CN108124546B - Unmanned on duty's accurate bunch planting system of plant row spacing intelligence - Google Patents
Unmanned on duty's accurate bunch planting system of plant row spacing intelligence Download PDFInfo
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- CN108124546B CN108124546B CN201711436783.8A CN201711436783A CN108124546B CN 108124546 B CN108124546 B CN 108124546B CN 201711436783 A CN201711436783 A CN 201711436783A CN 108124546 B CN108124546 B CN 108124546B
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- 238000009331 sowing Methods 0.000 claims description 64
- 108010016634 Seed Storage Proteins Proteins 0.000 claims description 38
- 238000010899 nucleation Methods 0.000 claims description 35
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000001133 acceleration Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 230000007704 transition Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 13
- 239000002689 soil Substances 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 12
- 239000002245 particle Substances 0.000 claims description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 12
- 239000003381 stabilizer Substances 0.000 claims description 7
- 230000005570 vertical transmission Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000013311 vegetables Nutrition 0.000 description 2
- 241000592344 Spermatophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/002—Dibble seeders
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- 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
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- 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
Aiming at the problem that the existing small and medium-sized seed hill-drop device needs to be manually assisted, the invention provides an unmanned intelligent and precise hill-drop system for plant-row spacing, which comprises a control component, a hill-drop device, an information acquisition component and a battery pack, wherein the hill-drop device is controlled to advance by the control component, the information acquisition component is arranged on the hill-drop device, and the battery pack is electrically connected with the control component and the information acquisition component of the hill-drop device and is used for supplying power. According to the invention, the coordinates of the hill-drop device sent back by the differential global positioning device are periodically collected through the control module, the advancing direction of the hill-drop device is detected, if the advancing deviation of the hill-drop device is found, the data of the gyroscope magnetic sensor are collected, and the stepping motor of the driving running device is controlled so as to ensure the straight line running of the hill-drop device. According to the invention, the walking distance is detected according to the encoder arranged on the walking, and if the hill-drop device is found and the preset distance is walked, the control module controls the stepping motor to realize turning of the hill-drop device and perform hill-drop of the next row.
Description
Technical Field
The invention relates to an electric seed hill planter, in particular to a fully-automatic intelligent accurate hill planter system with unattended plant-row spacing, which particularly relates to a hill planter capable of fully-automatic work, and belongs to the technical field of agricultural machinery.
Background
With the gradual deep adjustment of agricultural structures in China, agricultural planting is changing from original grain type to diversified economic type, the sowing mode is developed from original pure manual operation to present mechanization, and comprehensive automatic electrification can be realized in the future.
Wherein, the planting area of the crops with small grain diameter is gradually enlarged. Nowadays, more and more people are pursuing high-quality green life, which increases the demand for vegetables and flowers, and thus, the continuous expansion of the vegetable and flower industries is promoted. It follows that small grain crops have become an important component of the "green products" of national life. The production of small grain crops has been widely regarded as a sun-facing industry with great development potential and good market prospects.
Therefore, the method has important practical value and practical significance for strengthening the research on the sowing technology of the small-grain-size seed crops.
Meanwhile, the hill planter in the prior art has various problems. If the hand-held plug seeder is operated completely by manual operation in the working process, a lot of technical work is needed, the degree of automation is very low, and the labor intensity is high in long-time operation. The invention adopts a full-automatic electric driving mode, and a series of seeding operations are independently completed during operation. For example, in the working process of the air suction type precise hill planter, the small-grain-size seeds have smaller density, and are greatly disturbed by air in the sowing process, so that the error rate of the seed sowing device is relatively higher, and the plant spacing error is large. At present, the domestic most advanced small-grain seed hill planter adopts an electric manual auxiliary mode when in work, namely the machine needs to be assisted by one side by manpower when in work so as to achieve the purpose of controlling the advancing direction and the advancing path of the machine.
For the self-tracking trolley in the prior art, tracking is not completely and correctly acquired and identified, so that steering engines cannot accurately steer in time easily, and further the model trolley is severely dithered or even deviates from a long-distance track.
In summary, a fully automatic small-grain seed hill-drop device without manual assistance is to be developed.
Disclosure of Invention
Aiming at the problem that small-grain-size seed hill-drop devices in the prior art need to be manually assisted, the invention provides an unmanned intelligent and accurate hill-drop system for plant-row spacing, which has a simple structure and can effectively solve the problems in the prior art.
