CN112655298B - Intelligent fertilizing and seeding machine - Google Patents
Intelligent fertilizing and seeding machine Download PDFInfo
- Publication number
- CN112655298B CN112655298B CN202011537116.0A CN202011537116A CN112655298B CN 112655298 B CN112655298 B CN 112655298B CN 202011537116 A CN202011537116 A CN 202011537116A CN 112655298 B CN112655298 B CN 112655298B
- Authority
- CN
- China
- Prior art keywords
- seed
- fertilizer
- discharging
- mass
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Sowing (AREA)
- Fertilizing (AREA)
Abstract
The invention relates to an intelligent fertilizing and seeding machine, which comprises a fertilizer box, a seed box, a fertilizer distributor, a seed sowing device and a power part capable of rotating forwards and backwards; a fertilizer box material level sensor and a seed blockage alarm positioned at the bottom are arranged in the fertilizer box, and a seed box material level sensor and a fertilizer blockage alarm positioned at the bottom are arranged in the seed box; the power component capable of rotating forwards and backwards is provided with a double-side power output end; one side of the first transmission one-way bearing is connected with the seed and fertilizer discharging component of the operation line, and the other side of the first transmission one-way bearing is connected with the seed and fertilizer discharging component for calibration through the second transmission c one-way bearing; the locking direction of the first transmission one-way bearing is opposite to that of the second transmission one-way bearing, and the free rotation direction of the first transmission one-way bearing is opposite to that of the second transmission one-way bearing; a weighing and collecting module is arranged below the seed and fertilizer discharging component; the power component is provided with a speed acquisition module and a seeding stepping driver; the CPU module is used as a control center of the whole control system and is respectively in signal connection with the speed acquisition module, the sowing stepping driver and the weighing acquisition module.
Description
Technical Field
The invention relates to a seeder, in particular to an intelligent fertilizing seeder.
Background
The seed and fertilizer discharging component of the fertilizing and seeding machine in the prior art is mainly driven by a press wheel or a special ground wheel. Because the soil conditions are complicated and changeable, the press wheel or the land wheel can generate the phenomena of skidding, high speed, low speed and the like in the walking process, and the skidding is more serious especially under the condition of large resistance of seed and fertilizer sowing. This causes unevenness in sowing and fertilizing. Other driving modes of the seed and fertilizer sowing and discharging are motor driving or hydraulic driving, the advancing speed of the machine tool needs to be obtained during working, and the speed of the seed and fertilizer sowing is correspondingly changed according to the advancing speed, so that the uniformity of sowing and fertilization can be ensured. At present, the speed measuring mode of the seeder mainly adopts a Hall sensor to measure the rotating speed of a driving wheel or a land wheel and convert the rotating speed into the advancing speed of the seeder. The speed measuring mode also has the phenomenon of skidding of driving wheels or land wheels of the tractor under the condition of slippery soil, so that the uneven problem of seeding and fertilizing is caused.
The fertilizing and seeding machine in the prior art has no function of on-line automatic calibration of seeding quantity and fertilizing quantity. After the user determines the seeding quantity and the fertilizing quantity per mu according to the local agricultural requirements, the seeding quantity and the fertilizing quantity of the seeder are set according to the reference setting given by the seeder manufacturer. In order to achieve a more accurate amount, the actual seed and fertilizer discharge amount of the seeder needs to be calibrated. Currently, calibration is usually performed as follows: the seeder is stopped on the field, the seeder is in a suspended state by lifting or using a support through a tractor, the working part is not contacted with the ground, the seed metering shaft or the fertilizer discharging shaft uniformly rotates for a certain number of turns at a certain speed, and meanwhile, seeds and fertilizer discharged by the fixed number of turns of rotation of the seed metering device or the fertilizer discharging device are caught under the seed metering part or the fertilizer discharging part, the weight of the seeds or the fertilizer is weighed, the seed metering quantity or the fertilizer discharging quantity of each turn of the seed metering device or the fertilizer discharging device is calculated, and the actual seed metering quantity or the fertilizer discharging quantity of each mu of the seeder is calculated. And comparing the actual seed or fertilizer discharge amount per mu with the target seed or fertilizer discharge amount, and regulating the seeding amount or fertilizing amount of the seeder according to the comparison condition. Generally, the seeding quantity and fertilizing quantity adjusting mechanism is not easy to control the adjusting quantity, so that material receiving weighing needs to be carried out again to verify the adjusting accuracy. It can be seen that the calibration process is complicated and inefficient, and the error is large due to manual adjustment. In the existing calibration mode, a long time is needed to be spent on calibration work before a machine is used for underground operation, the operation is complex, and time and labor are wasted. As the work of weighing, calculating, adjusting and the like is manually finished, larger errors exist, and the precision requirement of the current agricultural production on the seeding quantity and the fertilizing quantity per mu is higher, the accurate target value can be reached by repeatedly calibrating for several times.
