CN105302013B - A kind of many crop drill for sowing in lines adaptively sow control method - Google Patents
A kind of many crop drill for sowing in lines adaptively sow control method Download PDFInfo
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- CN105302013B CN105302013B CN201410315801.7A CN201410315801A CN105302013B CN 105302013 B CN105302013 B CN 105302013B CN 201410315801 A CN201410315801 A CN 201410315801A CN 105302013 B CN105302013 B CN 105302013B
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Abstract
Amount control method is adaptively sowed the present invention relates to a kind of many crop drill for sowing in lines, belongs to agricultural machinery technological field.The hauling machine of the seeder is equipped with speed probe, and its feed mechanism for seed is equipped with weighing sensor, also installs the intelligent controller containing CPU, CPU realizes sowing control according to the following steps：Read operation input parameter；With desired speed driving feed mechanism for seed rotation sowing；The changing value of weighing sensor is gathered, demarcation flow rate is calculated；Draw every mu of application rate（Thousand grams/acre）With land wheel mean speed（Rev/min）Relational expression;Calculate the actual measurement mean speed of scheduled duration land wheel;Every mu of calculating application rate is drawn, and more whether is less than every mu of specified application rate, is revised；Until completing unit area sowing；With every mu of amendment application rate, replace every mu of calculating application rate；Further revision, until completing unit area sowing.After the present invention, the precise sowing of many crop drillings is adapted to, the utilization rate of equipment is improved, is conducive to the popularization of crop mechanical work.
Description
Technical field
Control method, especially a kind of adaptive application rate controlling party of many crop drill for sowing in lines are sowed the present invention relates to one kind
Method, belongs to agricultural machinery technological field.
Background technology
Yield due to mechanization precise sowing than tradition sowing is significantly improved, therefore precise sowing technology is popularized.
According to the applicant understood, the regulation of the tradition amount of broadcasting is typically that artificial calculate changes sprocket wheel manually again after the amount of broadcasting（Or seed distributing groove）Adjusted
Section.It was verified that this mechanical seeding apparatus is difficult to meet the demand that precise sowing adjusts seeding rotating speed in real time, and sowing
Machine takes work(to drive feed mechanism for seed using land wheel（Its typical structure is referring to Application No. 201310472023.8, entitled multifunctional rotary
Plough the Chinese patent application document of combined seed and fertilizer drill）, because field straw and weeds are big to driving wheel drag, easily produce skidding
Phenomenon, therefore, it is difficult to meet the regulation and control requirement of precise sowing.
Application No. 201010528094.1 and 201020587294.X Chinese patent application propose a kind of energy simultaneously
The agriculture operating system accurately controlled the variable during rape seed, the system can be as desired by button hand
The dynamic input amount of broadcasting, then carries out integrating computing according to the amount of broadcasting of input and the pace of equipment, the last output control amount of broadcasting
Pulse is controlled to the rotating speed of stepper motor, while sowing port is arranged on as the photoelectric sensor for broadcasting amount detecting device, it is right
The grain number for discharging seed is counted, and system calculates the amount of broadcasting according to mass of 1000 kernel and feeds back to main control chip again, forms a closed loop feedback system
System.But, the demarcation of its feed mechanism for seed rotating speed must repeatedly be tried by manually to Seeding Uniformity and each row discharge capacity uniformity
Test, therefrom find out seeding stability of characteristics, meet linear relationship between the seeding rotating speed of seeding requirement and discharge capacity, further according to agricultural
The reference books such as mechanical handbook, calculate application rate and operating speed, the relational expression of feed mechanism for seed rotating speed.This rating test process is time-consuming
Arduously, completely by manually completing, in addition it is also necessary to which professional and technical personnel is according to the relation between test data fitting variable, it is impossible to rely on control
System processed is rapidly completed itself, more can not be in short-term when seed wheel, crop seed type or soil regime change changing
In complete, thus can not meet the need for sowing season robs and broadcast.
The content of the invention
It is an object of the invention to：The shortcoming existed for above-mentioned prior art, proposes that one kind can in a short time certainly
It is dynamic to complete various crop sowing control --- determine that various seeds reach specified every mu of application rate（Thousand grams/acre）When hauling machine have
Gait of march and the relation of feed mechanism for seed rotating speed are imitated, and then controls many crop drill for sowing in lines precisely sowed adaptively to sow controlling party
Method.
