CN108124546A - A kind of unattended seeding row spacing intelligent accurate bunch planting system - Google Patents
A kind of unattended seeding row spacing intelligent accurate bunch planting system Download PDFInfo
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- CN108124546A CN108124546A CN201711436783.8A CN201711436783A CN108124546A CN 108124546 A CN108124546 A CN 108124546A CN 201711436783 A CN201711436783 A CN 201711436783A CN 108124546 A CN108124546 A CN 108124546A
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- planting
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- 238000010899 nucleation Methods 0.000 title claims abstract description 109
- 238000009331 sowing Methods 0.000 claims description 43
- 108010016634 Seed Storage Proteins Proteins 0.000 claims description 37
- 230000001133 acceleration Effects 0.000 claims description 19
- 230000006835 compression Effects 0.000 claims description 18
- 238000007906 compression Methods 0.000 claims description 18
- 239000002689 soil Substances 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000005553 drilling Methods 0.000 claims description 10
- 230000005021 gait Effects 0.000 claims description 9
- 239000008187 granular material Substances 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000005570 vertical transmission Effects 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 230000002045 lasting effect Effects 0.000 claims description 3
- 239000002245 particle Substances 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000001429 stepping effect Effects 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000005520 electrodynamics Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 235000013311 vegetables Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012272 crop production Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/002—Dibble seeders
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/18—Machines for depositing quantities of seed at intervals
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Sowing (AREA)
Abstract
The problem of needing manually to be assisted for existing middle small particle seed hill planter, the present invention provides a kind of unattended seeding row spacing intelligent accurate bunch planting system, and the hole seeding arrangement to advance, the information collection component being arranged on hole seeding arrangement are controlled including control assembly, by control assembly and the battery pack for being used for power supply is electrically connected with control assembly, hole seeding arrangement information collection component.The present invention passes through the control module coordinate of hole seeding arrangement that periodically acquisition difference global positioning device is beamed back, the direction of travel of hole seeding arrangement is detected, the offset if it find that hole seeding arrangement is advanced, then acquire the data of gyroscope Magnetic Sensor, the stepper motor for driving running gear is controlled, to ensure the straight line moving of hole seeding arrangement.The present invention is detected travel distance according to the encoder set in walking, if it find that hole seeding arrangement and preset distance of having walked, control module realizes the turning of hole seeding arrangement, carry out the bunch planting of next line by controlling stepper motor.
Description
Technical field
The present invention relates to electrodynamic type seed hill-drop drill, especially a kind of full automatic unattended seeding row spacing intelligent accurate
Bunch planting system can specifically carry out the hill-drop drill of fully automatic working, belong to the technical field of agricultural machinery.
Background technology
Since reform and opening-up, with gradually going deep into for China Agricultural Structure Adjustment, agricultural planting is by original grain
Food type changes to many-faceted economy type, and cropping pattern also develops into mechanization of today by original pure handwork, and future can
Realize comprehensive automatic electric gasification.
Wherein, the cultivated area of small particle crop just gradually expands.Nowadays, more and more people start to pursue high quality
Green living, this so that vegetables and flowers demand are growing day by day, and then promotes the continuous expansion of vegetables and the industry of flowers and plants.By
This is as it can be seen that small particle crop has become " green product " the middle important component of national life.Small particle crop production is
It is big through being generally considered a development potentiality, the good rising industry of market prospects.
Therefore, strengthen that there is important practical value and realistic meaning to the research of small particle seed crop seeding technique.
Meanwhile all there are various problems for hole seeding arrangement of the prior art.In the hand-held tray seeder course of work
It manually operates completely, needs many technical stafves, the degree of automation is very low, and long-time operation labor intensity is big.And this hair
It is bright to use full-automatic electric drive mode, during operation, independently complete a series of sowing operations.Such as air-aspiration type precision hill-drop drill work
It is larger by air interference in seeding process so that the bit error rate phase of feed mechanism for seed since small particle seed density is smaller during work
To higher, spacing in the rows error is big.At present, electrodynamic type human assistance mould is used during domestic most advanced small particle seed hill-drop drill work
It needs manually to be assisted achieving the purpose that the direction that it is controlled to advance and traveling distance on one side during formula, i.e. machine operation.
And for of the prior art from tracking cart, tracking is easily caused there is no correctly acquiring and identifying completely
Steering engine cannot be turned to accurately in time, and then model car is caused seriously to be shaken and even deviates from remote orbit determination road.
In conclusion a kind of full automatic small particle seed hill planter without human assistance is urgently researched and developed.
Invention content
The problem of needing manually to be assisted for small particle seed hill planter in the prior art, the present invention provide a kind of
Unattended seeding row spacing intelligent accurate bunch planting system, it is simple in structure, it can effectively solve the problems of the prior art.