Disclosure of Invention
The intelligent fertilizing and seeding machine has the intelligent functions of automatic calibration, satellite speed measurement, motor drive for fertilizer and seed discharging, material level monitoring of a seed box fertilizer box, missing seeding and missing applying blockage monitoring, fault alarming and the like besides the functions of rotary tillage, fertilizing, seeding and the like of the traditional seeding machine.
The invention adopts the following technical scheme:
an intelligent fertilizing and seeding machine comprises a fertilizer box 28, a seed box 27, a fertilizer distributor 26, a seed sowing device 25 and a power component capable of rotating forwards and backwards; a fertilizer box level sensor 15 and a seed blockage alarm 12 positioned at the bottom are arranged in the fertilizer box 28, and a seed box level sensor 14 and a fertilizer blockage alarm 13 positioned at the bottom are arranged in the seed box 27; the power component capable of rotating forwards and reversely is provided with a double-side power output end; one side of the device is connected with a seed and fertilizer discharging component 1 of an operation line through a first transmission one-way bearing 2, and the other side of the device is connected with a seed and fertilizer discharging component 10 for calibration through a second transmission one-way bearing 4; the locking directions of the first transmission one-way bearing 2 and the second transmission one-way bearing 4 are opposite, and the free rotation directions are opposite; a weighing and collecting module is arranged below the seed and fertilizer discharging component 10; the power part is provided with a speed acquisition module and a seeding stepping driver; the CPU module is used as a control center of the whole control system and is respectively in signal connection with the speed acquisition module, the sowing stepping driver and the weighing acquisition module.
Preferably, the rotary cultivator also comprises a rotary cultivator 20, and a Hall sensor 19 is arranged on the rotary cultivator; and a mercury angle sensor 18 is arranged on the frame of the intelligent fertilizing and seeding machine.
Further, control system still includes display controller 16, display controller 16 respectively with hall sensor 19, mercury angle sensor 18, seed jam alarm 12, fertilizer jam alarm 13, seed case level sensor 14, fertilizer case level sensor 15 electricity are connected.
Preferably, the power component is a driving motor 3.
The automatic calibration control method of the intelligent fertilizing and seeding machine comprises the following steps:
s1, inputting parameters: inputting target seeding quantity and fertilizing quantity at a calibration control terminal;
s2, starting: the seed and fertilizer discharging component 10 is rotated for a set number of turns, the mass of the discharged seeds or fertilizers is weighed, the average mass of the seeds or fertilizers discharged in each turn by the seed and fertilizer discharging component is automatically calculated, and the mutual matching relation between the advancing speed of the seeder and the rotating speed of the seed or fertilizer discharging motor is adjusted;
s3, inoculating, fertilizing and weighing: the control system drives the power component to rotate the power component in the reverse direction, at the moment, the seed and fertilizer discharging component of the operation row does not work, and the seed and fertilizer discharging component of the calibration row works; seeds or fertilizers fall down through the seed and fertilizer discharging components of the calibration row and enter the lower inoculation fertilizer receiving box 9; weighing the mass of seeds or fertilizers received in the inoculation fertilizer receiving box when the seed and fertilizer discharging component rotates for a set number of turns, and calibrating the seed discharging amount per revolution or the fertilizer discharging amount per revolution;
s4, calculation and adjustment: the control system calculates the value of the seed or fertilizer quality under the set number of rotations, obtains the seed or fertilizer quantity per rotation of the seed and fertilizer discharging component, calculates the proportional relation between the rotating speed of the driving motor and the advancing speed of the machine tool, which are required by the target seed and fertilizer quantity, and adjusts the rotating speed control parameters of the power component during working so as to lead the seed and fertilizer quantity to reach the expected target.
Preferably, the method further comprises the step S5: emptying the inoculation and fertilizer receiving box: after the power part stops, the control system sends an instruction to the discharging motor 7, the discharging motor 7 rotates for a set number of turns, the discharging shaft rotates for 180 turns after passing through the discharging gearbox, the weighing sensor and the inoculation and fertilizer receiving box rotate together with the discharging shaft, the opening of the inoculation and fertilizer receiving box faces downwards, and seeds or fertilizers are discharged; after a period of time, the seeds or the fertilizer are completely discharged, the control system sends an instruction to the discharging motor 7, so that the discharging motor rotates reversely for the same number of turns, and the system is restored to the initial state. And finishing a work flow and waiting for next calibration.
