CN109945995B - Real-time monitoring device and monitoring method for pressure under seeding - Google Patents
Real-time monitoring device and monitoring method for pressure under seeding Download PDFInfo
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- CN109945995B CN109945995B CN201910176809.2A CN201910176809A CN109945995B CN 109945995 B CN109945995 B CN 109945995B CN 201910176809 A CN201910176809 A CN 201910176809A CN 109945995 B CN109945995 B CN 109945995B
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Abstract
The embodiment of the invention relates to the field of agricultural intelligent equipment, and provides a device and a method for monitoring pressure under seeding in real time; wherein monitoring devices include: the device comprises a pressure sensor, a depth limiting arm angle measuring mechanism and a downward pressure predicting module; a through hole penetrating through the depth limiting block and the frame is formed in the frame of the depth limiting block, and the pressure sensor is fixedly arranged in the through hole; the depth limiting arm angle measuring mechanism is connected with the depth limiting arm; and the downward pressure prediction module is connected with the pressure sensor and the depth limiting arm angle measurement mechanism respectively and is used for acquiring a downward pressure value for seeding according to the acting force of the depth limiting block on the depth limiting arm in the vertical direction and the rotation angle of the depth limiting arm. According to the device and the method for monitoring the pressure under sowing provided by the embodiment of the invention, the pressure under sowing in a sowing state is obtained in real time by utilizing the magnitude of the acting force of the depth limiting block on the depth limiting arm in the vertical direction and the magnitude of the rotating angle of the depth limiting arm, so that the detection precision of the pressure under sowing is improved, and the seedling emergence quality and the later growth quality of seeds are further improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of agricultural intelligent equipment, in particular to a device and a method for monitoring pressure under seeding in real time.
Background
In the seeding operation, the monomer profiling mechanism is directly related to the ground pressure to the growth and development conditions of the seedlings at the later stage. Research shows that if the pressure is too low, the root system of the plant is too shallow; if the pressure is too high, it can cause excessive compaction of the soil near the root system, limiting root growth, both of which can result in yield loss. In addition, the suitable seeding lower pressure can also improve the seeding ditching quality, forms the soil plough layer environment of "loose from top to bottom", increases soil moisture content, improves seed quality of emerging and later stage development. Therefore, the pressure dynamic monitoring and control of the seeding monomer are very important.
The existing seeding single body mainly controls the seeding depth by pushing a parallel four-bar mechanism which can be contoured along with the fluctuation of the ground through a depth limiting device, and the seeding single body is inconvenient to use and adjust because the soil conditions and the ground surface conditions are different and the number and the pretightening force of required tension springs are different, and most importantly, the ground pressure of a contour wheel cannot be detected and regulated in real time.
Disclosure of Invention
The embodiment of the invention provides a device and a method for monitoring the pressure under seeding in real time, which are used for solving the problem of lower accuracy of the pressure under seeding control in the prior art and realizing the accurate monitoring and control of the pressure under seeding.
The embodiment of the invention provides a device for monitoring pressure under seeding in real time, which comprises: the device comprises a pressure sensor, a depth limiting arm angle measuring mechanism and a downward pressure predicting module; a through hole penetrating through the depth limiting block and the rack is formed in the rack of the depth limiting block, and the pressure sensor is fixedly arranged in the through hole and used for detecting the acting force of the depth limiting block on the depth limiting arm in the vertical direction; the depth limiting arm angle measuring mechanism is connected with the depth limiting arm and used for detecting the size of the rotating angle of the depth limiting arm; the downward pressure prediction module is respectively connected with the pressure sensor and the depth limiting arm angle measurement mechanism and is used for acquiring a seeding downward pressure value according to the acting force of the depth limiting block on the depth limiting arm in the vertical direction and the rotation angle of the depth limiting arm; one end of the depth limiting block is connected with the sowing depth adjusting rocker, and the other end of the depth limiting block is in contact with the side wall of the depth limiting arm.
The embodiment of the invention provides a method for monitoring pressure under sowing in real time, which comprises the following steps: according to the magnitude of the acting force of the depth limiting block on the depth limiting arm in the vertical direction and the magnitude of the rotating angle of the depth limiting arm, which are obtained in real time, a lower pressure value of seeding is obtained in real time by using a lower pressure prediction model; the downward pressure prediction model is obtained based on the magnitude of the acting force of the depth limiting block on the depth limiting arm in the vertical direction, the magnitude of the rotating angle of the depth limiting arm and the corresponding actual seeding downward pressure value.
