducer, 6. Seed casting plate, 7. Transmission shaft, 8. Seed metering plate, 9. Bottom casing.

Detailed ways

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that the presence of features, steps, operations, devices, components and/or combinations thereof;

For the convenience of description, if the words "up", "down", "left" and "right" appear in the present disclosure, it only means that the directions of up, down, left and right are consistent with the drawings themselves, and do not limit the structure. It is only for the convenience of describing the present invention and to simplify the description, not to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present disclosure.

As described in the Background Art, during the delivery process in the prior art, the horizontal velocity component during the falling process of the grains does not match the forward velocity component of the machine tool, and the randomness of the incident angle is large, resulting in frequent collisions with the pipe wall during the entire falling process of the grains , resulting in a larger coefficient of variation of sowing depth and grain spacing, affecting the control of seedling emergence time and plant spacing; in view of the above problems, the present disclosure proposes an adaptive zero-speed seeding device, a seeding control method and a seed metering device.

Example 1

In a typical implementation of the present disclosure, as shown in FIGS. 1-2 , an adaptive zero-speed seeding device is proposed.

It mainly includes a control system, an actuator and a data acquisition system. The control mechanism includes a controller 1 and a motor driver 2. The actuator includes a seeding plate 6, a transmission shaft 7, a drive motor 3 and a reducer 5. The data acquisition system includes a data acquisition module. , divided into speed sensor and angle sensor 4;

In this embodiment, the controller is installed in the cockpit of the traveling system of the planter that drives the whole device to travel, and is in a position close to the driver's operation;

The seeding board is connected with one end of the drive shaft of the seeding board and installed on the bottom case 9 of the seed metering device; the reducer is fixedly installed on the bottom shell of the seed metering device through 4 bolts; the reducer is a reduction gear box;

The drive motor is fixedly installed on the reduction gear box by bolts; one end of the drive shaft of the seeding plate is connected with the seeding plate by bolts, and the other end is connected with the power output shaft of the reduction gear box;

The angle sensor is installed on the reducer, and the reducer is driven by gears, so that the angle sensor and the power output shaft of the reducer can realize one-to-one transmission of rotation speed, and indirectly collect the angle change of the seeding board; Take the travel speed of the overall device.

During operation, the controller calculates the matching angle of the seeding board through the forward speed of the machine, the rotating speed of the seeding plate 8 and related reference values, and adjusts the angle of the seeding board in real time to ensure that the seeding board is within the optimal angle range and avoid the angle Improper seeding quality declines.

Further, the data acquisition module obtains the traveling speed of the bottom casing and the angle between the seeding plate and the outlet of the bottom casing, the driving mechanism and the data acquisition module are respectively connected to the controller, and the controller controls the action of the driving mechanism according to the data acquired by the data acquisition module;

The rotation speed of the seed-metering plate is calculated by the travel speed of the bottom shell combined with the plant spacing required by the sowing operation and the number of circumferential holes of the seed-metering plate.

Of course, for the drive motor, in this embodiment, a servo motor can be selected. The servo motor cooperates with the reducer and the transmission shaft to form a drive mechanism, and the power of the servo motor is transmitted to the seeding tray through the reducer and the transmission shaft.

It should be pointed out that, for the bottom shell of the seed metering device, the existing bottom shell of the seed metering device can be selected. There is a corresponding seed metering disk inside the seed metering device. The seed metering disk receives the seeds and disperses the seeds in its circumferential direction. output in the hole.

Specifically, the seeding plate and the bottom casing are rotatably connected through a transmission shaft, and the driving mechanism is fixed on the bottom casing and cooperates with the seeding plate for transmission;

One side of the seeding plate is matched with the bottom shell, and the other side is an arc-shaped plate. The arc-shaped plate and the outlet of the bottom shell form a seeding channel, and the seeding plate outputs the seeds through the seeding channel;

The side of the arc-shaped plate facing the seeding channel is in the structure of a plane and a circular arc surface, and the circular arc surface is used to correct the falling posture of the seeds in the seeding channel.

In this embodiment, the seeding plate is an integral sheet metal bending structure, forming a structure with connecting holes on one side and an arc-shaped plate on the other side;

There are 2 circular holes on the installation plate with connecting holes, the upper hole is the rotation center of the seeding plate during the working process, and rotates with the transmission shaft;

The lower hole is matched with the arc-shaped long groove of the bottom shell of the seed metering device, which is used to constrain the rotation angle of the seeding plate when it rotates, and plays the role of limiting the position within the adjustment range.

The outer surface of the arc-shaped plate is a transition from a plane to a circular arc surface structure, and the directional falling of the seeds and the correction of the falling attitude are realized by means of the outer curved surface.

For the angle sensor, it obtains the rotation angle of the seeding board in real time and feeds it back to the controller. The controller automatically adjusts the angle of the seeding board in real time according to the angle fed back by the angle sensor and the optimal seeding angle calculated in real time, so that the seeding board can be adjusted in real time. In the best zero-speed seeding posture, the working quality of the seeder is guaranteed.