The intelligent precise hill-drop system for the unattended plant-row spacing comprises a control assembly, a hill-drop device controlled to advance by the control assembly, an information acquisition assembly arranged on the hill-drop device, and a battery pack electrically connected with the control assembly and the information acquisition assembly of the hill-drop device and used for supplying power; the technical proposal is that: the control assembly comprises a control module;
the hill-drop device performs hill-drop by advancing through the crawler belt; the caterpillar tracks are respectively controlled by two stepping motors; the stepping motors are electrically connected to the control module; the seeding mechanism on the hole seeding device can perform seeding/stopping seeding actions according to the instruction of the control module;
the information acquisition component comprises a differential global positioning device, an acceleration sensor, a gyroscope magnetic sensor and an encoder which are arranged on the hill-drop device; the control module periodically collects information of the differential global positioning device to determine whether a walking route of the hill-drop device is a straight line or not; if the shifting occurs, the control module collects shifting information of the gyroscope magnetic sensor and sends out an instruction to control one of the two stepping motors to adjust the advancing direction of the hill-drop device, so that the hill-drop device can walk linearly;
when the hill-drop device keeps straight walking, the control module collects data of the acceleration sensor, and simultaneously sends instructions to the two stepping motors to control the advancing speed of the stepping motors, so that the planting distance is adjusted through the advancing speed under the condition that the seeding quantity of the hill-drop device in unit time is ensured to be fixed, or the planting distance is adjusted through the adjustment of the seeding speed of the hill-drop device under the condition that the advancing speed of the hill-drop device is fixed;
the control module continuously collects the pulse sent back by the encoder and monitors the travelling distance of the hill-drop device; after the travelling distance of the hill-drop device reaches a set length, the control module determines that the hill-drop device finishes the hill-drop operation of the row and sends an instruction to the hill-drop device to stop sowing when the hill-drop device needs to perform the hill-drop operation of the next row; the control module simultaneously sends instructions to the two stepping motors, one stepping motor is controlled to be not operated, and the other stepping motor is controlled to be operated according to the needs, so that turning is completed.
Further, the hill-drop device comprises a traveling device, a seed taking device arranged on the traveling device and used for taking out small particle seeds, and a hill-drop device communicated with the lower side of the seed taking device, wherein the seed taking device comprises four vertical rods with one ends arranged on the traveling device, a seed storage box with the other ends arranged at the other ends of the vertical rods, a V-shaped seed dropping box with a downward tip arranged at one side of the seed storage box, a seed dropping pipe with one end connected with a seed dropping opening of the V-shaped seed dropping box and the other end connected with the hill-drop device, and a seed taking assembly used for taking out the small particle seeds in the seed storage box from the seed storage box and accurately sowing the small particle seeds into the hill-drop device; the picking and sowing assembly is electrically connected with a control module for controlling the picking and sowing assembly to pick and sow seeds; the differential global positioning device, the acceleration sensor and the gyroscope magnetic sensor are all arranged on the running gear.
Further, the picking and sowing assembly comprises a motion picking and sowing unit arranged at the bottom of the seed storage box; the movable seed taking and sowing unit comprises a pipe sleeve, a thimble and a movable mechanism, wherein one end of the pipe sleeve is communicated with the bottom of the seed storage box and used for taking seeds, the thimble is arranged in the pipe sleeve and can reciprocate up and down and used for finely ejecting seeds, and the movable mechanism is arranged at the other ends of the pipe sleeve and the thimble and used for driving the pipe sleeve and/or the thimble to reciprocate up and down to take seeds and sowing seeds longitudinally arranged in the pipe sleeve into the hole opening device in a fine amount;
the movable mechanism comprises a second steering engine arranged on the traveling device, a seeding rocker arm with one end arranged on an output shaft of the second steering engine in the vertical direction, a first roller arranged at the other end of the seeding rocker arm, a first track matched with a track fixed pressing guide groove arranged on the outer side of the first roller, a horizontal fixing plate arranged on the outer side of the track fixed pressing guide groove, a cylindrical guide ring arranged on the horizontal fixing plate and used for communicating a pipe sleeve and penetrating a thimble, and a seeding compression bar and a spring;
the sowing compression bar comprises a first horizontal section, an inclined section and a second horizontal section which are connected with each other, wherein the first horizontal section is arranged below the horizontal fixing plate and used for fixing the thimble; the second horizontal section is arranged above the horizontal fixing plate, and a spring is arranged between the second horizontal section and the horizontal fixing plate; the inclined section enables the first horizontal section to be positioned below the horizontal fixing plate and the second horizontal section to be positioned above the horizontal fixing plate through long holes formed in the horizontal fixing plate; a rotating shaft is arranged between the inclined section and the long hole on the horizontal fixed plate; the bottom of the seed storage box is provided with a jack post protruding towards the seed falling direction and used for compressing a spring between a second horizontal section of the sowing compression bar and the horizontal fixing plate during sowing;
wherein, the inclined seed dropping plate at the joint of the V-shaped seed dropping box and the seed storage box is provided with a second mounting hole which is used for matching with the pipe sleeve to go in and out of the V-shaped seed dropping box on the central line of the corresponding seed storage box;
the second steering engine is electrically connected to the control module, and the control module controls the on-off of the second steering engine, so that whether the seed taking and sowing assembly performs seed taking and sowing actions or not is controlled.
Further, a sliding sleeve for reducing friction is arranged on the second mounting hole.
Further, the seed dropping plate is provided with two symmetrical curved grooves connected with the seed dropping port at the tip end of the V-shaped seed dropping box, and the height of the curved grooves gradually decreases from the two walls of the seed storage box to the seed dropping port.