A kind of unattended seeding row spacing intelligent accurate bunch planting system, including control assembly, passes through control assembly
Control the hole seeding arrangement to advance, the information collection component that is arranged on hole seeding arrangement and with control assembly, hole seeding arrangement information
Acquisition component electrical connection is used for the battery pack of power supply；Its technical solution is：The control assembly includes control module；
The hole seeding arrangement is advanced by crawler belt carries out bunch planting；The crawler belt is carried out respectively by two stepper motors respectively
Control；The stepper motor is electrically connected to control module；Sowing mechanism on the hole seeding arrangement can be according to control module
Instruction sow/stop the action of sowing；
The information collection component includes the difference global positioning device being arranged on hole seeding arrangement, acceleration transducer, top
Spiral shell instrument Magnetic Sensor and encoder；The information of the control module periodically acquisition difference global positioning device determines bunch planting
Whether the route of device walking is straight line；In case of offset, the offset information of control module acquisition gyroscope Magnetic Sensor is simultaneously
One sent out in instruction two stepper motors of control is adjusted hole seeding arrangement direction of advance, keeps hole seeding arrangement linear rows
It walks；
When hole seeding arrangement keeps straight line moving, the control module acquires the data of acceleration transducer, to two steppings
Motor is simultaneously emitted by the forward speed of instruction control stepper motor, ensures the feelings that sowing quantity is certain in the hole seeding arrangement unit interval
Under condition, spacing in the rows is adjusted by gait of march or in the case where hole seeding arrangement gait of march is certain, by being filled to bunch planting
The adjustment for putting speed of drilling is adjusted spacing in the rows；
The pulse that the lasting acquisition encoder of the control module is beamed back, is monitored the travel distance of hole seeding arrangement；
After hole seeding arrangement travel distance reaches the length of setting, control module determine hole seeding arrangement completed the row bunch planting need into
When the bunch planting of row next line works, control module sends to hole seeding arrangement and instructs, and stops sowing；The control module walks simultaneously to two
Stepper motor sends instruction, and one of stepper motor is controlled not work as needed, and turning is completed in the work of another stepper motor
In place.
Further, the hole seeding arrangement include running gear, be arranged on running gear for taking out small
The seed fetching equipment of grain seed and connection are arranged on the open hole device on the downside of seed fetching equipment, wherein, the seed fetching equipment includes
It montant that four one end are arranged on running gear while is arranged on the seed-storage box of the montant other end, is arranged on seed-storage box side
The planting pipe that is connect with open hole device of the V-arrangement planting case of pointed end, one end and the V-arrangement planting case planting mouth connection other end with
And it is sown into taking in open hole device for the small granule seed in seed-storage box from seed-storage box to be taken out to and carried out essence amount and broadcasts component；
It is described take broadcast component electrical connection for control take broadcast component take kind, the control module of sowing；The difference global positioning dress
It puts, acceleration transducer and gyroscope Magnetic Sensor are arranged on running gear.
Further, it is described take to broadcast component and include being set to the movement of seed-storage box bottom take and broadcast unit；Wherein, the movement
Take broadcast unit include one end connect with seed-storage box bottom setting be used for take plant pipe sleeve, be arranged on inside pipe sleeve can be upper and lower
Move back and forth for essence amount eject the thimble of seed and be arranged on pipe sleeve and the thimble other end for drive pipe sleeve and/or
Thimble, which pumps, to carry out taking kind and the seed essence amount of longitudinal arrangement in pipe sleeve is sown into the movable device of open hole device；
Wherein, the movable device includes the second steering engine being arranged on running gear, one end is arranged on the output of the second steering engine
The sowing rocking arm of vertical direction, the first idler wheel of sowing rocking arm other end setting, matching are arranged on the outside of the first idler wheel on axis
Track fixes the first track pushed on guide groove, the horizontal fixed plate being arranged on the outside of track fixation pushing guide groove, is arranged on water
The guide ring and sowing compression bar and spring of the tubular for being used to connect pipe sleeve and pass through thimble in flat fixed plate；
Wherein, the sowing compression bar includes the first horizontal segment, tilting section and the second horizontal segment that are connected with each other, wherein, institute
The first horizontal segment stated is arranged below horizontal fixed plate to fix thimble；Second horizontal segment is set to horizontal fixation
Above plate and it is provided with spring between the second horizontal segment and horizontal fixed plate；Wherein, the tilting section passes through horizontal fixed plate
The slot hole of upper setting makes that first horizontal segment is located at below horizontal fixed plate and the second horizontal segment is located at horizontal fixed plate top；This inclines
Shaft is provided between slot hole in oblique section and horizontal fixed plate；Wherein, the seed-storage box bottom is provided with to planting direction
The fore-set of spring between the second horizontal segment and horizontal fixed plate that compression bar is sowed for compression at seeding time of protrusion；
Wherein, the V-arrangement planting case is set with the inclined seed-dropping plate of seed-storage box junction on the center line of corresponding seed-storage box
It is equipped with the second mounting hole of the V-arrangement planting case that comes in and goes out for mating socket；
Wherein, second steering engine is electrically connected to control module and controls its break-make by control module, and component is broadcast so as to control to take
Whether carry out taking kind, sowing action.
Further, the sliding sleeve for reducing friction is provided on second mounting hole.
Further, the seed-dropping plate is equipped with symmetrical two and planting mouth at the V-arrangement planting case tip at planting mouth
The curved slot of connection, the height of the curved slot are continuously decreased from two wall of seed-storage box to planting mouth.
Further, the open hole device includes the first supporting rack being arranged on running gear, is arranged on first
Trident steady rest that three locating shafts on support while matching are arranged on locating shaft is arranged on trident steady rest centre bit
The transitional cylinder put, it is fixed be located at transitional cylinder be located at running gear close to ground side drawstring supporting rack, be located at drawstring supporting rack
Close to ground side draw high sliding block, be arranged on transitional cylinder close to ground one end multiple soil poking plates, be arranged on draw high sliding block with
It drawstring between each soil poking plate and is arranged on drawstring supporting rack and draws high the spring I between sliding block；The wherein described transition
Jacket casing is in the outside of planting pipe；
The open hole device further includes the cave of opening for being used to that trident steady rest to be driven to pump being arranged on running gear and transports
Dynamic component, this is opened, and cave moving parts include the first steering engine, one end exports the horizontally disposed of axis connection with the first steering engine and opens cave biography
Swing arm and the vertical transmission mechanism for opening cave transmission arm other end connection；The vertical transmission mechanism is included with opening cave transmission arm
Second idler wheel of connection, the second guide rail for being arranged on the outside of the second idler wheel and being arranged in the second guide rail horizontal side is used for
Connect the link block of trident steady rest；
Wherein, it is provided with the first mounting hole corresponding with locating shaft on the trident steady rest.