Preferably, the step S3 further specifically includes the following steps: s3a: the calibrated seed and fertilizer discharging component rotates for X circles to a stable rotating speed state, and the weighing sensor 8 records the mass of the container and the seeds and records the mass into a cache; s3b: after the seed and fertilizer discharging component is controlled to automatically stop for a set time, the seed and fertilizer discharging component is calibrated to be started again to rotate for Y circles at the default rotating speed, and Y is larger than X; weighing the container and the seed mass by a weighing sensor, storing the container and the seed mass in a cache, and subtracting the mass of the previous X circles from the mass to obtain the net mass of the seeds discharged by the Y-X circles at a stable rotating speed, wherein the container mass is subtracted from the net mass; s3c: the control system divides the net seed mass of the Y-X circles of the seed metering device by the Y-X to obtain the seed metering quantity of the 1 circle of the seed metering device, and the seed metering quantity of the 1 circle is recorded into a cache.
Preferably, X is 5,Y is 35; the driving motor drives the seed and fertilizer discharging component to rotate for 5 circles and then stop, the system records a weighing value Q1 of the weighing sensor when the seed and fertilizer discharging component rotates for 5 circles, the seed and fertilizer discharging component stops after stopping for a period of time and then starts again and rotates for 35 circles, and the system records a weighing value Q2 of the weighing sensor again; the seed and fertilizer discharging component stably rotates for 30 circles to discharge seeds or fertilizers with the mass Q = Q2-Q1.
Preferably, the method further comprises the step S5: emptying the inoculation and fertilizer receiving box: after the driving motor stops, the control system sends an instruction to the discharging motor, the discharging motor rotates for a set number of turns, the discharging shaft rotates for 180 turns after passing through the discharging gearbox, the weighing sensor and the inoculation and fertilizer receiving box rotate together with the discharging shaft, the opening of the inoculation and fertilizer receiving box faces downwards, and seeds or fertilizers are discharged; after a period of time, the seeds or the fertilizer are completely discharged, the control system sends an instruction to the discharging motor, so that the discharging motor rotates reversely for the same number of turns as the set number of turns, and the control system is restored to the initial state.
The invention has the beneficial effects that:
1) The calibration is carried out in an online mode, and the operation is simple and convenient. The calibration can be completed in a short time, and the calibration can be completed by one key without manual weighing or manual weighing data input.
2) The same driving motor can automatically realize the switching between the working state and the calibration state through the change of positive rotation and negative rotation; automatically emptying the inoculation fertilizer receiving box; the weighing, calculating, adjusting and other works are automatically completed, and the accuracy is high;
3) High-precision calibration can be realized through algorithm control, and the influence of unstable rotating speed on the seed metering amount per revolution when the motor starts and stops is eliminated.
4) The inoculation connects fertile box to realize automatic clear up. The high-precision calibration can be realized through algorithm control, and the influence of unstable rotating speed on the seed metering amount per revolution when the motor starts and stops is eliminated.
5) The calibration is only needed once, and repeated calibration and verification are not needed.
6) The multifunctional seeding and fertilizing machine can be modified on the basis of the existing seeding and fertilizing machine, the functions of the invention are realized by additionally arranging the one-way bearing, the seed and fertilizer discharging component for calibration, the weighing sensor, the inoculating and discharging component and the like, the equipment cost is not obviously increased, the equipment change is small, the implementation is convenient, and the popularization is convenient.
Drawings
Fig. 1 is a front view of the intelligent combined seed and fertilizer drill of the invention.
Fig. 2 is a layout diagram of control components of the intelligent combined seed and fertilizer drill of the invention.
Fig. 3 is a structural view (right view perspective of fig. 2) of a calibration system of the intelligent seed and fertilizer drill of the present invention.
Fig. 4 is a hardware structure diagram of the automatic control system of the intelligent fertilizing and seeding machine of the invention.
Fig. 5 is a control flow chart of the automatic control method of the intelligent fertilizing and seeding machine of the invention.