Further, the hole opening device comprises a first support frame arranged on the traveling device, three positioning shafts arranged on the first support frame, a three-fork stabilizing frame simultaneously matched with the positioning shafts, a transition barrel arranged at the center of the three-fork stabilizing frame, a stay rope support frame fixedly arranged on one side of the transition barrel, close to the ground, of the traveling device, a lifting slide block arranged on one side, close to the ground, of the stay rope support frame, a plurality of soil poking sheets arranged at one end, close to the ground, of the transition barrel, stay ropes arranged between the lifting slide blocks and each soil poking sheet, and springs I arranged between the stay rope support frame and the lifting slide block; wherein the transition cylinder is sleeved on the outer side of the seed dropping pipe;
the hole opening device also comprises a hole opening movement assembly which is arranged on the traveling device and used for driving the three-fork stabilizer to reciprocate up and down, and the hole opening movement assembly comprises a first steering engine, a hole opening transmission arm with one end connected with an output shaft of the first steering engine and a vertical transmission mechanism with the other end connected with the other end of the hole opening transmission arm; the vertical transmission mechanism comprises a second roller connected with the hole opening transmission arm, a second guide rail arranged on the outer side of the second roller, and a connecting block arranged on the horizontal side surface of the second guide rail and used for connecting the three-fork stabilizer;
wherein, the three-fork stabilizing frame is provided with a first mounting hole corresponding to the positioning shaft.
Further, the walking device comprises crawler-type chassis symmetrically arranged, a frame arranged between the crawler-type chassis, a stepping motor arranged on the frame, a driving module for driving the stepping motor to rotate, a control module for controlling the driving module, and a battery pack for supplying power to the stepping motor, the driving module and the control module; the driving module controls a second steering engine in the seed taking device and a first steering engine in the hole opening device; the stand is also provided with a differential global positioning device, an acceleration sensor and a gyroscope magnetic sensor; the crawler-type chassis is provided with an encoder for ranging.
Further, the crawler chassis comprises a suspension system, a crawler conveying wheel connected with the stepping motor, a bearing wheel arranged in the middle of the crawler and used for contacting the ground, and a bearing spring used for damping the bearing wheel; an encoder for ranging is arranged on the main shaft of the bearing wheel.
The beneficial effects of the invention are as follows: according to the invention, coordinates of the hill-drop device sent back by the differential global positioning device are periodically collected through the control module, the advancing direction of the hill-drop device is detected, if the advancing deviation of the hill-drop device is found, the data of the gyroscope magnetic sensor are collected, and the stepping motor of the driving running device is controlled so as to ensure the straight line running of the hill-drop device; meanwhile, according to an acceleration sensor arranged on the hill-drop device, a control module collects data of the acceleration sensor, controls the walking speed of the hill-drop device, and controls plant spacing on the premise that the sowing speed of the hill-drop device is fixed; finally, the invention detects the walking distance according to the encoder arranged on the walking, if the hill-drop device is found and the preset distance is walked, the control module determines that the hill-drop of the row is finished, and the control module realizes the turning of the hill-drop device by controlling the work or stop of the stepping motor so as to perform the hill-drop of the next row. The intelligent and accurate hill-drop planter is simple in structure, reliable in performance, accurate in plant spacing and row spacing, unattended, and capable of providing a reference for intelligent and accurate hill-drop planting of small-grain seeds.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic view of the structure of the hill planter.
Fig. 3 is a schematic view of another angle of the hill-drop device.
Fig. 4 is a schematic view of a fetch and broadcast assembly.
Fig. 5 is a top view of fig. 3.
Fig. 6 is a cross-sectional view taken along A-A of fig. 4.
Fig. 7 is an enlarged view of fig. 5 at E.
Fig. 8 is a perspective view of the movable mechanism of fig. 5.
Fig. 9 is a schematic diagram of a hole opening device in the hole sowing device.
Fig. 10 is a front view of fig. 8.
Fig. 11 is a schematic view of the structure of the walking device in the hill-drop device.
FIG. 12 is a schematic representation of an embodiment of the present invention.
Fig. 13 is a schematic diagram of line feed in an embodiment of the invention.
Wherein, 1, a frame; 2. sowing a rocker arm; 3. a rail fixing pressing groove; 4. sowing a compression bar; 5. a seed storage box; 6. v-shaped seed dropping box; 7. a hole opening device; 8. a crawler chassis; 9. a suspension system; 10. a track driving wheel; 11. a first roller; 12. a stepping motor; 13. a driving module; 14. a control module; 15. a soil poking sheet; 16. a bearing wheel; 17. the first steering engine; 18. a seed dropping tube; 19. falling off the seed plates; 20. a sliding sleeve; 21. a seed falling port; 22. a first track; 23. a horizontal fixing plate; 24. a spring; 25. a guide ring; 26. a top column; 27. a load-bearing spring; 28. a second mounting hole; 29. a curved groove; 30. a battery pack; 31. a pipe sleeve; 32. a thimble; 33. a vertical rod; 34. a pull rope supporting frame; 35. pulling up the sliding block; 36. a pull rope; 37. a vertical transfer mechanism; 38. a first support frame; 39. positioning a shaft; 40. a three-fork stabilizing frame; 41. a hole opening transmission arm; 42. the second steering engine; 43. a second guide rail; 44. a second roller; 45. a first mounting hole; 46. a transition barrel; 47. a spring I;48. and (5) connecting a block.
Wherein, the X-axis in fig. 11 and 12 represents the tilling length, i.e., the traveling direction of the present invention, and the Y-axis represents the tilling width.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
What needs to be clarified is: for clarity of illustration of the structure of the present invention, the drawings are illustrated in perspective view with three views.