In order to reach object above, many crop drill for sowing in lines of the invention adaptively sow control device basic technical scheme
For：The land wheel and feed mechanism for seed driven containing hauling machine, the feed mechanism for seed has the motor being connected with its rotating shaft transmission, described
The frame of hauling machine is equipped with speed probe adjacent to land wheel side, and the feed mechanism for seed is equipped with weighing sensor, and the hauling machine is also
Intelligent controller containing CPU and operation input is installed, the cpu signal input of the intelligent controller connects described turn respectively
Fast sensor and weighing sensor, the controlled termination CPU of motor control output end, the CPU is by following
Step realizes sowing control：
Every mu of specified application rate, demarcation duration, sowing breadth and the desired speed of first step read operation inputs；
Second step is sowed with desired speed driving feed mechanism for seed rotation；
3rd step stops feed mechanism for seed rotation, gathers the changing value of weighing sensor, calculate demarcation after scheduled duration
Flow rate, and then try to achieve every turn of calculating flow rate of feed mechanism for seed；
Flow rates of the 4th step based on the feed mechanism for seed unit interval and the application rate equilibrium relationships of hauling machine unit interval, are obtained
Go out every mu of application rate（Thousand grams/acre）With land wheel mean speed（Rev/min）Relational expression
In formula
-- every mu of application rate（Thousand grams/acre）
-- every turn of calculating flow rate of feed mechanism for seed（Gram/turn）
-- feed mechanism for seed rotating speed（Rev/min）
-- sowing breadth (rice)
-- ground wheel diameter（Rice）
-- land wheel mean speed（Rev/min）;
5th step enters after farm work, is sowed with desired speed driving feed mechanism for seed rotation, and according to speed probe
Data, calculate the actual measurement mean speed of scheduled duration land wheel;
6th step reads the ground wheel diameter of input, is drawn according to relational expression every under the conditions of land wheel surveys mean speed
Mu calculates application rate, and more whether is less than every mu of specified application rate, in this way then with predetermined progressive value speedup revision desired speed,
Desired speed is revised as otherwise slowed down with predetermined progressive value；
7th step repeats the 5th step and the 6th step, until completing unit area sowing；
8th step completes unit area after planting, using the variable quantity of weighing sensor as effective unit area application rate,
And using it as every mu of amendment application rate, replace every mu of calculating application rate；
When 9th step is again introduced into farm work, whether relatively every mu amendment application rate is less than every mu of specified application rate
, in this way then with predetermined progressive value speedup revision desired speed, such as otherwise slowed down with predetermined progressive value and revise desired speed, drive
Dynamic feed mechanism for seed rotation sowing, until completing unit area sowing.
So, when changing seed variety or specified every mu of application rate, demarcation can be automatically performed rapidly, is sowed
Operation, and after the sowing of first time unit area is completed, the predetermined of seeder is constantly revised with every mu of amendment application rate automatically
Rotating speed, so as to approach every mu of specified application rate quickly, realizes precise sowing, and meet the demand robbed and broadcast.Also, using this
After invention, the precise sowing of many crop drillings is adapted to, the utilization rate of equipment is improved, has saved do mechanization operation cost, had
Beneficial to the popularization of crop mechanical work.In addition, the present invention be adapted to no matter south the north various edaphic conditions, can meet agricultural machinery with
The combination of agronomy needs.
The present invention is further improved：The land wheel is arranged on support one end, and the other end of the support is hinged in machine
On frame, the torsion spring for making land wheel have landing trend is installed at hinged place, and equipped with to export the support phase to intelligent controller
To the proximity switch of frame indexing signal.
The present invention is further improved：The CPU control output ends of the intelligent controller pass through optocoupler and driving
Circuit connects the controlled end of the motor.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the seeder structural representation of one embodiment of the invention.
Fig. 2 is the control circuit theory diagrams of Fig. 1 embodiments.
Fig. 3 is the sowing control process flow chart of Fig. 1 embodiments.
Embodiment
Embodiment one
The seeder of the present embodiment is a kind of many crop drill for sowing in lines, as shown in figure 1, the He of land wheel 6 driven containing hauling machine
The feed mechanism for seed 1 that motor 2 drives, feed mechanism for seed 1 is grooved pulley type, is connected by its rotating shaft with motor 2, and concrete mechanism can be with
Referring to the existing patent document in background technology.
Land wheel 6 is arranged on support one end that side is equipped with speed probe 5, and the other end of the support is hinged in frame,
The torsion spring that makes land wheel 6 have landing trend is installed and equipped with proximity switch 4 by hinged place, to intelligent controller output bracket phase
To frame indexing signal.Only when land wheel 6 is acted on by ground supports power, the angle indexing between support and frame exceedes certain model
When enclosing, the signals of rotational speed sensor that intelligent controller 3 is monitored does not land idle running just as valid data so as to exclude land wheel 6
Influence.Feed mechanism for seed 1 time is equipped with weighing sensor 7.