In the figure, 1, an operation tillage seed and fertilizer discharging component, 2, a first transmission one-way bearing, 3, a driving motor, 4, a second transmission one-way bearing, 5, a discharging shaft, 6, a discharging gearbox, 7, a discharging motor, 8, a weighing sensor, 9, an inoculation fertilizer receiving box, 10, a calibration seed and fertilizer discharging component, 11, a driving gearbox, 12, a seed blockage alarm, 13, a fertilizer blockage alarm, 14, a seed box material level sensor, 15, a fertilizer box material level sensor, 16, a display controller, 17, a satellite antenna, 18, a mercury angle sensor, 19, a Hall sensor, 20, a rotary cultivator, 21, a fertilizer opener, 22, a fertilizer conveying pipe, 23, a seed conveying pipe, 24, a seeding opener, 25, a seed sowing device, 26, a fertilizer discharger, 27, a seed box and 28, a fertilizer box.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Comparative example:
in the prior art, the manual calibration of the purely mechanical transmission type seeder is as follows: the seeder advances a certain distance under the working condition, the seeds or fertilizers arranged are weighed, the seeding amount or the fertilizing amount per mu is calculated, and then the adjustment is tried by changing the transmission ratio. For the precision seeder adopting the motor to drive the seed and fertilizer sowing, the mode of measuring the rotation of the seed and fertilizer sowing part for a certain number of turns, weighing the weight by an electronic scale and manually inputting the weight into a system is adopted. Relatively speaking, the methods all have the steps of manual weighing, inputting and the like, the calibration method is time-consuming and labor-consuming, and calibration needs to be carried out on the ground when each fertilizer or seed is replaced. The mechanical transmission type seeding machine also has the problem of repeated attempts. The calibration process of the precision seeder adopting the motor to drive the seed and fertilizer sowing is as follows: 1. firstly, setting a calibration time and a rotation speed of a seed sowing device in a system, and 2, putting seeds or fertilizers in a sowing or fertilizing channel. 3. And in the set calibration time, the seed sowing device seeds according to the set rotating speed. 4. The seeds or fertilizer discharged from the channel are caught by a pocket. 5. Weighing the seeds and the fertilizer by using an electronic scale. 6. Inputting the number into a human-computer interface, 7, obtaining the quality of the seed metering in each circle of the seed metering device through calculation by the system, and substituting the seed metering quantity in each circle of the seed metering device into a control model formula.
The first embodiment is as follows:
the intelligent fertilizing and seeding machine has the functions of automatic calibration, satellite speed measurement, fertilizer and seed discharging motor driving, seed box fertilizer box material level monitoring, missing seeding and missing seeding blocking monitoring, fault alarming and other intelligent functions besides the functions of rotary tillage, fertilization, seeding and the like of the traditional seeding machinery.
The schematic diagram of the seeder without the intelligent control system is shown in figure 1. The intelligent combined seed and fertilizer drill with the control system is shown in figure 2.
The main device layout is illustrated as follows:
the controller is integrated with a motor driver, a display, a man-machine interaction panel, a satellite positioning walking speed acquisition module, an audible and visual alarm and the like. When the tractor is in work, the controller is placed in a cab of the tractor.
The satellite antenna is connected with a satellite positioning walking speed acquisition module in the controller and used for receiving satellite signals. When in work, the device is placed on the ceiling of a tractor, so that the reliability of receiving satellite signals is ensured.
Mercury angle sensor and hall sensor arrange respectively in seeder girder and rotary cultivator rotary part department for monitor seeder angle and rotary tillage part rotate whether.
The seed fertilizer calibration module is used for calibrating the seeding quantity and the fertilizing quantity. Is arranged at a separately arranged calibration position. See the calibration system written before for details.
The fertilizer blockage alarm is arranged between the fertilizer distributor and the fertilizer conveying pipe, and a photoelectric sensor is adopted to monitor fertilizer particles passing through the fertilizer blockage alarm in real time to judge whether the fertilizer is blocked or not.
The seed blockage alarm is installed between the seed metering device and the seed conveying pipe, and a photoelectric sensor is adopted to monitor seed particles passing through the seed metering device in real time and is used for judging whether blockage occurs.
The fertilizer box material level sensor is arranged on a side plate close to the bottom of the fertilizer box, and the position of the surface of the fertilizer material lower than the sensor sends out an alarm signal.
The seed box material level sensor is arranged on a side plate close to the bottom of the seed box, and the position of the surface of the seed material lower than the sensor is used for sending out an alarm signal.
The system comprises the following components: the device comprises a controller (touch screen), a power supply and step motor driving module, a step motor, a photoelectric seed manure blockage alarm, an audible and visual alarm, a GPS module, a mercury type angle switch and a photoelectric material level alarm.