As shown in fig. 1, an unmanned intelligent precise hill-drop system for plant-row spacing comprises a control assembly, a hill-drop device controlled to advance by the control assembly, an information acquisition assembly arranged on the hill-drop device, and a battery pack 30 electrically connected with the control assembly and the information acquisition assembly of the hill-drop device for supplying power; the technical proposal is that:
the control assembly includes a control module 14;
the hill-drop device performs hill-drop by advancing through the crawler belt; the caterpillar tracks are respectively controlled by two stepping motors; the stepper motors are all electrically connected to the control module 14; the seeding mechanism on the hill planter can perform seeding/stopping actions according to the instruction of the control module 14;
the information acquisition component comprises a differential global positioning device, an acceleration sensor, a gyroscope magnetic sensor and an encoder which are arranged on the hill-drop device;
the control module 14 periodically collects information of the differential global positioning device to determine whether a walking route of the hill-drop device is a straight line; if the shifting occurs, the control module 14 collects the shifting information of the gyroscope magnetic sensor and sends out an instruction to control one of the two stepping motors to adjust the advancing direction of the hill-drop device, so that the hill-drop device can walk linearly;
when the hill-drop device keeps straight walking, the control module 14 collects data of the acceleration sensor, and simultaneously sends instructions to the two stepping motors to control the advancing speed of the stepping motors, so that the planting distance is adjusted through the advancing speed under the condition that the seeding quantity of the hill-drop device in unit time is ensured to be fixed, or the planting distance is adjusted through the adjustment of the seeding speed of the hill-drop device under the condition that the advancing speed of the hill-drop device is fixed; the method comprises the steps of carrying out a first treatment on the surface of the
The control module 14 continuously collects the pulse sent back by the encoder and monitors the travelling distance of the hill-drop device; after the travel distance of the hill-drop device reaches the set length, when the control module 14 determines that the hill-drop device has completed the hill-drop of the row and needs to perform the hill-drop operation of the next row, the control module 14 sends an instruction to the hill-drop device to stop sowing; the control module 14 simultaneously sends instructions to the two stepper motors, one stepper motor is controlled to be not operated, and the other stepper motor is controlled to be operated according to the needs, so that turning is completed.
Further, as shown in fig. 2 to 11, the hole sowing device comprises a travelling device, a seed taking device arranged on the travelling device and used for taking out small particle seeds, and a hole opening device 7 communicated with the lower side of the seed taking device, wherein the seed taking device comprises four vertical rods 33 with one ends arranged on the travelling device, a seed storage box 5 arranged at the other end of the vertical rods 33, a V-shaped seed dropping box 6 with a downward tip arranged at one side of the seed storage box 5, a seed dropping pipe 18 with one end connected with a seed dropping opening 21 of the V-shaped seed dropping box 6 and the other end connected with the hole opening device 7, and a seed taking assembly used for taking out the small particle seeds in the seed storage box 5 from the seed storage box 5 and performing precise sowing into the hole opening device 7; the picking and sowing assembly is electrically connected with a control module 14 for controlling the picking and sowing assembly to pick and sow seeds; the differential global positioning device, the acceleration sensor and the gyroscope magnetic sensor are all arranged on the running gear.
What needs to be clarified is: the picking and sowing component can carry out precision sowing according to the condition of the land or the seeds, such as sowing one seed or a plurality of seeds in one hole.
What needs to be clarified is: the differential global positioning device, the acceleration sensor and the gyroscope magnetic sensor are arranged on the running gear through equipment such as a bracket. The technical means is a common connecting structure in the prior art, and is not repeated herein.
Further, the picking and sowing assembly comprises a motion picking and sowing unit arranged at the bottom of the seed storage box 5; the motion picking and sowing unit comprises a pipe sleeve 31, a thimble 32 and a movable mechanism, wherein one end of the pipe sleeve 31 is communicated with the bottom of the seed storage box 5, the thimble 32 is arranged in the pipe sleeve 31 and can reciprocate up and down and is used for precisely ejecting seeds, and the movable mechanism is arranged at the other end of the pipe sleeve 31 and the thimble 32 and is used for driving the pipe sleeve 31 and/or the thimble 32 to reciprocate up and down to pick seeds and finely sowing seeds longitudinally arranged in the pipe sleeve 31 into the hole opening device 7;
the movable mechanism comprises a second steering engine 42 arranged on the traveling device, a seeding rocker arm 2 with one end arranged on an output shaft of the second steering engine 42 in the vertical direction, a first roller 11 arranged at the other end of the seeding rocker arm 2, a first rail 22 arranged on a rail fixing and pressing guide groove 3 on the outer side of the first roller 11 in a matching manner, a horizontal fixing plate 23 arranged on the outer side of the rail fixing and pressing guide groove 3, a cylindrical guide ring 25 arranged on the horizontal fixing plate 23 and used for communicating a pipe sleeve 31 and penetrating a thimble 32, and a seeding compression bar 4 and a spring 24;
the sowing compression bar 4 comprises a first horizontal section, an inclined section and a second horizontal section which are connected with each other, wherein the first horizontal section is arranged below the horizontal fixing plate 23 and used for fixing the thimble 32; the second horizontal section is arranged above the horizontal fixing plate 23, and a spring 24 is arranged between the second horizontal section and the horizontal fixing plate 23; wherein, the inclined section enables the first horizontal section to be positioned below the horizontal fixing plate 23 and the second horizontal section to be positioned above the horizontal fixing plate 23 through the long holes arranged on the horizontal fixing plate 23; a rotating shaft is arranged between the inclined section and the long hole on the horizontal fixing plate 23; wherein, the bottom of the seed storage box 5 is provided with a jack-prop 26 protruding towards the seed falling direction and used for compressing a spring 24 between a second horizontal section of the sowing compression bar 4 and the horizontal fixing plate 23 during sowing;
wherein, the inclined seed dropping plate 19 at the joint of the V-shaped seed dropping box 6 and the seed storage box 5 is provided with a second mounting hole 28 which is used for matching with a pipe sleeve 31 to enter and exit the V-shaped seed dropping box 6 on the central line of the corresponding seed storage box 5;
the second steering engine 42 is electrically connected to the control module 14, and the control module 14 controls the on-off state of the second steering engine, so as to control whether the seed taking and sowing assembly performs seed taking and sowing actions.