Intelligent controller 3 is as shown in Fig. 2 containing CPU and operation input, its CPU signal input part switches through speed respectively
Tach signal and weighing-up wave that sensor and weighing sensor are transmitted, the controlled end of motor and CPU control output end
Between be connected to the driving chip L298 through optocoupler TLP521, it is therefore very reliable.LM324 in Fig. 2 is amplifier, 9013 is reverse
Device.CPU realizes that the present embodiment sowing object controls for the adaptive sowing of wheat according to the following steps（Referring to Fig. 3）：
Every mu of specified application rate of first step read operation inputs, demarcation duration, sowing breadthAnd desired speed；
Second step is with desired speedDrive feed mechanism for seed rotation sowing；
3rd step is after scheduled duration 1 minute, and feed mechanism for seed rotation gathers the changing value of weighing sensor, calculate demarcation flow rate, and then try to achieve every turn of meter of feed mechanism for seed
Calculate flow rateAnd store；
Flow rates of the 4th step based on the feed mechanism for seed unit interval and the application rate equilibrium relationships of hauling machine unit interval, are obtained
Go out every mu of application rate（Thousand grams/acre）With land wheel mean speed（Rev/min）Relational expression
In formula
-- every mu of application rate（Thousand grams/acre）
-- every turn of calculating flow rate of feed mechanism for seed（Gram/turn）
-- feed mechanism for seed rotating speed（Rev/min）
-- sowing breadth (rice)
-- ground wheel diameter（Rice）
-- land wheel mean speed（Rev/min）;
5th step enters after farm work, is sowed with desired speed driving feed mechanism for seed rotation, and according to speed probe
Data, calculate scheduled durationThe actual measurement mean speed of land wheel（53r/ points）;
6th step reads the ground wheel diameter of input, and every mu of calculating application rate is drawn according to relational expression
, and more whether it is less than every mu of specified application rate, in this way then with predetermined progressive value 20r/ minutes speedups revision desired speed
, such as otherwise slowed down with same predetermined progressive value and revise desired speed；
7th step repeats the 5th step and the 6th step, until completing unit area sowing；
8th step completes unit area after planting, using the variable quantity of weighing sensor as effective unit area application rate,
And using it as every mu of amendment application rate, replace every mu of calculating application rate；
When 9th step is again introduced into farm work, whether relatively every mu amendment application rate is less than every mu of specified application rate
, in this way then with predetermined progressive value speedup revision desired speed, such as otherwise slowed down with predetermined progressive value and revise desired speed, drive
Dynamic feed mechanism for seed rotation sowing, until completing unit area sowing.
It was verified that compared with prior art, being had the following advantages that using the method for the present embodiment：
1. when seeding machinary changes sowing object, the mark of feed mechanism for seed can be rapidly completed automatically by intelligent controller
Fixed work, the professional skill to operator is less demanding, sowing can be met completely robs and broadcast and Different Crop application rate is adaptive
The demand that should be adjusted.
2. adapting to the precise sowing of many crop drillings, the utilization rate of equipment is favorably improved, do mechanization operation cost is saved,
It is easy to the popularization of crop mechanical work.
3. it is equally applicable when soil regime changes, so that the need for meeting agricultural machinery and agricultural combination.
Claims (3)
1. a kind of many crop drill for sowing in lines adaptively sow control method, the drill for sowing in lines contains land wheel and the seeding of hauling machine drive
Device, the feed mechanism for seed has the motor being connected with its rotating shaft transmission, it is characterised in that：The frame of the hauling machine is neighboringly
Take turns side and speed probe is housed, the feed mechanism for seed is equipped with weighing sensor, and the hauling machine is also installed containing CPU and operated defeated
Enter the intelligent controller at end, the cpu signal input of the intelligent controller connects the speed probe and weighing and sensing respectively
Device, the controlled termination CPU of motor control output end, the CPU realizes sowing control according to the following steps：
Every mu of specified application rate, demarcation duration, sowing breadth and the desired speed of first step read operation inputs；
Second step is sowed with desired speed driving feed mechanism for seed rotation；
3rd step stops feed mechanism for seed rotation, gathers the changing value of weighing sensor after scheduled duration, calculates demarcation seeding
Amount, and then try to achieve every turn of calculating flow rate of feed mechanism for seed；