Further, the running gear includes symmetrically arranged caterpillar chassis, is arranged between caterpillar chassis
Rack and the stepper motor being arranged in rack, the drive module that rotates for Driving Stepping Motor and driven for controlling
The control module of dynamic model block and the battery pack for powering for stepper motor, drive module and control module；The driving
The first steering engine in the second steering engine and open hole device in module control seed fetching equipment；It is complete that difference is additionally provided in the rack
Ball positioning device, acceleration transducer and gyroscope Magnetic Sensor；It is provided on the caterpillar chassis for ranging
Encoder.
Further, the caterpillar chassis include suspension, for be connected with stepper motor crawler-tread wheel,
The middle part of crawler belt is set to for contacting the carrying roller on ground and for the load bearing spring for carrying roller damping；The carrying roller
The encoder for ranging is provided on main shaft.
The beneficial effects of the invention are as follows：The present invention is beamed back by control module periodically acquisition difference global positioning device
The coordinate of hole seeding arrangement is detected the direction of travel of hole seeding arrangement, and the offset if it find that hole seeding arrangement is advanced then acquires top
The data of spiral shell instrument Magnetic Sensor control the stepper motor for driving running gear, to ensure the straight line moving of hole seeding arrangement；
Meanwhile according to the acceleration transducer set on hole seeding arrangement, control module acquires the data of acceleration transducer, and bunch planting is filled
The speed of travel put is controlled, and under the premise of hole seeding arrangement speed of drilling is certain, controls spacing in the rows；Finally, basis of the present invention
The encoder set in walking is detected travel distance, if it find that hole seeding arrangement and preset distance of having walked, then
Determining that bunch planting finishes the row, control module realizes the turning of hole seeding arrangement by controlling the work or stopping of stepper motor,
To carry out the bunch planting of next line.The configuration of the present invention is simple, dependable performance, plant/line spacing is accurate, and unattended, is small particle
Seed intelligent accurate bunch planting provides a kind of reference.
Description of the drawings
Fig. 1 is flow diagram of the present invention.
Fig. 2 is hole seeding arrangement structure diagram.
Fig. 3 is the structure diagram of another angle of hole seeding arrangement.
Fig. 4 broadcasts component structure diagram to take.
Fig. 5 is the vertical view of Fig. 3.
Fig. 6 is the A-A of Fig. 4 to sectional view.
Fig. 7 is enlarged drawing at E in Fig. 5.
Fig. 8 is the stereogram of movable device in Fig. 5.
Fig. 9 is open hole device structure diagram in hole seeding arrangement.
Figure 10 is the front view of Fig. 8.
Figure 11 is running gear structure diagram in hole seeding arrangement.
Figure 12 is specific embodiment of the invention schematic diagram.
Figure 13 is the schematic diagram that enters a new line in the specific embodiment of the invention.
Wherein, 1. rack；2. sow rocking arm；3. track fixes pushing slot；4. sow compression bar；5. seed-storage box；6. V-arrangement is fallen
Plants case；7. open hole device；8. caterpillar chassis；9. suspension；10. crawler haulage wheel；11. the first idler wheel；12. motor；
13. drive module；14. control module；15. soil poking plate；16. carrying roller；17. the first steering engine；18. planting pipe；19. seed-dropping plate；
20. sliding sleeve；21. planting mouth；22. the first track；23. horizontal fixed plate；24. spring；25. guide ring；26. fore-set；27. load-bearing
Spring；28. the second mounting hole；29. curved slot；30. battery pack；31. pipe sleeve；32. thimble；33. montant；34. drawstring supports
Frame；35. draw high sliding block；36. drawstring；37. vertical transport；38. the first supporting rack；39. locating shaft；40. trident is stablized
Frame；41. open cave transmission arm；42. the second steering engine；43. the second guide rail；44. the second idler wheel；45. the first mounting hole；46. transition
Cylinder；47. spring I；48. link block.
Wherein, it is direction of travel of the present invention that the X-axis in Figure 11 and Figure 12, which represents arable land length, and Y-axis represents arable land width.
Specific embodiment
The present invention is further detailed below in conjunction with the accompanying drawings.
It should be clear that：Stereogram, which is employed, in order to clearly illustrate the structure of the present invention, in attached drawing adds three-view diagram
Mode illustrates.