What needs to be clarified is: after the pipe sleeve 31 falls into the seed storage box 5, small particle seeds can flow into the pipe sleeve and are longitudinally arranged along the pipe wall, so that the number of the ejected seeds can be conveniently controlled according to the upward movement distance of the ejector pins 32, and the purpose of precision seeding is achieved.
What needs to be clarified is: a rotary shaft is provided between the inclined section and the long hole on the horizontal fixing plate 23, and is used for rotating the sowing compression bar 4 with the rotary shaft as an axis.
Further, the second mounting hole 28 is provided with a sliding sleeve 20 for reducing friction.
What needs to be clarified is: the sliding sleeve 20 is a common part in the prior art, and can be made of nonmetal such as PVC, and the contact surface is provided with lubricating oil to reduce friction.
Further, the seed dropping plate 19 is provided with two symmetrical curved grooves 29 connected with the seed dropping port 21 at the tip end of the V-shaped seed dropping box 6, and the height of the curved grooves 29 gradually decreases from the two walls of the seed storage box 5 to the seed dropping port 21.
What needs to be clarified is: the presence of the curved groove 29 facilitates the falling of the small particle seeds and prevents the small particle seeds from being overhead in the seed storage tank 5.
Further, the hole opening device comprises a first support frame 38 arranged on the running gear, three positioning shafts 39 arranged on the first support frame 38, a three-fork stabilizing frame 40 simultaneously matched with the positioning shafts 39, a transition cylinder 46 arranged at the center of the three-fork stabilizing frame 40, a stay rope support frame 34 fixedly arranged on one side of the transition cylinder 46 close to the ground of the running gear, a lifting slide block 35 arranged on one side of the stay rope support frame 34 close to the ground, a plurality of soil poking sheets 15 hinged to one end of the transition cylinder 46 close to the ground, a stay rope 36 arranged between the lifting slide block 35 and each soil poking sheet 15, and a spring I47 arranged between the stay rope support frame 34 and the lifting slide block 35; wherein the transition cylinder 46 is sleeved outside the seed dropping tube 18;
the hole opening device also comprises a hole opening movement assembly which is arranged on the running gear and used for driving the three-fork stabilizer 40 to reciprocate up and down, wherein the hole opening movement assembly comprises a first steering engine 17, a hole opening transmission arm 41 with one end connected with an output shaft of the first steering engine 17 and arranged horizontally, and a vertical transmission mechanism 37 with the other end connected with the hole opening transmission arm 41; the vertical transmission mechanism 37 comprises a second roller 44 connected with the hole opening transmission arm 41, a second guide rail 43 arranged outside the second roller 44, and a connecting block 48 arranged on the horizontal side surface of the second guide rail 43 and used for connecting the three-fork stabilizer 40;
wherein, the three-fork stabilizer 40 is provided with a first mounting hole 45 corresponding to the positioning shaft 39.
What needs to be clarified is: the above structures are all those that can be made clear to the person skilled in the art. The connecting block 48 can be adjusted in height according to actual conditions so as to adapt to different ground conditions. The horizontally arranged hole opening transmission arm 41 is driven by the first steering engine 17 to the highest vertical degree, and can drive the three-fork stabilizer 40 to a very high position, so that the hole opening is facilitated.
What needs to be clarified is: a plurality of soil shifting blocks 15 are hinged with the transition barrel 46, so that the soil shifting blocks are convenient to open and close.
Further, the walking device comprises a crawler chassis 8, a frame 1, a stepping motor 12, a driving module 13, a control module 14 and a battery pack 30, wherein the crawler chassis 8 is symmetrically arranged, the frame 1 is arranged between the crawler chassis 8, the stepping motor 12 is arranged on the frame 1, the driving module 13 is used for driving the stepping motor 12 to rotate, the control module 14 is used for controlling the driving module 13, and the battery pack 30 is used for supplying power to the stepping motor 12, the driving module 13 and the control module 14; the driving module 13 controls a second steering engine 42 in the seed taking device and a first steering engine 17 in the hole opening device; the stand 1 is also provided with a differential global positioning device, an acceleration sensor and a gyroscope magnetic sensor; the crawler-type chassis 8 is provided with an encoder for ranging.
What needs to be clarified is: the control module 14 may be a single chip or a PLC module, and it is a common technical solution in the art to use a single chip or a PLC module to control the rotation of the motor.