According to the device and the method for monitoring the sowing downforce in real time, the magnitude of the acting force of the depth limiting block on the depth limiting arm in the vertical direction is obtained through the pressure sensor, the magnitude of the rotating angle of the depth limiting arm is obtained through the depth limiting arm angle measuring mechanism, and the sowing downforce pressure value is obtained through the downforce prediction module according to the magnitude of the acting force of the depth limiting block 7 on the depth limiting arm in the vertical direction and the rotating angle of the depth limiting arm, so that the sowing downforce monitoring precision is improved, and technical support is provided for accurate control of the sowing downforce in the later period.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a real-time pressure monitoring device under sowing according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of a preferred embodiment of the pin sensor provided in the present invention;
FIG. 3 is an installation view of a pin sensor provided in the present invention;
FIG. 4 is a schematic structural view of a depth stop arm angle measurement mechanism provided in the present invention;
FIG. 5 is a cross-sectional view of the depth stop arm angle measurement mechanism shown in FIG. 4;
FIG. 6 is an installation view of the depth stop arm angle measurement mechanism provided by the present invention;
FIG. 7a is a force analysis diagram of a depth stop block according to the present invention;
FIG. 7b is a cross-sectional view of section A-A of FIG. 7 a;
FIG. 8 is a schematic view of the swing of the depth stop arm according to the present invention;
wherein, 1-a frame; 21-pin shaft fixing piece; a 22-axis pin pressure sensor; 3-sowing depth adjusting rocker; 4-a depth limiting arm angle measuring mechanism; 41-a first sensor sleeve; 42-a first sensor; 43-a coupling; 44-a coupling sleeve; 45-a connector; 47-a conditioning well; 48-circular arc holes; 5-depth wheel; 6-depth limiting arm; 7-depth limiting block; 8-swing arm pin shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1:
fig. 1 is a schematic structural view of a preferred embodiment of a real-time pressure monitoring device under seed sowing provided by the present invention, as shown in fig. 1, the real-time pressure monitoring device under seed sowing includes: the device comprises a pressure sensor, a depth limiting arm angle measuring mechanism 4 and a downward pressure predicting module; a through hole penetrating through the depth limiting block 7 and the frame 1 is formed in the frame 1 of the depth limiting block 7, and a pressure sensor is fixedly arranged in the through hole and used for detecting the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction; the depth limiting arm angle measuring mechanism 4 is connected with the depth limiting arm 6 and is used for detecting the rotation angle of the depth limiting arm 6; the lower pressure prediction module is respectively connected with the pressure sensor and the depth limiting arm angle measuring mechanism 4 and is used for acquiring a lower seeding pressure value according to the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction and the rotating angle of the depth limiting arm 6; one end of the depth limiting block 7 is connected with the sowing depth adjusting rocker 3, and the other end of the depth limiting block 7 is contacted with the side wall of the depth limiting arm 6.
Specifically, a through hole penetrating through the depth stop block 7 and the frame 1 is formed at the frame 1 of the depth stop block 7, and a pressure sensor is fixedly arranged in the through hole, for example, the pressure sensor is a shaft pin pressure sensor 22, for example, a strain gauge is arranged on the shaft pin pressure sensor 22, as shown in fig. 2; for example, the end of the axle pin pressure sensor 22 is connected to the frame 1 through the axle pin fixing piece 21, as shown in fig. 3, the rotation of the axle pin pressure sensor 22 can be limited, the force direction of the axle pin pressure sensor 22 can be fixed, and the force value of the axle pin pressure sensor 22 in the vertical direction by the depth-limiting block 7 can be measured more accurately. And one end of the depth limiting block 7 is connected with the sowing depth adjusting rocker 3, and the other end of the depth limiting block 7 is in contact with the side wall of the depth limiting arm 6, so that the sowing depth adjusting rocker 3 can be rotated to drive the depth limiting block 7 to rotate around the shaft pin pressure sensor 22, the position of the depth limiting block 7 is changed, the upper limit position of the depth limiting arm 6 is changed, and the limitation of the sowing depth is realized.