Such as Fig. 1, a kind of unattended seeding row spacing intelligent accurate bunch planting system including control assembly, passes through control assembly
Control the hole seeding arrangement to advance, the information collection component that is arranged on hole seeding arrangement and with control assembly, hole seeding arrangement information
Acquisition component electrical connection is used for the battery pack 30 of power supply；Its technical solution is：
The control assembly includes control module 14；
The hole seeding arrangement is advanced by crawler belt carries out bunch planting；The crawler belt is carried out respectively by two stepper motors respectively
Control；The stepper motor is electrically connected to control module 14；Sowing mechanism on the hole seeding arrangement can be according to control mould
The instruction of block 14 sow/stop the action of sowing；
The information collection component includes the difference global positioning device being arranged on hole seeding arrangement, acceleration transducer, top
Spiral shell instrument Magnetic Sensor and encoder；
The information of the control module 14 periodically acquisition difference global positioning device determines that the route of hole seeding arrangement walking is
No is straight line；In case of offset, control module 14 acquires the offset information of gyroscope Magnetic Sensor and sends out instruction control two
One in a stepper motor is adjusted hole seeding arrangement direction of advance, keeps hole seeding arrangement straight line moving；
When hole seeding arrangement keeps straight line moving, the control module 14 acquires the data of acceleration transducer, is walked to two
Stepper motor is simultaneously emitted by the forward speed of instruction control stepper motor, ensures that sowing quantity in the hole seeding arrangement unit interval is certain
In the case of, spacing in the rows is adjusted by gait of march or in the case where hole seeding arrangement gait of march is certain, by bunch planting
The adjustment of device speed of drilling is adjusted spacing in the rows；；
The pulse that the lasting acquisition encoder of the control module 14 is beamed back, is monitored the travel distance of hole seeding arrangement；
After hole seeding arrangement travel distance reaches the length of setting, control module 14 determines that hole seeding arrangement has completed the bunch planting need of the row
When carrying out next line bunch planting work, control module 14 sends to hole seeding arrangement and instructs, and stops sowing；The control module 14 is simultaneously
Instruction is sent to two stepper motors, one of stepper motor is controlled not work as needed, the work of another stepper motor,
Complete turning in place.
Further, such as Fig. 2 ~ 11, the hole seeding arrangement includes running gear, is arranged on running gear and is used for
The seed fetching equipment of taking-up small granule seed and connection are arranged on the open hole device 7 on the downside of seed fetching equipment, wherein, described takes kind
Device includes the montant 33 that four one end are arranged on running gear while is arranged on the seed-storage box 5 of 33 other end of montant, setting
In the V-arrangement planting case 6 of the pointed end of 5 side of seed-storage box, one end and 6 planting mouth 21 of V-arrangement planting case the connection other end and open cave
The planting pipe 18 and broadcast for the small granule seed in seed-storage box 5 from seed-storage box 5 to be taken out to and carried out essence amount that device 7 connects
Enter taking in open hole device 7 and broadcast component；It is described take broadcast component electrical connection for control take broadcast component take kind, the control mould of sowing
Block 14；Difference global positioning device, acceleration transducer and the gyroscope Magnetic Sensor is arranged on running gear.
It should be clear that：It takes and broadcasts component and can carry out precision drilling according to soil or sub-cases, as broadcast in a cave
One seed or more seeds.
It should be clear that：The difference global positioning device, acceleration transducer and gyroscope Magnetic Sensor are equal
It is arranged on running gear by equipment such as stents.This technology means are connection structure common in the art, herein no longer
It repeats.
Further, it is described take to broadcast component and include being set to the movement of 5 bottom of seed-storage box take and broadcast unit；Wherein, the fortune
It is dynamic take to broadcast unit and include one end connect being used to take the pipe sleeve 31 of kind, being arranged on inside pipe sleeve 31 for setting with 5 bottom of seed-storage box
What can be pumped measures the thimble 32 for ejecting seed and the use for being arranged on 32 other end of pipe sleeve 31 and thimble for essence
It pumps in driving pipe sleeve 31 and/or thimble 32 and carries out taking kind and be sown into the seed essence amount of longitudinal arrangement in pipe sleeve 31
The movable device of open hole device 7；
Wherein, the movable device includes the second steering engine 42 being arranged on running gear, one end is arranged on the second steering engine 42
The sowing rocking arm 2 of vertical direction, the first idler wheel 11 of sowing rocking arm 2 other end setting, matching are arranged on the first rolling on output shaft
The level for take turns the first track 22 on the fixation pushing guide groove 3 of the track on the outside of 11, being arranged on the outside of track fixation pushing guide groove 3 is consolidated
Fixed board 23, be arranged on horizontal fixed plate 23 for connect pipe sleeve 31 and across thimble 32 tubular guide ring 25 and broadcast
Kind compression bar 4 and spring 24；
Wherein, the sowing compression bar 4 includes the first horizontal segment, tilting section and the second horizontal segment that are connected with each other, wherein, institute
The first horizontal segment stated is arranged on 23 lower section of horizontal fixed plate for fixing thimble 32；Second horizontal segment is set to level
It is provided with above fixed plate 23 and between the second horizontal segment and horizontal fixed plate 23 spring 24；Wherein, the tilting section passes through
The slot hole set on horizontal fixed plate 23 makes that first horizontal segment is located at the lower section of horizontal fixed plate 23 and the second horizontal segment is located at level
23 top of fixed plate；Shaft is provided between slot hole on the tilting section and horizontal fixed plate 23；Wherein, the seed-storage box 5
Bottom is provided with to planting direction protrusion for the second horizontal segment of compression sowing compression bar 4 and horizontal fixed plate 23 at seeding time
Between spring 24 fore-set 26；
Wherein, the V-arrangement planting case 6 and the inclined seed-dropping plate 19 of 5 junction of seed-storage box are in the center line of corresponding seed-storage box 5
On be provided with the second mounting hole 28 of the V-arrangement planting case 6 that comes in and goes out for mating socket 31；
Wherein, second steering engine 42 is electrically connected to control module 14 and controls its break-make by control module 14, is taken so as to control
Broadcast component whether carry out taking kind, sowing action.
It should be clear that：After pipe sleeve 31 falls in the seed-storage box 5, small granule seed can flow into wherein, and along tube wall
Longitudinal arrangement facilitates the distance moved upwards according to thimble 32 that can control the quantity of ejection seed, reaches precision drilling
Purpose.