Further, the crawler chassis 8 comprises a suspension system 9, crawler conveying wheels 10 connected with stepping motors 12, bearing wheels 16 arranged in the middle of the crawler and used for contacting the ground, and bearing springs 27 used for damping the bearing wheels 16; an encoder for ranging is provided on the main shaft of the load bearing wheel 16.
What needs to be clarified is: encoders are used to measure distance as is common in the art.
What needs to be clarified is: the crawler-type transmission mode is a common transmission structure in the field of agricultural machinery, and the crawler-type transmission mode is not described in detail.
What needs to be clarified is: the description of the upward, downward, etc. directional properties described herein controls fig. 1.
The working process of the invention comprises the following steps: the small-grain-size seeds are shallow in sowing depth, small in grain size and not easy to quantitatively sow, in order to achieve accurate quantitative sowing in each hole, a sowing rocker arm 2 is arranged on the crawler-type chassis 8, one end of the sowing rocker arm 2 is connected with a second steering engine 42, the other end of the sowing rocker arm is matched with the track-fixed pressing groove 3, the second steering engine 42 is used for controlling the sowing rocker arm 2 to swing left and right by taking the second steering engine 42 as a center, the sowing rocker arm 2 and the track-fixed pressing groove 3 matched end move left and right on the first track 22, the track-fixed pressing groove 3 moves up and down, the sowing compression bar 4 moves along with the track-fixed pressing groove 3, and the bottom surface of the seed storage box 5 is of a concave structure from outside to inside. The seed storage box 5 is internally provided with a seed dropping plate 19, the length of the seed dropping plate 19 is smaller than the length of the upper opening of the seed storage box 5, the seed dropping plate 19 is provided with a second mounting hole 28 matched with the pipe sleeve 31, the seed dropping plate is connected with the track fixing pressing groove 3, and when the track fixing pressing groove 3 moves downwards along with the track fixing pressing groove, the pipe sleeve 31 reaches the seed storage box 5, and seeds with small particle sizes are filled into the pipe sleeve 31 to form a longitudinal row. When the pipe sleeve 31 moves upwards along with the track fixing pressing groove 3 to reach the highest position, the control module 14 controls the second steering engine 42 to rotate a certain angle, and the spring 24 under the sowing compression bar 4 is compressed, so that the sowing compression bar 4 jacks up the thimble 32 in the pipe sleeve 31 for a certain distance, and seeds in the pipe sleeve 31 are accurately and quantitatively discharged and fall onto the falling plate 19.
Preferably, the height of the seed dropping plate 19 from the second mounting hole 28 to the seed dropping port 21 is gradually reduced, the seed dropping plate 19 is provided with two symmetrical curved grooves 29 at the seed dropping port 21 and connected with the seed dropping port 21, the curved grooves 29 gradually reduce from the two walls of the seed storage box 5 to the height of the seed dropping port 21, the seeds slide to the seed dropping tube 18 through the seed dropping plate 19, and the seed dropping tube 18 is matched with the hole opener 7.
The hole opener 7 drives the first steering engine 17 to drive the hole opening transmission arm 41 to move in the second guide rail 43 when the electric small-grain seed plant row spacing precise hill planter walks on a road section without hole opening, so that the three-fork stabilizing frame 40 drives the lower-end vertical conveying mechanism 37 to ascend, and the soil poking sheet 15 is far away from the ground. In the advancing and seeding process, when the hill planter advances to a designated position, the control module 14 drives the first steering engine 17 to drive the hole opening transmission arm 41 to move in the second guide rail 43, so that the three-fork stabilizing frame 40 drives the lower end vertical conveying mechanism 37 to descend, the soil poking sheet 15 is inserted into the soil, the pull-up sliding block 35 moves up and down to drive the pull rope supporting frame 34 to move, and the soil poking sheet 15 is opened and closed through the pull rope 36.
The running gear is driven through the crawler belt conveying structure, and is the prior art and is not repeated herein.
It should be noted that: for the deformation of the invention, crawler drives can be adopted, and a plurality of hill-drop devices are arranged in the middle of two crawler belts to perform multi-row synchronous hill-drop, so that the hill-drop efficiency is improved.
As shown in fig. 12, three hill-drop devices are provided in the middle of two tracks, and hill-drop is performed on three rows at the same time.
The control process of straight walking comprises the following steps: when the hill-drop device works, the control module 14 in the hill-drop device periodically, for example, for 10s, collects the differential global positioning device to walk and position the hill-drop device. When the advancing direction of the hill-drop device deviates from the originally set linear axis, the control module 14 collects the data of the gyroscope magnetic sensor, the control module 14 sends out an adjusting instruction according to the feedback condition, the stepping motor receiving the instruction cooperates through the interaction between the two tracks, and finally the hill-drop device is restored to the original tracking linear walking state.
The control process of accurate positioning plant row spacing hill-drop: when the hill planter walks along the straight line, the acceleration sensor can monitor the travelling speed controlled by the stepping motor in real time. When the travelling speed of the hill-drop device is fixed, if the sowing speed is too high, the plant spacing is smaller than the linear relation; if the sowing speed is too small, the plant spacing is too large. The acceleration sensor feeds back the monitored situation to the control module 14, the control module 14 performs precise calculation according to the actual situation so as to send out instructions to the seeding device, so that the seeding speed of the seeding device is adjusted, and the plant spacing is determined so as to meet the actual needs. Similarly, when the sowing speed is fixed, too high or too low a travelling speed of the hill-drop device may cause too high or too low a plant spacing. Similarly, the control module 14 obtains the monitoring feedback of the acceleration sensor, and then performs precise calculation to further send a command to the stepper motor to adjust the travelling speed and precisely position the plant spacing.