And connecting the depth arm angle measuring mechanism 4 and the depth arm 6, for example, if the connection relationship between the two is fixed connection or detachable connection, the rotation angle of the depth arm 6 can be detected by the depth arm angle measuring mechanism 4. The downward pressure prediction module is connected with the pressure sensor and the depth arm angle measurement mechanism 4 respectively, for example, the connection relationship is electrical connection, and the like, the downward pressure prediction module can acquire the measurement values of the pressure sensor and the depth arm angle measurement mechanism 4 in real time, that is, the downward pressure prediction module can acquire the magnitude of the acting force of the depth block 7 detected by the pressure sensor on the depth arm 6 in the vertical direction in real time, and the downward pressure prediction module can acquire the magnitude of the rotation angle of the depth arm 6 detected by the depth arm angle measurement mechanism 4 in real time; make down the pressure prediction module can obtain the pressure value under the seeding according to the size of this depth-limiting piece 7 to the effort of depth-limiting arm 6 on vertical direction and the size of the rotation angle of depth-limiting arm 6, realize the real-time supervision to the pressure value under the seeding.
In this embodiment, acquire the size of depth stop 7 to the ascending effort of depth arm 6 in vertical direction through pressure sensor, acquire the size of the rotation angle of depth arm 6 through depth arm angle measuring mechanism 4, and obtain the pressure value under the seeding according to the size of the ascending effort of depth arm 6 in vertical direction and the size of the rotation angle of depth arm 6 of depth arm 7 to depth stop 7 through pushing down the pressure prediction module, the monitoring precision of seeding pushing down force has been improved, provide technical support for the accurate control of later stage seeding pushing down force.
Further, the depth-restricting-arm-angle measuring mechanism 4 includes: the first sensor 42; the depth limiting arm 6 is rotatably sleeved outside the swing arm pin shaft 8, and one end of the swing arm pin shaft 8 is fixedly connected with the rack 1; the rotating shaft of the first sensor 42 is connected with the other end of the swing arm pin shaft 8 and is used for detecting the rotating angle of the depth limiting arm 6. For example, the first sensor 42 is an angle sensor, a tilt sensor, or the like, and may be any sensor as long as the first sensor 42 can detect the magnitude of the rotation angle of the depth-control arm 6. And the depth limiting arm 6 is rotatably sleeved outside the swing arm pin shaft 8, one end of the swing arm pin shaft 8 is fixedly connected with the rack 1, and when the rotary sowing depth adjusting rocker 3 drives the depth limiting block 7 to rotate around the pivot pin pressure sensor 22, the depth limiting arm 6 can rotate around the swing arm pin shaft 8. And the rotating shaft of the first sensor 42 is connected to the other end of the swing arm spool, the magnitude of the rotation angle of the depth arm 6 can be detected by the first sensor 42.
Further, as shown in fig. 4 to 6, the depth-restricting-arm-angle measuring mechanism 4 further includes: a coupling 43 and a connecting member 45; the rotating shaft of the first sensor 42, the coupler 43 and the connecting piece 45 are sequentially connected, and one end, far away from the coupler 43, of the connecting piece 45 is connected with the other end of the swing arm pin shaft 8. The connecting member 45 is, for example, a connecting bolt or the like. For example, the connection relationship of the rotating shaft of the first sensor 42, the coupling 43 and the connecting member 45 is fixed connection or detachable connection. And one end of the connecting piece 45 far away from the coupler 43 is connected with the other end of the swing arm pin shaft 8, as shown in fig. 6; for example, the connection relationship between the two is fixed connection or detachable connection, and the coaxiality between the first sensor 42 and the swing arm pin 8 can be ensured through the coupler 43 and the connecting piece 45, so that the first sensor 42 can more accurately detect the rotation angle of the depth-limiting arm 6.
Further, the depth-limiting arm angle measuring mechanism 4 further includes: a coupling sleeve 44 and a first sensor sleeve 41; the coupling sleeve 44 is sleeved outside the coupling 43, and the first sensor sleeve 41 is sleeved outside the first sensor 42; one end of the coupling sleeve 44 is connected to the depth arm 6, and the other end is connected to the first sensor 42 and the first sensor sleeve 41. That is, the coupling sleeve 44 fixes the depth arm 6 and the first sensor 42, and for example, the coupling sleeve 44 is connected to the mounting hole of the first sensor 42 by a screw or the like, so that the coupling sleeve 44 protects the coupling 43 and prevents dust from entering the first sensor 42 during the operation of the seeding machine and affecting the rotation of the rotating shaft of the first sensor 42. The first sensor sleeve 41 is sleeved outside the first sensor 42, so that the first sensor 42 is protected, and the first sensor 42 is prevented from colliding with other parts; and connecting the connecting end of the first sensor sleeve 41 with the other end of the coupling sleeve 44, for example, in a fixed connection or a detachable connection. The rotation of the depth arm 6 is converted into the rotation of the first sensor 42 by the depth arm angle measuring mechanism 4, so that the rotation angle can be directly acquired, and the measuring precision and convenience are improved.