The functions are as follows:
1. the seed and fertilizer discharging pipe is blocked for alarming, and is accurately positioned to a seed discharging port or a fertilizer discharging port of a certain path, and alarm prompt information can jump out of the touch screen. The photoelectric filling alarm has the working principle that infrared light is shielded by seeds, and the seeds are judged to be blocked if infrared light is not received within 3 seconds.
2. The low warning of seed and chemical fertilizer material level, the photoelectric material level alarm is buried in the seed or fertilizer, when the low sensor of material level is exposed, the infrared light is no longer blocked, the warning is given out, and a small amount of excess material remains, thus the seeding and fertilizing are not influenced temporarily.
3. The forward speed of the machine is actually measured by receiving the data of the GPS module, the rotating speed of the stepping motor is adjusted according to the forward speed, the uniformity of fertilizer and seed discharging is ensured, and the precision of fertilizer application and seeding is improved. The touch screen displays the advancing speed in real time.
4. The arm is lifted by the machine tool, so that the sowing and fertilizing motor stops rotating, and invalid sowing and fertilizing are prevented. The machine state is provided by the conduction state of the mercury angle sensor.
5. And power failure alarm is carried out to avoid miss-seeding. In order to prevent the occurrence of a large-area broadcast missing event which is not noticed by a tractor driver and is caused by a small-probability event of the power failure of a storage battery of the tractor, a controller is required to be specially supplied with power by double batteries, namely a small-capacity storage battery is specially reserved, double power supplies are input into the controller to manage two paths of power supplies and then output to a control system to supply power, the controller is ensured not to be powered off, a main power supply power failure signal is given an alarm in real time, and the tractor driver can timely handle the power failure event.
6. The working forward speed must not exceed a certain speed, otherwise, an alarm is given. The alarm signal is continuously sampled for 3 times, and the speed exceeds the speed to be determined as overspeed so as to avoid interference and misinformation. This speed may be set at the touch screen, e.g., 6 km/h or 8 km/h.
7. And the power-off memory function is adopted, and main setting parameters are not lost so as to be convenient for inquiry. The invariant parameters do not have to be reset every time.
8. In order to prevent the danger of the misoperation of the machine when the parameters are set, the program limits the motor to be inoperable when the interface is set. Only when the user is at the working home page, the user can act.
9. The job data is saved in the touch screen storage space for inquiry.
The format is as follows: working time, working duration, working field area, seeding amount, fertilizing amount and advancing speed.
10. Calibration is required. The width of the seeding and fertilizing machine is manually input, so that the seeding and fertilizing area and the seeding and fertilizing amount of a certain field can be displayed; the touch screen can visually set the fertilizer and seed discharging amount per mu. And other calibration processes are detailed in calibration files.
Because the working width of each seeding and fertilizing machine and the seeding and fertilizing channels are not completely consistent, when the seeding and fertilizing control system is installed on the machine tool for the first operation, the corresponding machine tool must be set, the machine tool width, the seeding channel number and the fertilizing channel number are respectively input into a setting interface, and the parameters are stored in a power-off maintaining register, so that the setting is only carried out once on the premise of not replacing the machine tool.
Control system working process
Before the operation of the seeder, the seeder is firstly set and calibrated according to the required seeding quantity and fertilizing quantity per mu. And after the calibration is finished, entering a normal working process.
1. The width of the seeding and fertilizing machine, the number of seeding channels, the number of fertilizing channels, target seeding amount and target fertilizing amount are input into the control terminal, and a start button is clicked. The operating system is started, and at the moment, the system can immediately detect the advancing speed of the GPS, the lifting or falling state of the machine tool, the rotating speed of the power output shaft of the tractor, the opening and closing state of the material level of the seed box and the opening and closing state of the material level of the fertilizer box.
2. And comprehensively judging according to the parameter state, then controlling a stepping motor, and starting sowing and fertilizing operation.
1) The controller collects the communication signal of the mercury angle sensor to indicate that the seeder or the fertilizer applicator falls down, the Hall sensor measures the rotation of the output shaft of the tractor to represent the entering operation state, the controller collects the ground speed in a $ GPRMC protocol output by the GPS module through the RS485 interface, and the rotation speed of the seeding and fertilizing stepping motor can be controlled according to the measured GPS speed. The sensor combination can reliably and truly express the state of the machine, and the state is not available; the rotation of the power output shaft is judged to be mainly used for the combined seeding and fertilizing machine, if the combined seeding and fertilizing machine has the function of a rotary cultivator, the rotation state of the output shaft can be used as the judgment basis of the working state during working.