It should be clear that：Shaft is provided between slot hole on tilting section and horizontal fixed plate 23, which is used to broadcast
Kind compression bar 4 is rotated as axis.
Further, the sliding sleeve 20 for reducing friction is provided on second mounting hole 28.
It should be clear that：Sliding sleeve 20 is part commonly used in the prior art, can be used nonmetallic as PVC is made, and is connect
Lubricating oil is provided in contacting surface, reduces friction.
Further, the seed-dropping plate 19 is equipped with symmetrical two at 6 tip of V-arrangement planting case with falling at planting mouth 21
The curved slot 29 that kind mouth 21 connects, the height of the curved slot 29 are continuously decreased from 5 liang of walls of seed-storage box to planting mouth 21.
It should be clear that：The presence of curved slot 29 facilitates small granule seed to fall, it is therefore prevented that small granule seed is being stored up
It is maked somebody a mere figurehead in plants case 5.
Further, the open hole device includes the first supporting rack 38 being arranged on running gear, is arranged on first
Trident steady rest 40 that three locating shafts 39 on supporting rack 38 while matching are arranged on locating shaft 39, to be arranged on trident steady
Determine the transitional cylinder 46 of 40 center of frame, fixation is located at transitional cylinder 46 and is located at drawstring supporting rack of the running gear close to ground side
34th, it is located at the drawing high sliding block 35, be hinged on transitional cylinder 46 close to the multiple of ground one end close to ground side of drawstring supporting rack 34
Soil poking plate 15 is arranged on the drawstring 36 drawn high between sliding block 35 and each soil poking plate 15 and is arranged on drawstring supporting rack 34 with drawing
Rise the spring I47 between sliding block 35；The wherein described transitional cylinder 46 is sleeved on the outside of planting pipe 18；
The open hole device further include be arranged on running gear for driving what trident steady rest 40 pumped to open cave
Moving parts, this is opened cave moving parts and includes the horizontally disposed of the first steering engine 17, one end and the first steering engine 17 output axis connection
It opens cave transmission arm 41 and opens the vertical transmission mechanism 37 of 41 other end of cave transmission arm connection；The vertical transmission mechanism 37 wraps
The second idler wheel 44 of the connection of cave transmission arm 41 is included and opened, be arranged on second guide rail 43 in the outside of the second idler wheel 44 and is arranged on the
The link block 48 for being used to connect trident steady rest 40 in two guide rails, 43 horizontal side；
Wherein, it is provided on the trident steady rest 40 and 39 corresponding first mounting hole 45 of locating shaft.
It should be clear that：Structures described above is that those skilled in the art can specific structure.Link block 48 can be with
The adjustment in height is carried out according to actual conditions, to adapt to different surface states.Horizontally disposed cave transmission arm 41 of opening is by
One steering engine 17 drives up to vertical degree, trident steady rest 40 can be driven to very high position, convenient for opening cave.
It should be clear that：Multiple soil poking plates 15 are hinged with transitional cylinder 46, conveniently pull open and are closed.
Further, the running gear include symmetrically arranged caterpillar chassis 8, be arranged on caterpillar chassis 8 it
Between rack 1 and the stepper motor 12 being arranged in rack 1, the drive module 13 that rotates for Driving Stepping Motor 12 and
For the control module 14 for controlling drive module 13 and for powering for stepper motor 12, drive module 13 and control module 14
Battery pack 30；The drive module 13 controls the first steering engine in the second steering engine 42 and open hole device in seed fetching equipment
17；Difference global positioning device, acceleration transducer and gyroscope Magnetic Sensor are additionally provided in the rack 1；It is described
Caterpillar chassis 8 on be provided with encoder for ranging.
It should be clear that：The control module 14 can be monolithic or PLC module, and either use microcontroller also
It is PLC module to control the rotation of motor be all the common technical solution in this field.
Further, the caterpillar chassis 8 includes suspension 9, the crawler belt for being connected with stepper motor 12 passes
It send wheel 10, be set to the middle part of crawler belt for contacting the carrying roller 16 on ground and for the load bearing spring for 16 damping of carrying roller
27；The encoder for ranging is provided on the main shaft of the carrying roller 16.
It should be clear that：It is technological means common in the art that encoder, which is used for ranging,.
It should be clear that：Caterpillar drive mode is the common drive mechanism of field of agricultural machinery, and the present invention does not do detailed
Description.
It should be clear that：Fig. 1 is subject in the description of upper and lower isotropy matter described herein.
The course of work of the present invention：Small particle seed need to broadcast depth as shallow, and grain size is small to be not easy quantitative sowing, in order to reach
It is sowed to every cave accurate quantification, caterpillar chassis 8 is equipped with sowing rocking arm 2, and sowing 2 one end of rocking arm is connect with the first steering engine 17,
The other end is fixed pushing slot 3 with track and is matched, and sowing rocking arm 2 is controlled to be carried out centered on the first steering engine 17 by the first steering engine 17
It swings, sowing rocking arm 2 fixes the then side-to-side movement on the first track 22 of 3 mating end of pushing slot with track, fixes track
Pushing slot 3 moves up and down, and sowing compression bar 4 is fixed pushing slot 3 with track and moved, and the 5 bottom surface ecto-entad of seed-storage box is in recess
Structure.Seed-dropping plate 19 is equipped in seed-storage box 5,19 length of seed-dropping plate is less than 5 length suitable for reading of seed-storage box, and seed-dropping plate 19 is equipped with second
Mounting hole 28 is matched with pipe sleeve 31, and fixing pushing slot 3 with track connect, when being moved downward with track fixation pushing slot 3, pipe sleeve 31
It reaches in seed-storage box 5, small particle seed is packed into pipe sleeve 31, forms a longitudinal row.It treats that pipe sleeve 31 is fixed with track to push
When slot 3 moves upwards arrival extreme higher position, control module 14 controls the second steering engine 42 to turn an angle, compression sowing compression bar 4
Under spring 24, make sowing compression bar 4 that the thimble 32 in pipe sleeve 31 is jacked up a certain distance, so as to make in pipe sleeve 31 seed essence
The amount of determining is discharged and is fallen on seed-dropping plate 19.