Further, as shown in fig. 4, a plurality of adjusting holes 47 are formed on the side wall of the coupling sleeve 44; and/or, the end part of the coupling sleeve 44 close to the swing arm pin shaft 8 is provided with an arc hole 48. The adjusting holes 47 are formed in the side wall of the coupler sleeve 44, namely the adjusting holes 47 are formed in the coupler sleeve 44 at positions opposite to the coupler 43, so that the coupler 43 can be adjusted and fastened by the adjusting holes 47 in the installation process, and the installation process of the coupler 43 is convenient. An arc hole 48 is formed in the end portion, close to the swing arm pin shaft 8, of the connecting shaft sleeve, so that the signal output range of the first sensor 42 can be adjusted within a certain range, namely the signal output range of the first sensor 42 can be adjusted within the arc length range of the arc hole 48.
In addition, this pushing down force prediction module can be established in host computer or seeder, as long as this pushing down force prediction module can acquire the pressure value under the seeding according to the size of the rotation angle of the size of the effort of depth-limiting block to the depth-limiting arm in the vertical direction and depth-limiting arm promptly, and it can set up in optional position. In addition, if the lower pressure prediction module is arranged in the upper computer, the upper computer can be respectively and electrically connected with the pressure sensor and the depth limiting arm angle measuring mechanism 4 through the signal acquisition control card, namely, the acquisition end of the signal acquisition control card is respectively and electrically connected with the pressure sensor and the depth limiting arm angle measuring mechanism 4, and the output end of the signal acquisition control card is connected with the upper computer. Then, the acquisition end of the signal acquisition control card is used for acquiring signals of the pressure sensor and the first sensor 42, that is, acquiring the acting force of the limit block on the shaft pin pressure sensor 22 in the vertical direction and the rotation angle of the depth arm 6; the output end of the signal acquisition card is connected with an upper computer through serial port/CAN/wireless communication, and the acquired acting force of the limiting block on the shaft pin pressure sensor 22 in the vertical direction and the rotation angle of the depth limiting arm 6 are transmitted to a lower pressure prediction module in the upper computer, so that the lower pressure prediction module CAN acquire a seeding lower pressure value according to the acting force of the limiting block on the shaft pin pressure sensor 22 in the vertical direction and the rotation angle of the depth limiting arm 6. In addition, a display module can be arranged in the upper computer and is used for displaying the obtained seeding lower pressure value in real time.
When the sowing downward pressure needs to be monitored in the actual work of the seeder, the upper computer sends an instruction to the signal acquisition control card, so that the signal acquisition control card acquires the detection value of the shaft pin pressure sensor 22 and the detection value of the first sensor 42, namely the signal acquisition control card acquires the acting force of the limiting block on the shaft pin pressure sensor 22 in the vertical direction and the rotation angle of the depth limiting arm 6; and then the data is returned to the upper computer by the acquisition card, the upper computer analyzes the data signal and then calculates by using the built downward pressure prediction model to obtain the real-time downward seeding pressure value of the seeding monomer, and the value is displayed on the interface of the upper computer, so that the accurate measurement of the downward seeding pressure under different seeding depth settings is realized, and the technical support is provided for the accurate control of the downward pressure in the subsequent seeding.
Example 2:
the invention also provides a method for monitoring the pressure under sowing in real time, which comprises the following steps: according to the magnitude of the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction and the magnitude of the rotating angle of the depth limiting arm 6, which are obtained in real time, a lower pressure value under seeding is obtained in real time by using a lower pressure prediction model; the downward pressure prediction model is obtained based on the magnitude of the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction, the magnitude of the rotation angle of the depth limiting arm 6 and the corresponding actual seeding downward pressure value.