The control process of the fixed-distance steering comprises the following steps: as shown in fig. 13, when the travel distance of the hill planter for tracking the linear sowing reaches a set row spacing, for example, 100m, the steering and line changing work is required. The set line spacing is obtained from the encoder. The acceleration sensor will feed back the situation to the control module 14. The control module 14 will issue instructions regarding stopping the operation to both the stepper motor and the seed planting device. If a right turn is required, the control module 14 will respectively send out an adjustment command to the driving stepping motors of the two tracks in the hill-drop device, the right track is kept still, the left track rotates for 90 degrees with a uniform circular motion clockwise by taking the geometric center of the right track as an axis, and then the two tracks synchronously travel for a set distance, and the steering operation is performed again, so that the purpose of line changing is achieved. At the same time, the control module 14 controls the seeding device to ensure that the hill-drop device does not perform seeding operations during the entire line feed process.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (3)
1. An unmanned intelligent precise hill-drop system for plant-row spacing comprises a control component, a hill-drop device controlled to advance by the control component, an information acquisition component arranged on the hill-drop device, and a battery pack (30) electrically connected with the control component and the information acquisition component of the hill-drop device and used for supplying power; the method is characterized in that:
the control assembly comprises a control module (14);
the hill-drop device performs hill-drop by advancing through the crawler belt; the caterpillar tracks are respectively controlled by two stepping motors; the stepping motors are electrically connected to the control module (14); the seeding mechanism on the hole seeding device can perform seeding/stopping seeding actions according to the instruction of the control module (14);
the information acquisition component comprises a differential global positioning device, an acceleration sensor, a gyroscope magnetic sensor and an encoder which are arranged on the hill-drop device;
the control module (14) periodically collects information of the differential global positioning device to determine whether a walking route of the hill-drop device is a straight line or not; if the shifting occurs, the control module (14) collects shifting information of the gyroscope magnetic sensor and sends out an instruction to control one of the two stepping motors to adjust the advancing direction of the hill-drop device, so that the hill-drop device can walk linearly;
when the hill-drop device keeps straight walking, the control module (14) collects data of the acceleration sensor, and simultaneously sends instructions to the two stepping motors to control the advancing speed of the stepping motors, so that the planting distance is adjusted through the advancing speed under the condition that the seeding quantity of the hill-drop device in unit time is ensured to be constant or the planting distance is adjusted through the adjustment of the seeding speed of the hill-drop device under the condition that the advancing speed of the hill-drop device is constant;
the control module (14) continuously collects the pulse sent back by the encoder and monitors the travelling distance of the hill-drop device; after the travelling distance of the hill-drop device reaches a set length, the control module (14) determines that the hill-drop device finishes the hill-drop of the row and needs to perform the hill-drop work of the next row, and the control module (14) sends an instruction to the hill-drop device to stop sowing; the control module (14) sends instructions to the two stepping motors at the same time, one of the stepping motors is controlled to be not operated according to the needs, and the other stepping motor is controlled to be operated to complete turning in place;
the hill-drop device comprises a traveling device, a seed taking device arranged on the traveling device and used for taking out small particle seeds, and a hill-drop device (7) communicated with the lower side of the seed taking device, wherein the seed taking device comprises four vertical rods (33) with one ends arranged on the traveling device, a seed storage box (5) with the other ends arranged at the other ends of the vertical rods (33), a V-shaped seed dropping box (6) with the downward tip end arranged at one side of the seed storage box (5), a seed dropping pipe (18) with one end connected with a seed dropping opening (21) of the V-shaped seed dropping box (6) and the other end connected with the hill-drop device (7), and a seed taking assembly used for taking out the small particle seeds in the seed storage box (5) from the seed storage box (5) and accurately sowing the small particle seeds into the hill-drop device (7); the picking and sowing assembly is electrically connected with a control module (14) for controlling the picking and sowing assembly to pick and sow seeds; the differential global positioning device, the acceleration sensor and the gyroscope magnetic sensor are arranged on the running gear;
the picking and sowing assembly comprises a motion picking and sowing unit arranged at the bottom of the seed storage box (5); the motion picking and sowing unit comprises a pipe sleeve (31) with one end communicated with the bottom of the seed storage box (5), a thimble (32) which is arranged in the pipe sleeve (31) and can reciprocate up and down and is used for precisely ejecting seeds, and a movable mechanism which is arranged at the other ends of the pipe sleeve (31) and the thimble (32) and is used for driving the pipe sleeve (31) and/or the thimble (32) to reciprocate up and down to pick seeds and sowing seeds longitudinally arranged in the pipe sleeve (31) into the hole opening device (7);