Preferably, the seed-dropping plate 19 is highly continuously decreased from the second mounting hole 28 at planting mouth 21, and seed-dropping plate 19 exists
It is connect at planting mouth 21 equipped with symmetrical two curved slots 29 with planting mouth 21, curved slot 29 is from 5 liang of walls of seed-storage box to falling
Kind 21 height of mouth continuously decreases, and seed is slid by seed-dropping plate 19 to planting pipe 18, and planting pipe 18 coordinates with point opener 7.
The point opener 7 is controlled when the accurate hill-drop drill walking of electrodynamic type small particle seed seeding row spacing need not open cave section
Module 14, which drives the drive of the first steering engine 17 to open cave transmission arm 41 and moved in the second guide rail 43, makes trident steady rest 40 drive lower end
The rising of vertical transport 37 makes soil poking plate 15 far from ground.In advancing and sowing, when hill-drop drill advances to designated position, control
Module 14, which drives the drive of the first steering engine 17 to open cave transmission arm 41 and moved in the second guide rail 43, makes trident steady rest 40 drive lower end
The decline of vertical transport 37 makes soil poking plate 15 be inserted into soil, draws high the up and down motion of sliding block 35 and drawstring supporting rack 34 is driven to move,
Soil poking plate 15 is made to complete moving process by drawstring 36.
Running gear is driven by crawler-tread structure, is the prior art, is repeated no more herein.
It should be noted that：For a kind of deformation of the present invention, track drive may be used, set in the middle part of two crawler belts
Multiple hole seeding arrangements carry out multirow and synchronize bunch planting, improve bunch planting efficiency.
Such as Figure 12, three hole seeding arrangements are set in the middle part of two crawler belts, while carry out bunch planting to three rows.
The control process of straight line moving：When hole seeding arrangement works, the control module 14 in hole seeding arrangement is periodical, such as
10s, acquisition difference global positioning device carry out walking positioning to it.When hole seeding arrangement direction of advance deviation originally set it is straight
During spool, control module 14 acquires the data of gyroscope Magnetic Sensor, and control module 14 sends out regulating command according to feedback,
The stepper motor for receiving instruction is coordinated by the interaction between two crawler belts, and hole seeding arrangement is finally made to be restored to original follow
The state of mark straight line moving.
It is accurately positioned the control process of seeding row spacing bunch planting：During hole seeding arrangement tracking straight line moving, acceleration transducer can be right
The gait of march of step motor control is monitored in real time.When one timing of gait of march of hole seeding arrangement, relative to linear relationship
For, if speed of drilling is excessive, spacing in the rows is less than normal；If speed of drilling is too small, spacing in the rows is bigger than normal.And acceleration transducer can will supervise
Situation about measuring feeds back to control module 14, and control module 14 carries out accurate calculating according to actual conditions and then seeding apparatus is sent out
Go out instruction, its speed of drilling is enable to adjust, determines spacing in the rows, to correspond to actual needs.For similarly, when speed of drilling is certain
When, the gait of march of hole seeding arrangement is excessive or too small, and it is bigger than normal or less than normal to also result in spacing in the rows.Likewise, control module 14 can obtain
Monitoring to acceleration transducer is fed back, and then carries out accurate calculating and then instruction is sent out to stepper motor, to adjust speed of advancing
Degree, is accurately positioned spacing in the rows.
The control process that spacing turns to：Such as Figure 13, go when the travel distance of hole seeding arrangement tracking straight line sowing reaches setting
Away from when, such as 100m is turned to, enter a new line work.The setting line-spacing is obtained according to encoder.Acceleration transducer can be by feelings
Condition feeds back to control module 14.Control module 14 can send out the finger in relation to being stopped to stepper motor and seeding apparatus simultaneously
It enables.If it is desired to turning right, then control module 14 can send out adjusting respectively to the Driving Stepping Motor of two crawler belts in hole seeding arrangement and refer to
It enabling, right-hand track chiain remains stationary as, and left crawler belt is rotated by 90 ° using the geometric center of right-hand track chiain as axis as uniform circular motion clockwise,
The distance that two crawler belt synchronization marchings have been set later, carries out above-mentioned steering operation again, achievees the purpose that the work that enters a new line.With this
Meanwhile control module 14 controls seeding apparatus, to ensure that hole seeding arrangement is made during entire line feed without sowing
Industry.