Specifically, the one end of the depth limiting block 7 among the seeding monomer links to each other with the depth of broadcasting regulation rocker 3, and the other end of depth limiting block 7 and the lateral wall contact of depth limiting arm 6 then adjust the rocker 3 through rocking the depth of broadcasting and drive the swing of depth limiting block 7, and then change the last spacing of depth limiting arm 6, reach and adjust the seeding depth purpose. Before monitoring the sowing downward pressure in real time, firstly acquiring the magnitude of the acting force of the depth stop block 7 on the depth stop arm 6 in the vertical direction and the magnitude of the rotating angle of the depth stop arm 6, and acquiring the actual sowing downward pressure value corresponding to the acting force and the rotating angle, for example, measuring the rotating angle of the depth stop arm 6 by an angle sensor or an inclination sensor; then, the depth-limiting block 7 is used for modeling the acting force of the depth-limiting arm 6 in the vertical direction, the rotating angle of the depth-limiting arm 6 and the actual sowing downforce value to obtain a downforce prediction model. When the sowing lower pressure is monitored in real time, the sowing lower pressure value can be obtained by acquiring the magnitude of the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction and the magnitude of the rotating angle of the depth limiting arm 6, and inputting the acquired magnitude of the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction and the magnitude of the rotating angle of the depth limiting arm 6 into the lower pressure prediction model; so can realize the real-time supervision to seeding downforce, promptly, realize under the different depth of planting, the accurate measurement of seeding downforce.
In the embodiment of the invention, the pressure value under sowing in the sowing state is obtained in real time through the downward pressure prediction model according to the magnitude of the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction and the magnitude of the rotating angle of the depth limiting arm 6, so that the detection precision of the downward pressure under sowing is improved, and the seedling emergence quality and the later growth quality of seeds are further improved.
Further, the step of acquiring the acting force of the depth stop block 7 on the depth stop arm 6 comprises the following steps: a through hole penetrating through the machine frame 1 and the depth limiting block 7 is formed in the machine frame 1 at the depth limiting block 7, and the pressure sensor is fixedly arranged in the through hole; and acquiring the acting force of the depth limiting block 7 on the pressure sensor in the vertical direction to obtain the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction.
Specifically, a through hole penetrating through the frame 1 and the depth stop block 7 is formed in the frame 1 at the depth stop block 7, and a pressure sensor is fixed in the through hole, for example, the pressure sensor is a shaft pin pressure sensor 22, for example, a strain gauge is arranged on the shaft pin pressure sensor 22, as shown in fig. 2; for example, the end of the shaft pin pressure sensor 22 is connected to the frame 1 through the shaft pin fixing piece 21, that is, the end of the shaft pin pressure sensor 22 is connected to the shaft pin fixing piece 21 through a bolt, and the shaft pin fixing piece 21 is fixedly connected to the frame 1, as shown in fig. 3, the rotation of the shaft pin pressure sensor 22 can be limited, the force direction of the shaft pin pressure sensor 22 is fixed, and the force value of the shaft pin pressure sensor 22 in the vertical direction can be accurately measured by the depth-limiting block 7. Through the detected value of gathering pressure sensor in real time, pressure sensor's detected value is the size of depth stop 7 to pressure sensor's effort, can be in real time gather the size of depth stop 7 to pressure sensor at the effort of vertical direction, thereby can obtain the size of depth stop 7 to the effort of depth limiter arm 6 in vertical direction, the size of depth stop 7 to pressure sensor's effort in vertical direction equals the size of depth stop 7 to the effort of depth limiter arm 6 in vertical direction promptly, as shown in fig. 7a and 7b, and then can obtain the seeding push-down force of depth wheel 5 to ground.
The stress condition of the depth stop block 7 is shown in figure 7a, namely the depth stop block 7 is subjected to the reaction force F of the depth arm 6 to the depth stop block1', the acting force F of the sowing depth adjusting rocker 3 on the same2And the force F of the shaft pin pressure sensor 22 on it3. Wherein the acting force F1The direction of which is perpendicular to the depth stop arm 6, and F1Equal in size and opposite in direction, F1Is the force of the depth stop block 7 on the depth stop arm 6. In addition, because the sowing depth adjusting rocker 3 and the depth limiting block 7 move spirally, the depth limiting block 7 rotates around the shaft pin pressure sensor 22 by rotating the sowing depth adjusting rocker 3, the position of the depth limiting block 7 is changed to realize sowing depth limitation, and acting force F2The direction is horizontally to the left. According to the force vector diagram, the acting force of the shaft pin pressure sensor 22 on the depth-limiting block 7 can be divided into horizontal and vertical components, and the magnitude of the horizontal and vertical components is respectively
Wherein: f1' denotes the force of the depth stop arm 6 against the depth stop block 7, which is in conjunction with F1Equal in size and opposite in direction, N; f2Indicating broadcast depthThe acting force N of the rocking bar 3 on the depth limiting block 7 is saved; f3Represents the acting force, N, of the shaft pin pressure sensor 22 on the depth stop block 7; f3x、F3yRespectively represent F3The components in the horizontal and vertical directions, N; f3y' is the reaction force of the depth stop block 7 to the axis pin pressure sensor 22 in the vertical direction, which is equal to F3yEqual in size, opposite in direction, N.