Flow rates of the 4th step based on the feed mechanism for seed unit interval and the application rate equilibrium relationships of hauling machine unit interval, draw every
Mu application rate Q (thousand grams/acre) and land wheel mean speed n (rev/min) relational expression
<mrow>
<mi>Q</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>&alpha;</mi>
<mi>R</mi>
</mrow>
<mrow>
<mn>3</mn>
<mi>&pi;</mi>
<mi>B</mi>
<mi>D</mi>
<mi>n</mi>
</mrow>
</mfrac>
</mrow>
In formula
Every mu of application rate of Q-- (thousand grams/acre)
Every turn of α -- feed mechanism for seed calculates flow rate (gram/turn)
R-- feed mechanism for seed rotating speeds (rev/min)
B-- sowing breadth (rice)
D-- ground wheel diameter (rice)
N-- land wheel mean speeds (rev/min)；
5th step enters after farm work, is sowed with desired speed driving feed mechanism for seed rotation, and according to the number of speed probe
According to the actual measurement mean speed of calculating scheduled duration land wheel；
6th step reads the ground wheel diameter of input, and every mu of meter under the conditions of land wheel surveys mean speed is drawn according to relational expression
Application rate is calculated, and more whether is less than every mu of specified application rate, it is such as no in this way then with predetermined progressive value speedup revision desired speed
Then slowed down with predetermined progressive value and revise desired speed；
7th step repeats the 5th step and the 6th step, until completing unit area sowing；
8th step completes unit area after planting, using the variable quantity of weighing sensor as effective unit area application rate, and with
It replaces every mu of calculating application rate as every mu of amendment application rate；
When 9th step is again introduced into farm work, whether relatively every mu amendment application rate is less than every mu of specified application rate QVolume, in this way
Desired speed R is then revised with predetermined progressive value speedup, is such as otherwise slowed down with predetermined progressive value and revises desired speed R, drive seeding
Device rotation sowing, until completing unit area sowing.
2. many crop drill for sowing in lines according to claim 1 adaptively sow control method, it is characterised in that：The land wheel peace
Mounted in support one end, the other end of the support is hinged in frame, and the torsion spring for making land wheel have landing trend is installed at hinged place,
And equipped with the proximity switch for being used to export the relative frame indexing signal of the support to intelligent controller.
3. many crop drill for sowing in lines according to claim 2 adaptively sow control method, it is characterised in that：The intelligence control
The CPU control output ends of device processed connect the controlled end of the motor by optocoupler and drive circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410315801.7A CN105302013B (en) | 2014-07-03 | 2014-07-03 | A kind of many crop drill for sowing in lines adaptively sow control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410315801.7A CN105302013B (en) | 2014-07-03 | 2014-07-03 | A kind of many crop drill for sowing in lines adaptively sow control method |
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| CN105302013A CN105302013A (en) | 2016-02-03 |
| CN105302013B true CN105302013B (en) | 2017-09-12 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106416527A (en) * | 2016-11-08 | 2017-02-22 | 吉林省农业机械研究院 | Programmable electrically-driven seed and fertilizer discharging device and method |
| CN107367315B (en) * | 2017-08-29 | 2023-05-23 | 南京农业大学 | Weighing type broadcast volume detection device |
| CN108575149A (en) * | 2018-04-24 | 2018-09-28 | 李春威 | A kind of seeder depositing seed of adjustable application rate |
| CN108990485B (en) * | 2018-06-27 | 2021-02-09 | 山东省农业机械科学研究院 | Seeding uniformity control system and method for seeder |
| CN112698597B (en) * | 2020-12-23 | 2022-01-11 | 农业农村部南京农业机械化研究所 | Automatic control system and control method for seeder |
| CN112690068B (en) * | 2020-12-23 | 2022-03-11 | 农业农村部南京农业机械化研究所 | Automatic calibration control system and control method for seeding quantity and fertilizing quantity of precision seeder |
| CN112673769B (en) * | 2020-12-23 | 2022-04-05 | 农业农村部南京农业机械化研究所 | Automatic calibrating device and method for seeding rate and fertilizing rate of seeder |
| CN112655298B (en) * | 2020-12-23 | 2022-12-02 | 农业农村部南京农业机械化研究所 | Intelligent fertilizing and seeding machine |
| CN114342605B (en) * | 2021-12-14 | 2023-03-21 | 江苏大学 | Multi-information fusion rice and wheat seeder seeding rate estimation method and monitoring system |
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| EP1889532A2 (en) * | 2006-08-18 | 2008-02-20 | Alois Pöttinger Maschinenfabrik Ges. m.b.H. | Sowing machine and method for regulating the discharge of a sowing machine |
| CN101548602A (en) * | 2009-04-28 | 2009-10-07 | 河南科技大学 | Seed metering device used in air-jet type high-speed and no-tillage precision seeder |
| CN102096378A (en) * | 2010-11-02 | 2011-06-15 | 湖南农业大学 | Automatic variable rape seeding control system |
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