The foregoing is merely invention preferred embodiment and oneself, be not intended to limit the invention, it is all the present invention spirit
With all any modification, equivalent and improvement made within principle etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of unattended seeding row spacing intelligent accurate bunch planting system including control assembly, is controlled by control assembly and advanced
Hole seeding arrangement, the information collection component that is arranged on hole seeding arrangement and with control assembly, hole seeding arrangement information collection component
Electrical connection is used for the battery pack of power supply（30）；It is characterized in that：
The control assembly includes control module（14）；
The hole seeding arrangement is advanced by crawler belt carries out bunch planting；The crawler belt is carried out respectively by two stepper motors respectively
Control；The stepper motor is electrically connected to control module（14）；Sowing mechanism on the hole seeding arrangement can be according to control
Module（14）Instruction sow/stop the action of sowing；
The information collection component includes the difference global positioning device being arranged on hole seeding arrangement, acceleration transducer, top
Spiral shell instrument Magnetic Sensor and encoder；
The control module（14）The information of periodically acquisition difference global positioning device determines the route of hole seeding arrangement walking
Whether it is straight line；In case of offset, control module（14）It acquires the offset information of gyroscope Magnetic Sensor and sends out instruction control
One in two stepper motors of system is adjusted hole seeding arrangement direction of advance, keeps hole seeding arrangement straight line moving；
When hole seeding arrangement keeps straight line moving, the control module（14）The data of acceleration transducer are acquired, to two
Stepper motor is simultaneously emitted by the forward speed of instruction control stepper motor, ensures that sowing quantity is certain in the hole seeding arrangement unit interval
In the case of, spacing in the rows is adjusted by gait of march or in the case where hole seeding arrangement gait of march is certain, by cave
The adjustment of broadcasting device speed of drilling is adjusted spacing in the rows；
The control module（14）The pulse that lasting acquisition encoder is beamed back, supervises the travel distance of hole seeding arrangement
Control；After hole seeding arrangement travel distance reaches the length of setting, control module（14）Determine that hole seeding arrangement has completed the row
When bunch planting needs to carry out next line bunch planting work, control module（14）It sends and instructs to hole seeding arrangement, stop sowing；The control mould
Block（14）Instruction is sent to two stepper motors simultaneously, one of stepper motor is controlled not work as needed, another step
Stepper motor works, and completes turning in place.
2. a kind of unattended seeding row spacing intelligent accurate bunch planting system according to claim 1, it is characterised in that：It is described
Hole seeding arrangement include running gear, be arranged on running gear for taking out seed fetching equipment and the company of small granule seed
The logical open hole device being arranged on the downside of seed fetching equipment（7）, wherein, the seed fetching equipment is arranged on walking dress including four one end
The montant put（33）While it is arranged on montant（33）The seed-storage box of the other end（5）, be arranged on seed-storage box（5）The tip of side
Downward V-arrangement planting case（6）, one end and V-arrangement planting case（6）Planting mouth（21）Connect the other end and open hole device（7）Connection
Planting pipe（18）And for by seed-storage box（5）Interior small granule seed is from seed-storage box（5）It is middle take out and carry out essence amount be sown into out
Cave device（7）In take and broadcast component；It is described take broadcast component electrical connection for control take broadcast component take kind, the control module of sowing
（14）；Difference global positioning device, acceleration transducer and the gyroscope Magnetic Sensor is arranged on running gear.
3. a kind of unattended seeding row spacing intelligent accurate bunch planting system according to claim 2, it is characterised in that：It is described
Take broadcast component include be set to seed-storage box（5）The movement of bottom, which takes, broadcasts unit；Wherein, the movement take broadcast unit include one end with
Seed-storage box（5）The pipe sleeve for being used to take kind of bottom connection setting（31）, be arranged on pipe sleeve（31）Internal can up and down reciprocatingly transport
The dynamic thimble that seed is ejected for essence amount（32）And it is arranged on pipe sleeve（31）And thimble（32）The other end is managed for driving
Set（31）And/or thimble（32）It pumps and take kind and by pipe sleeve（31）The seed essence amount of middle longitudinal arrangement is sown into out
Cave device（7）Movable device；
Wherein, the movable device includes the second steering engine being arranged on running gear（42）, one end be arranged on the second steering engine
（42）The sowing rocking arm of vertical direction on output shaft（2）, sowing rocking arm（2）First idler wheel of other end setting（11）, matching set
It puts in the first idler wheel（11）The track in outside, which is fixed, pushes guide groove（3）On the first track（22）, be arranged on track fix push
Guide groove（3）The horizontal fixed plate in outside（23）, be arranged on horizontal fixed plate（23）On for connecting pipe sleeve（31）And pass through top
Needle（32）Tubular guide ring（25）And sowing compression bar（4）And spring（24）；
Wherein, the sowing compression bar（4）First horizontal segment, tilting section and the second horizontal segment including interconnection, wherein,
The first horizontal segment is arranged on horizontal fixed plate（23）Lower section is used to fix thimble（32）；The second horizontal segment setting
In horizontal fixed plate（23）Top and the second horizontal segment and horizontal fixed plate（23）Between be provided with spring（24）；Wherein, it is described
Tilting section pass through horizontal fixed plate（23）The slot hole of upper setting makes first horizontal segment be located at horizontal fixed plate（23）Lower section and
Two horizontal segments are located at horizontal fixed plate（23）Top；The tilting section and horizontal fixed plate（23）On slot hole between be provided with turn
Axis；Wherein, the seed-storage box（5）Bottom is provided with to planting direction protrusion for compression sowing compression bar at seeding time（4）
The second horizontal segment and horizontal fixed plate（23）Between spring（24）Fore-set（26）；
Wherein, the V-arrangement planting case（6）With seed-storage box（5）The inclined seed-dropping plate of junction（19）In corresponding seed-storage box（5）
Center line on be provided with for mating socket（31）Come in and go out V-arrangement planting case（6）The second mounting hole（28）；
Wherein, second steering engine（42）It is electrically connected to control module（14）By control module（14）Its break-make is controlled, so as to
Control take broadcast component whether carry out taking kind, sowing action.