As can be seen from the above, the magnitude of the acting force of the depth stop block 7 on the depth stop arm 6 can be indirectly obtained by detecting the acting force of the shaft pin pressure sensor 22 in the vertical direction; the amount of the acting force of the depth-limiting block 7 on the depth-limiting arm 6 is monitored by the amount of the stress deformation of the axle pin pressure sensor 22 in the vertical direction, so that the sowing downward pressure of the depth-limiting wheel 5 on the ground can be obtained. As can be seen from FIG. 7b, the axle pin pressure sensor 22 is subjected to a force F of the depth stop 7 and the frame 1 in the vertical direction thereof3y' and F4The shaft pin pressure sensor 22 is fixedly connected with the frame 1 through the shaft pin fixing piece to limit the rotation of the shaft pin pressure sensor 22, so that the accuracy of the detection of the acting force of the shaft pin pressure sensor 22 in the vertical direction is ensured, and the deformation direction is consistent with the stress direction.
Further, the downward pressure prediction model is a binary quadratic equation for obtaining the pressure value under seeding based on the magnitude of the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction and the magnitude of the rotation angle of the depth limiting arm 6. As shown in FIG. 8, F is due to the moment balance of the depth wheel 51L1-FwLscos θ is 0; the force in the vertical direction, F, of the pivot pin pressure sensor 22 can thus be determined3y＝F1cosθ＝FwLscos2θ/L1(ii) a Because the contact point of the depth limiting arm 6 and the depth limiting block 7 is correspondingly changed in the process of adjusting the sowing depth, the interaction force arm L of the depth limiting arm and the depth limiting block is changed1The length will also change. And is formed by F3y＝F1cosθ＝FwLscos2θ/L1It can be known that L1The change of the force moment will affect the detection value of the axle pin pressure sensor 22 in the vertical direction, and therefore the acting force arms of the depth limiting arm 6 and the depth limiting block 7 need to be solved. According to FIG. 8, the moment arm is calculated by trigonometric function
The force applied by the shaft pin pressure sensor 22 in the vertical direction can be obtained as follows:
wherein: r represents a swing radius, m, of the depth stop block 7; r represents the distance, m, from the axis of the depth limiting arm 6 to the contact point of the depth limiting arm 6 and the depth limiting block 7; l is1The length m of the acting force arm of the depth limiting block 7 and the depth limiting arm 6 is shown; l isSRepresents the length of the depth stop arm 6, m; l represents the length of a connecting line m between the position where the shaft pin pressure sensor 22 is hinged with the depth limiting arm 6; alpha represents the included angle between L and the horizontal direction, °; theta represents the included angle between the depth limiting arm 6 and the frame 1; fWRepresenting the reaction force of the ground to the depth wheel 5, i.e. the pressure under the seed, N. The range of the pin pressure sensor 22 can also be selected based on the desired seed downforce.
Further, the manner of acquiring the rotation angle of the depth arm 6 includes: a depth limiting arm angle measuring mechanism 4 is arranged on the depth limiting arm 6, so that the depth limiting arm angle measuring mechanism 4 can obtain the rotation angle of the depth limiting arm 6; a depth stop block angle measuring mechanism is arranged on the depth stop block 7, and the size of the rotating angle of the depth stop arm 6 is obtained based on the swing angle of the depth stop block 7 detected by the depth stop block angle measuring mechanism; alternatively, a displacement sensor is provided on the depth stop block 7, and the size of the rotation angle of the depth stop arm 6 is obtained based on the horizontal displacement of the depth stop block 7 detected by the displacement sensor.