2) A seed box material level switch state and a fertilizer box material level switch state. When the seed box material level switch and the fertilizer box material level switch give an alarm in the seeding operation process, the alarm represents that the seeds of the seed box or the fertilizer in the fertilizer box are not much at the moment, the fertilizer needs to be added in time, but the fertilizer can also work for a short period of time, so that only the sound and light alarm is given, but the work of a seeding or fertilizing motor is not stopped.
3) The seed manure can be blocked for some reason during the operation, and particularly, the fertilizer can be blocked due to moisture, so that the blocking probability is higher. The operation is stopped immediately when the seed manure is blocked, the sound and light alarm is given, and the operation can be resumed after the machine is stopped and the blockage is cleared, so that the seeding leakage or the application leakage can be avoided.
4) In the operation process, the rotating speed of the seeding and fertilizing stepping motor is adjusted in real time according to the advancing speed of the machine tool, the seeding amount and the fertilizing amount are completely matched with the advancing speed of the machine tool, uniform seeding and fertilizing under the preset uniform seeding and fertilizing amount per mu are achieved, and therefore precision seeding and fertilizing are achieved.
5) And can eliminate the miss seeding or miss seeding in the seeding and fertilizing process; and the phenomenon of in-situ seeding and fertilizing due to possible slipping of the seeder or the fertilizer applicator in a muddy environment can be eliminated; and can judge that the machines are in lifting up or falling down state according to mercury angle sensor conducting state, can control the automatic stall when the machines lift up in view of the above to avoid at seeder or fertilizer distributor ineffectively seeding or fertilizing when turning round or turn.
6) And power-off alarm is carried out to avoid miss-seeding. In order to prevent the occurrence of a large-area broadcast miss event caused by the unnoticed condition of the tractor driver due to the power failure of the storage battery of the tractor, a double-battery power supply is specially adopted for the controller, namely a small-capacity storage battery is specially reserved, double power supplies are input into the controller to manage two paths of power supplies and then output to the control system to supply power, the controller is ensured not to be powered off, a main power supply power failure signal is alarmed in real time, and the tractor driver processes the power failure signal in time.
3. Control algorithms or logical relations between parameters
1) The fertilizing or seeding pipes are blocked to alarm, and the fertilizing and seeding motor is stopped to work.
2) And (3) alarming when the seed fertilizer is low or the fertilizer is low, stopping the motor for a while, and determining that the stock of the seeds or the fertilizer in the seed box or the fertilizer box is not enough to continue working if a certain channel does not detect the passing of the seeds or the fertilizer in 1 second by a certain blockage alarm in the subsequent detection process. And stopping the motor from transferring. And continue to alarm until the operator responds.
3) The speed detection adopts a GPS module, an RS485 port or an RS485 port of the GPS module communicates with the PLC through a Modbus protocol, and the data format of the GPS module is NMEA0183 standard output. The $ GPRMC statement therein is employed.
All data in the RMC parameters are read, and the speed information in the RMC parameters is used for regulating and controlling the rotating speed of the motor.
4) Seeding stepping motor and fertilizing stepping motor control
With the 86 stepper motor, since the rotation speed of both motors is not too fast, the stepper motor driver does not need to be subdivided too much, and is temporarily set to 1600 steps/revolution.
Since the stepping motor step angle is 1.8 °, the drive subdivision number is selected to be 8, the actual stepping angle of the motor & =1.8 °/8=0.225 °, the motor rotational speed ω = & (K pulse frequency).
5) The width of the machine, the number of sowing channels and the sowing amount per mu are manually input on the touch screen. The PLC obtains the speed through the GPS.
And according to the seeding amount of each rotation of the seeder (the rotating speed can be set through calibration, the fixed time of the rotation is 20 seconds or 30 seconds, and the weight of the seeds falling from the seeder is measured by an electronic scale), the seeding amount of the machine advancing by unit length at a certain rotating speed can be calculated, and the seeding amount per mu at the rotating speed can be calculated under the condition that the width of the machine is known. In the same way, when the seeding rate per mu is set, the rotating speed of the motor can be reversely deduced according to the advancing speed and the seeding rate per revolution of the seeder.
a. Seeding stepper motor control algorithm:
enabling the width L of a machine tool, the number n1 of sowing channels, the sowing quantity Q1 per mu, the advancing speed V and the rotation speed omega 1 degree/S of a sowing stepping motor;
the calibration time was set to 30 seconds and the calibration time was set to 60rpm assuming a single channel output of M1 grams measured by calibration.