4. a kind of unattended seeding row spacing intelligent accurate bunch planting system according to claim 3, it is characterised in that：It is described
The second mounting hole（28）On be provided with for reduce friction sliding sleeve（20）.
5. a kind of unattended seeding row spacing intelligent accurate bunch planting system according to claim 3, it is characterised in that：It is described
Seed-dropping plate（19）In V-arrangement planting case（6）Planting mouth at tip（21）Place is equipped with symmetrical two and planting mouth（21）Connection
Curved slot（29）, the curved slot（29）Height from seed-storage box（5）Two walls are to planting mouth（21）It continuously decreases.
6. a kind of unattended seeding row spacing intelligent accurate bunch planting system according to claim 3, it is characterised in that：It is described
Open hole device include being arranged on the first supporting rack on running gear（38）, be arranged on the first supporting rack（38）On three it is fixed
Position axis（39）While matching is arranged on locating shaft（39）On trident steady rest（40）, be arranged on trident steady rest（40）Center
The transitional cylinder of position（46）, fixation be located at transitional cylinder（46）Positioned at running gear close to the drawstring supporting rack of ground side（34）、
It is located at drawstring supporting rack（34）Sliding block is drawn high close to ground side（35）, be arranged on transitional cylinder（46）Close to the more of ground one end
A soil poking plate（15）, be arranged on and draw high sliding block（35）With each soil poking plate（15）Between drawstring（36）And it is arranged on drawstring branch
Support（34）With drawing high sliding block（35）Between spring I（47）；The wherein described transitional cylinder（46）It is sleeved on planting pipe（18）It is outer
Side；
The open hole device further include be arranged on running gear for driving trident steady rest（40）What is pumped opens
Cave moving parts, this is opened cave moving parts and includes the first steering engine（17）, one end and the first steering engine（17）Export the level of axis connection
Cave transmission arm is opened in setting（41）And open cave transmission arm（41）The vertical transmission mechanism of other end connection（37）；Described is vertical
Transmission mechanism（37）Including with opening cave transmission arm（41）Second idler wheel of connection（44）, be arranged on the second idler wheel（44）The of outside
Two guide rails（43）And it is arranged on the second guide rail（43）In horizontal side for connecting trident steady rest（40）Link block
（48）；
Wherein, the trident steady rest（40）On be provided with and locating shaft（39）Corresponding first mounting hole（45）.
7. a kind of unattended seeding row spacing intelligent accurate bunch planting system according to claim 2, it is characterised in that：It is described
Running gear include symmetrically arranged caterpillar chassis（8）, be arranged on caterpillar chassis（8）Between rack（1）And it sets
It puts in rack（1）On stepper motor（12）, for Driving Stepping Motor（12）The drive module of rotation（13）And for controlling
Drive module processed（13）Control module（14）With for for stepper motor（12）, drive module（13）And control module（14）
The battery pack of power supply（30）；The drive module（13）Control the second steering engine in seed fetching equipment（42）In open hole device
First steering engine（17）；The rack（1）On be additionally provided with difference global positioning device, acceleration transducer and gyroscope magnetic
Sensor；The caterpillar chassis（8）On be provided with encoder for ranging.
8. a kind of unattended seeding row spacing intelligent accurate bunch planting system according to claim 7, it is characterised in that：It is described
Caterpillar chassis（8）Including suspension（9）, be used for and stepper motor（12）Connected crawler-tread wheel（10）, be set to
The middle part of crawler belt is used to contact the carrying roller on ground（16）And for for carrying roller（16）The load bearing spring of damping（27）；This holds
Roller（16）Main shaft on be provided with encoder for ranging.
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| CN109348760A (en) * | 2018-09-07 | 2019-02-19 | 农业部南京农业机械化研究所 | A kind of implement porter control device of agricultural machinery |
| CN112136432A (en) * | 2019-06-29 | 2020-12-29 | 安徽陆泰电气科技有限公司 | Intelligent sowing robot |
| CN113412707A (en) * | 2021-05-25 | 2021-09-21 | 山东交通学院 | Rice direct seeding unit self-adaption method based on Beidou and row spacing changing realization method |
| CN113545200A (en) * | 2021-06-17 | 2021-10-26 | 常宁市耘茂农业产业发展有限责任公司 | Large-scale industrialized rice seeding and seedling raising system |
| CN115053651A (en) * | 2022-06-30 | 2022-09-16 | 王长鑫 | Crossing type multifunctional ginseng planting machine |
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| CN113412707A (en) * | 2021-05-25 | 2021-09-21 | 山东交通学院 | Rice direct seeding unit self-adaption method based on Beidou and row spacing changing realization method |
| CN113412707B (en) * | 2021-05-25 | 2022-05-24 | 山东交通学院 | Rice direct seeding unit self-adaption method based on Beidou and row spacing changing realization method |
| CN113545200A (en) * | 2021-06-17 | 2021-10-26 | 常宁市耘茂农业产业发展有限责任公司 | Large-scale industrialized rice seeding and seedling raising system |
| CN113545200B (en) * | 2021-06-17 | 2024-01-30 | 常宁市耘茂农业产业发展有限责任公司 | Large-scale factorization rice seeding system of growing seedlings |
| CN115053651A (en) * | 2022-06-30 | 2022-09-16 | 王长鑫 | Crossing type multifunctional ginseng planting machine |
| CN115053651B (en) * | 2022-06-30 | 2023-11-28 | 王长鑫 | Crossing type multifunctional ginseng planting machine |
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