the movable mechanism comprises a second steering engine (42) arranged on the traveling device, a seeding rocker arm (2) with one end arranged on an output shaft of the second steering engine (42) in the vertical direction, a first roller (11) arranged at the other end of the seeding rocker arm (2), a first rail (22) arranged on a rail fixing pressing guide groove (3) on the outer side of the first roller (11) in a matching manner, a horizontal fixing plate (23) arranged on the outer side of the rail fixing pressing guide groove (3), a cylindrical guide ring (25) arranged on the horizontal fixing plate (23) and used for communicating a pipe sleeve (31) and penetrating through a thimble (32), and a seeding compression bar (4) and a spring (24);
the sowing compression bar (4) comprises a first horizontal section, an inclined section and a second horizontal section which are connected with each other, wherein the first horizontal section is arranged below the horizontal fixing plate (23) and used for fixing the ejector pins (32); the second horizontal section is arranged above the horizontal fixing plate (23), and a spring (24) is arranged between the second horizontal section and the horizontal fixing plate (23); the inclined section is arranged below the horizontal fixing plate (23) through a long hole formed in the horizontal fixing plate (23), and the second horizontal section is arranged above the horizontal fixing plate (23); a rotating shaft is arranged between the inclined section and a long hole on the horizontal fixed plate (23); wherein, the bottom of the seed storage box (5) is provided with a jack post (26) which protrudes towards the seed falling direction and is used for compressing a spring (24) between a second horizontal section of the seeding compression bar (4) and the horizontal fixing plate (23) during seeding;
wherein, the inclined seed dropping plate (19) at the joint of the V-shaped seed dropping box (6) and the seed storage box (5) is provided with a second mounting hole (28) for matching with a pipe sleeve (31) to enter and exit the V-shaped seed dropping box (6) on the central line of the corresponding seed storage box (5);
the second steering engine (42) is electrically connected to the control module (14) and is controlled to be on-off by the control module (14), so that whether the seed taking and sowing assembly performs seed taking and sowing actions or not is controlled;
the second mounting hole (28) is provided with a sliding sleeve (20) for reducing friction;
the seed dropping plate (19) is provided with two symmetrical curved grooves (29) connected with the seed dropping port (21) at the position of the seed dropping port (21) at the tip end of the V-shaped seed dropping box (6), and the height of the curved grooves (29) gradually decreases from the two walls of the seed storage box (5) to the seed dropping port (21);
the hole opening device comprises a first support frame (38) arranged on the traveling device, three positioning shafts (39) arranged on the first support frame (38), three fork stabilizing frames (40) arranged on the positioning shafts (39) in a matching mode, a transition cylinder (46) arranged at the center of the three fork stabilizing frames (40), a stay rope support frame (34) fixedly arranged on one side, close to the ground, of the traveling device, of the transition cylinder (46), a lifting sliding block (35) arranged on one side, close to the ground, of the stay rope support frame (34), a plurality of soil poking pieces (15) arranged at one end, close to the ground, of the transition cylinder (46), stay ropes (36) arranged between the lifting sliding block (35) and each soil poking piece (15) and springs I (47) arranged between the stay rope support frame (34) and the lifting sliding block (35); wherein the transition cylinder (46) is sleeved on the outer side of the seed dropping pipe (18);
the hole opening device also comprises a hole opening movement assembly which is arranged on the running gear and used for driving the three-fork stabilizer (40) to reciprocate up and down, wherein the hole opening movement assembly comprises a first steering engine (17), a hole opening transmission arm (41) with one end connected with an output shaft of the first steering engine (17) and arranged horizontally, and a vertical transmission mechanism (37) with the other end connected with the hole opening transmission arm (41); the vertical transmission mechanism (37) comprises a second roller (44) connected with the hole opening transmission arm (41), a second guide rail (43) arranged outside the second roller (44), and a connecting block (48) arranged on the horizontal side surface of the second guide rail (43) and used for connecting the three-fork stabilizing frame (40);
wherein, the three-fork stabilizing frame (40) is provided with a first mounting hole (45) corresponding to the positioning shaft (39).
2. The unmanned plant-row spacing intelligent precise hill-drop system of claim 1, wherein: the walking device comprises crawler-type chassis (8) symmetrically arranged, a frame (1) arranged between the crawler-type chassis (8), a stepping motor (12) arranged on the frame (1), a driving module (13) for driving the stepping motor (12) to rotate, a control module (14) for controlling the driving module (13) and a battery pack (30) for supplying power to the stepping motor (12), the driving module (13) and the control module (14); the driving module (13) controls a second steering engine (42) in the seed taking device and a first steering engine (17) in the hole opening device; the stand (1) is also provided with a differential global positioning device, an acceleration sensor and a gyroscope magnetic sensor; the crawler-type chassis (8) is provided with an encoder for ranging.
3. The unmanned plant-row spacing intelligent precise hill-drop system of claim 2, wherein: the crawler chassis (8) comprises a suspension system (9), crawler conveying wheels (10) connected with a stepping motor (12), bearing wheels (16) arranged in the middle of the crawler and used for contacting the ground, and bearing springs (27) used for damping the bearing wheels (16); an encoder for ranging is arranged on the main shaft of the bearing wheel (16).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109348760B (en) * | 2018-09-07 | 2020-04-03 | 农业部南京农业机械化研究所 | Automatic chassis control device for 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 |
| 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 |
| 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 |
| CN115053651B (en) * | 2022-06-30 | 2023-11-28 | 王长鑫 | Crossing type multifunctional ginseng planting machine |
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