Then the number of turns of motor revolution in the calibration time is: 30 x (60/60) =30 circles
The output per cycle is: m1/30 g.
1 mu of machine travel distance: 667/L
Sowing time of 1 mu of land: t =667/L/V
Q1= (ω 1/360) × T (M1/30) = (ω 1/360) × (667/L/V) × (n 1 × M1/30), then the rotation speed of the sowing motor can be reversely deduced as:
I.e. the corresponding pulse output frequency K = (ω 1/360) × 1600Hz
b. Fertilization stepping motor control algorithm
In the same way, the width L of the machine and the number n of fertilizing channels 2 And fertilizing amount per mu Q 2 Forward speed V and fertilizer application stepping motor rotating speed omega 2 (ii) a The calibration time is 30 seconds, the rotation speed is 60rpm, and the output quantity of a single channel is M 2 And g.
The rotating speed of the fertilizer application motor can be calculated:
ω 2 =360 × q2 × l × v × 30/(667 × n2 × m 2) degree/S
I.e. the corresponding pulse output frequency K = (ω 2/360) × 1600Hz
The GPS satellite is adopted for speed measurement, so that the accuracy of speed measurement is ensured, and the seeding uniformity is ensured; in addition, the monitoring function module of the operation and non-operation states of the seeder can ensure that the satellite speed measuring mode can work normally under various special working conditions, accurately judge the operation and non-operation states of the seeder and realize automatic starting and stopping according to actual conditions; the material level monitoring and shortage alarming functions of the seed box and the fertilizer box can alarm to remind a driver to add seeds and fertilizer in advance when the materials of the seed box and the fertilizer box of the seeder are less remained, so as to avoid seed shortage and fertilizer shortage. The miss-seeding and miss-fertilizing monitoring function can give a technical alarm when the seed sowing component and the fertilizer sowing component are blocked, and remind a driver of removing faults.
(II) calibration work flow
1. Inputting parameters: the seeder needs to be calibrated before formally starting to work, and the seeder is in a stop and non-working state during calibration.
2. Starting: and starting a key calibration button to start the calibration system. (the calibration principle is to rotate the seed and fertilizer discharging component at the normal operation speed for a fixed number of turns, such as 30 turns, weigh the discharged seeds or fertilizer, calculate the average discharged seed or fertilizer mass of each turn of the seed and fertilizer discharging component, and further adjust the matching relationship between the advancing speed of the seeder and the rotating speed of the seed and fertilizer discharging motor, so that the distribution of the seeds on the ground reaches the expected amount, namely the preset seeding amount or fertilizing amount per mu).
3. Inoculating, fertilizer receiving and weighing: the control system firstly drives a driving motor (as shown in figure 1) to enable the motor to rotate in a reverse direction, at the moment, the seed and fertilizer discharging component of the operation row does not work, and the seed and fertilizer discharging component of the calibration row works. Seeds or fertilizer fall down through the seed and fertilizer discharging components of the calibration row and enter the inoculation fertilizer receiving box below. The seed or fertilizer quality received in the seed and fertilizer receiving box is measured when the seed and fertilizer discharging component rotates for a fixed number of turns (such as 30 turns), and then the seed or fertilizer discharging amount per rotation can be calibrated.