Example 2

In another typical embodiment of the present disclosure, as shown in FIGS. 1-4 , an adaptive zero-speed seeding control method is provided.

Utilize the self-adaptive zero-speed seeding method as described in Embodiment 1, comprising the following steps:

Use the forward speed sensor to collect the working speed of the tool for detection, and feed the data back to the controller;

According to the forward speed, the controller calculates the best working angle of the seeding board;

The angle sensor is used to collect the real-time angle of the seeding board, and the data is fed back to the controller to form a closed-loop control until the seeding board is adjusted to the best working angle.

Specifically, for the steps of calculating the optimal working angle of the seeding board, it specifically includes:

The seeder moves forward v ₁ , and the forward speed sensor measures the current speed v ₁ ;

According to the current speed v ₁ , the preset plant spacing requirement is L, and the number of holes in the seed-metering plate is N, and the rotation speed of the seed-metering plate is calculated.

The preset diameter of the seeding plate is d, and the initial speed of the seeds leaving the seeding plate is v=πnd/30;

The controller calculates the optimal seeding angle through the above parameters

After obtaining the optimal seeding angle, according to the optimal seeding angle calculated by the controller, the controller sends an instruction to the motor driver, and the motor driver controls the motor to rotate, driving the fixed seed plate to rotate, and under the feedback of the angle sensor, until the The seeding plate reaches the preset angle.

Compared with the prior art, the self-adaptive zero-speed seeding method provided in this embodiment corrects the speed vector and attitude of the seeds that are separated from the seeding disc, and matches the forward speed of the seeder and the operating speed of the seeding disc. , to solve the problem that the seeds randomly enter the seed guide tube under different operating conditions, resulting in a large coefficient of variation of grain spacing, which greatly improves the working quality of the seeder.

Example 3

In a third embodiment of the present disclosure, a seed meter is provided.

The planter is equipped with the self-adaptive zero-speed seeding device described in Example 1.

Install the speed sensor on the traction equipment of the planter, install the bottom case of the seeding pan on the planter, and install other components on the bottom case; the controller is installed in the cockpit of the traction equipment, so that the staff can monitor the Control the seeding process.

The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims (5)

1. A self-adaptive zero-speed seed feeding device is characterized by comprising a bottom shell, a driving mechanism and a seed feeding plate, wherein a seed discharging plate is arranged in the bottom shell, the seed feeding plate is arranged at an outlet of the bottom shell, the driving mechanism drives the seed feeding plate to adjust an included angle between the seed feeding plate and the outlet of the bottom shell, and the seed feeding angle of seeds output from the outlet of the bottom shell by the seed feeding plate is changed;

the seed throwing plate is rotationally connected with the bottom shell, and the driving mechanism is arranged on the bottom shell and is in matched transmission with the seed throwing plate;

one side of the seed feeding plate is matched with the bottom shell, the other side of the seed feeding plate is an arc-shaped plate, a seed feeding channel is formed at the outlet of the arc-shaped plate and the bottom shell, and seeds are output by the seed discharging plate through the seed feeding channel;

one side of the arc-shaped plate, which faces the seed feeding channel, is of a plane and arc surface butt joint structure, and the arc surface is used for correcting the falling posture of the seeds in the seed feeding channel;

the seed throwing device is characterized by further comprising a data acquisition module and a controller, wherein the data acquisition module acquires the advancing speed of the bottom shell and the included angle between the seed throwing plate and the bottom shell outlet, the driving mechanism and the data acquisition module are respectively connected with the controller, and the controller controls the driving mechanism to act according to the data acquired by the data acquisition module.

2. An adaptive zero-velocity seeding control method, characterized in that, the adaptive zero-velocity seeding device according to claim 1 is used, and the method comprises the following steps:

acquiring the advancing speed of the bottom shell in real time, and calculating to obtain the optimal operation angle for discharging the seeds from the outlet of the bottom shell, so that the speed of the output seeds in the advancing direction is consistent with the advancing speed of the bottom shell;

adjusting an included angle between the seed feeding plate and an outlet of the bottom shell according to the optimal operation angle until the output speed of the seeds in the advancing direction is zero relative to the bottom shell;

the calculation of the optimal working angle comprises the following steps:

acquiring the advancing speed of the bottom shell in real time, and calculating the rotating speed of the seed metering disc according to the plant spacing requirement and the number of the type holes of the seed metering disc;

calculating the initial speed of the seeds separating from the seed plate according to the rotating speed of the seed plate and the diameter of the seed plate;

calculating to obtain the optimal seed throwing angle of the seed throwing plate.

3. The adaptive zero-speed seed throwing control method according to claim 2, wherein the driving mechanism drives the seed throwing plate to rotate, and the included angle between the seed throwing plate and the outlet of the bottom shell is adjusted to a required value.

4. The adaptive zero-speed seed throwing control method according to claim 2, wherein the angle change of the seed throwing plate is obtained by an angle sensor, and the traveling speed of the bottom shell is obtained by a speed sensor.

5. A seed metering device, characterized by comprising an adaptive zero-speed seed feeding device according to any one of claims 1-4.

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