Specifically, as described with reference to fig. 7a and 8, since the depth stop block 7 is in contact with the depth stop arm 6, it can be seen from the geometrical relationship that the magnitude of the rotation angle of the depth stop arm 6 is equal to the magnitude of the swing angle of the depth stop block 7, as shown in fig. 7 a. Or, according to the regulation principle of the depth of play regulation rocker 3, namely, through rotating the depth of play regulation rocker 3 to drive the swing of depth stop block 7, the displacement of depth stop block 7 in the horizontal direction can occur in the swing process, then the horizontal movement distance of depth stop block 7 can be detected through a displacement sensor, for example, the displacement sensor is a linear displacement sensor, and then the size of the swing angle of the depth stop block is obtained through the horizontal displacement of the depth stop block, thereby the size of the rotation angle of depth stop arm 6 is obtained. Therefore, the rotation angle of the depth-limiting arm 6 can be acquired in various manners: that is, the size of the rotation angle of the depth arm 6 is directly detected by a depth arm angle measuring mechanism provided on the depth arm 6; the size of the swing angle of the depth stop block 7 is detected by a depth stop block angle measuring mechanism arranged on the depth stop block 7, and the size of the rotation angle of the depth stop arm is indirectly obtained; or the horizontal displacement of the depth limiting block is detected through a displacement sensor arranged on the depth limiting block, and the swing angle of the depth limiting block is obtained through the horizontal displacement of the depth limiting block, so that the rotation angle of the depth limiting arm is obtained. Then, the magnitude of the rotation angle of the depth-restricting arm 6 and the magnitude of the force of the depth-restricting block on the depth-restricting arm in the vertical direction are input into the lower pressure prediction model, so that the lower pressure value for seeding is obtained.
For example, the down force prediction model is: fW＝a0+a1x+a2y+a3xy+a4x2+a5y2Wherein F isWThe value is the lower pressure value of seeding; x is the acting force of the depth limiting block 7 on the depth limiting arm 6 in the vertical direction; y is the rotation angle of the depth limiting arm 6; a is0，a1，a2，a3，a4，a5Is a constant, and a constant0，a1，a2，a3，a4，a5Is determined according to the structural size of the seeding machine. By the formula
It can be seen that the constant a0，a1，a2，a3，a4，a5The length of a connecting line at the hinged position of the shaft pin pressure sensor and the depth limiting arm on the seeder, the length of the depth limiting arm, the swing radius of the depth limiting block and the distance from the contact point of the depth limiting arm and the depth limiting block to the axis of the depth limiting arm are determined. For example, the down pressure prediction model may be provided in the upper computer, and the upper computer may be connected to the angle sensor and the pin pressure sensor 22, respectively.
Taking 2BFQ-6 pneumatic precision seeder as an exampleBy way of example, and not by way of limitation, the scope of the present invention. Obtaining the structure size of the 2BFQ-6 pneumatic seeder monomer through manual mapping: l-0.095 m, R-0.075 m, R-0.02 m, α -35 °. The swing angle theta of the depth limiting arm 6 is 15-35 degrees under the action of the limiting sheet, and the length L of the depth limiting arm 6S0.25 m. To obtain the constant a0Between 170 and 180, a1Between 1 and 2, a2Between-800 and-700, a3Between-2 and-0.1, a4Between 0 and 2, a5Between 700 and 800; for example, the model is modeled to obtain a downward pressure prediction model of the seeding machine as FW＝171.5+1.17x-756.9y-0.9616xy+732.1y2。
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a pressure real-time supervision device under seeding which characterized in that includes: the device comprises a pressure sensor, a depth limiting arm angle measuring mechanism and a downward pressure predicting module;
a through hole penetrating through the depth limiting block and the rack is formed in the rack of the depth limiting block, and the pressure sensor is fixedly arranged in the through hole and used for detecting the acting force of the depth limiting block on the depth limiting arm in the vertical direction;
the depth limiting arm angle measuring mechanism is connected with the depth limiting arm and used for detecting the size of the rotating angle of the depth limiting arm;
the downward pressure prediction module is respectively connected with the pressure sensor and the depth limiting arm angle measurement mechanism and is used for acquiring a seeding downward pressure value according to the acting force of the depth limiting block on the depth limiting arm in the vertical direction and the rotation angle of the depth limiting arm;
one end of the depth limiting block is connected with the sowing depth adjusting rocker, and the other end of the depth limiting block is in contact with the side wall of the depth limiting arm;
the down pressure prediction module is:
FW＝a0+a1x+a2y+a3xy+a4x2+a5y2
wherein, FWThe value is the lower pressure value of seeding; x is the acting force of the depth limiting block on the depth limiting arm in the vertical direction; y is the size of the rotation angle of the depth limiting arm; a is0，a1，a2，a3，a4，a5Is a constant, and a constant0，a1，a2，a3，a4，a5Is determined according to the structural size of the seeding machine.
2. The real-time pressure monitoring device under sowing of claim 1, wherein the depth-limiting arm angle measuring mechanism includes: a first sensor;
the depth limiting arm is rotatably sleeved outside the swing arm pin shaft, and one end of the swing arm pin shaft is fixedly connected with the rack;
and the rotating shaft of the first sensor is connected with the other end of the swing arm pin shaft and used for detecting the rotating angle of the depth limiting arm.
3. The real-time pressure monitoring device under sowing of claim 2, wherein the depth-limiting arm angle measuring mechanism further comprises: a coupler and a connecting piece;
the axis of rotation of first sensor the shaft coupling reaches the connecting piece links to each other in proper order, just the connecting piece is kept away from the one end of shaft coupling with the other end of swing arm round pin axle links to each other.
4. The real-time pressure monitoring device under sowing of claim 3, wherein the depth-limiting arm angle measuring mechanism further comprises: the coupling sleeve and the first sensor sleeve;
the coupling sleeve is sleeved outside the coupling, and the first sensor sleeve is sleeved outside the first sensor;
one end of the coupling sleeve is connected with the depth limiting arm, and the other end of the coupling sleeve is connected with the first sensor and the first sensor sleeve.
5. The real-time pressure monitoring device under sowing of claim 4, wherein a plurality of adjusting holes are formed on the side wall of the coupling sleeve; and/or an arc hole is formed in the end part, close to the swing arm pin shaft, of the coupling sleeve.
6. The device for monitoring the pressure under sowing according to any one of claims 1 to 5, wherein the pressure sensor is a pin pressure sensor, one end of the pin pressure sensor extending out of the through hole is connected with a pin fixing piece, and the pin fixing piece is fixedly arranged on the rack.
7. A real-time monitoring method for pressure under seeding is characterized by comprising the following steps:
according to the magnitude of the acting force of the depth limiting block on the depth limiting arm in the vertical direction and the magnitude of the rotating angle of the depth limiting arm, which are obtained in real time, a lower pressure value of seeding is obtained in real time by using a lower pressure prediction model;
the downward pressure prediction model is obtained based on the magnitude of the acting force of the depth limiting block on the depth limiting arm in the vertical direction, the magnitude of the rotating angle of the depth limiting arm and the corresponding actual seeding downward pressure value;
the down force prediction model is as follows:
FW＝a0+a1x+a2y+a3xy+a4x2+a5y2
wherein, FWThe value is the lower pressure value of seeding; x is the acting force of the depth limiting block on the depth limiting arm in the vertical direction; y is the size of the rotation angle of the depth limiting arm; a is0，a1，a2，a3，a4，a5Is a constant, and a constant0，a1，a2，a3，a4，a5Is determined according to the structural size of the seeding machine.
8. The method for monitoring the pressure under sowing in real time according to claim 7, wherein the step of acquiring the acting force of the depth stop block on the depth stop arm in the vertical direction comprises:
a through hole penetrating through the machine frame and the depth limiting block is formed in the machine frame at the depth limiting block, and the pressure sensor is fixedly arranged in the through hole;
and collecting the acting force of the depth limiting block on the pressure sensor in the vertical direction to obtain the acting force of the depth limiting block on the depth limiting arm in the vertical direction.
9. The method for monitoring the pressure under sowing in real time according to claim 7, wherein the manner of acquiring the rotation angle of the depth-limiting arm includes:
a depth limiting arm angle measuring mechanism is arranged on the depth limiting arm, so that the depth limiting arm angle measuring mechanism can obtain the size of the rotating angle of the depth limiting arm;
a depth limiting block angle measuring mechanism is arranged on the depth limiting block, and the size of the rotating angle of the depth limiting arm is obtained based on the depth limiting block swinging angle detected by the depth limiting block angle measuring mechanism; alternatively, the first and second electrodes may be,
and arranging a displacement sensor on the depth limiting block, and acquiring the size of the rotating angle of the depth limiting arm based on the horizontal displacement of the depth limiting block detected by the displacement sensor.
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| CN106572632A (en) * | 2014-05-09 | 2017-04-19 | 智能农业公司 | A sowing apparatus for sensor based depth control of seeding |
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