There is this problem here: the existing calibration method is implemented as follows: before the seed and fertilizer discharging component rotates, the container for inoculating and receiving fertilizer is put under the seed and fertilizer discharging component, then the seed and fertilizer discharging component rotates for a fixed number of turns (such as 30 turns) to stop the seed and fertilizer discharging component, after all seeds or fertilizer fall down, the container for inoculating and receiving fertilizer is taken down, and the mass of the seeds or fertilizer in the container is weighed. In fact, the speed of the seed and fertilizer discharging component is unstable in the starting or stopping stage, for example, when the component is started, the speed of the component is accelerated from zero to a stable speed, and an acceleration process (although the time is short) exists, wherein the seed and fertilizer discharging amount in the acceleration process is different from the discharge amount per rotation during the stable rotation. Similar to this at rest. Due to the two stages of starting and stopping, a certain error exists in the inoculation amount in the calibration process. The control system is designed to avoid two stages of starting and stopping when the weight is read, and only the mass of 30 circles is calculated when the speed is stable. The design of the control system is to avoid two unstable stages of starting and stopping when the weight is read, and only the mass of 30 circles is calculated when the speed is stable. The implementation mode is as follows: the calibrated seed and fertilizer discharging component is rotated for 5 circles (the 5 circles comprise the steps of starting, a period of speed stabilization time and stopping completely), the weighing sensor records the mass of the container and the seeds, and the mass is recorded into a cache. And then controlling the seed and fertilizer discharging component to automatically stop for a period of time (for example, 3 seconds), then calibrating the seed and fertilizer discharging component to start again to rotate for 35 circles at the default rotating speed, storing the mass of the container and the seeds when the weighing sensor weighs out into a buffer memory, and subtracting the mass of the previous 5 circles from the mass to obtain the net mass of the seeds discharged at the normal rotating speed of 30 circles. The mass of the container is deducted, and the precision error caused by the unstable rotating speed when the motor starts and stops is eliminated. The system automatically divides the net seed mass of 30 circles of the seed metering device by 30 to obtain the seed metering quantity of 1 circle of the seed metering device, records the seed metering quantity of 1 circle into a cache, and automatically substitutes the seed metering quantity into a control model formula.
The specific implementation mode is as follows: the driving motor drives the seed and fertilizer discharging component to rotate for 5 circles and then stops, and the system records the weighing value Q of the weighing sensor when the seed and fertilizer discharging component rotates for 5 circles 1 After stopping for a period of time, the seed and fertilizer discharging component is started again and stops after 35 circles of rotation, and the system records the weighing value Q of the weighing sensor again 2 . The seed or fertilizer quality Q = Q of the seed or fertilizer discharged by the seed and fertilizer discharging component stably rotating for 30 circles 2 -Q 1 。
4. And (3) calculating and adjusting: the control system calculates the value of Q to obtain the seed or fertilizer quantity per revolution of the seed and fertilizer discharging component, calculates the proportional relation between the rotating speed of the driving motor and the advancing speed of the machine tool, which are required by the target seed and fertilizer discharging quantity, and adjusts the rotating speed control parameters of the seed and fertilizer discharging driving motor during working to enable the seed and fertilizer discharging quantity to reach the expected target.
5. Emptying an inoculation and fertilizer receiving box: in order to continue the calibration work to normally work next time, the inoculation fertilizer receiving box needs to be emptied. After the driving motor stops, the control system sends an instruction to the discharging motor, the discharging motor rotates for a certain number of turns, the discharging shaft rotates for 180 turns after passing through the discharging gearbox, the weighing sensor and the inoculation fertilizer receiving box rotate together with the discharging shaft, the opening of the inoculation fertilizer receiving box faces downwards, and seeds or fertilizers are discharged. After a period of time (e.g. 3 seconds), the seeds or fertilizer are completely discharged, the control system sends an instruction to the discharging motor, so that the discharging motor rotates reversely for the same number of turns, and the system returns to the initial state. And finishing a work flow and waiting for next calibration.
The calibration is carried out in an online mode, and the operation is simple and convenient. The calibration can be completed in a short time, and the calibration can be completed by one key without manual weighing or manual weighing data input. The same driving motor can automatically realize the switching between the working state and the calibration state through the change of positive rotation and negative rotation. The inoculation and fertilizer receiving box is automatically emptied. High-precision calibration can be realized through algorithm control, and the influence of unstable rotating speed on the seed metering amount per revolution when the motor starts and stops is eliminated.
While the preferred embodiments of the present invention have been described, it will be appreciated by those skilled in the art that various changes and modifications may be made therein without departing from the general concept of the invention as defined by the appended claims.
Claims (8)
1. An automatic calibration control method of an intelligent fertilizing and seeding machine is characterized in that:
the intelligent fertilizing and seeding machine comprises a fertilizer box (28), a seed box (27), a fertilizer distributor (26), a seed sowing device (25) and a power part capable of rotating forwards and backwards; a fertilizer box material level sensor (15) and a seed blockage alarm (12) positioned at the bottom are arranged in the fertilizer box (28), and a seed box material level sensor (14) and a fertilizer blockage alarm (13) positioned at the bottom are arranged in the seed box (27); the power component capable of rotating forwards and reversely is provided with a double-side power output end; one side of the device is connected with the operation row seed and fertilizer discharging component (1) through a first transmission one-way bearing (2), and the other side of the device is connected with a calibration seed and fertilizer discharging component (10) through a second transmission one-way bearing (4); the locking directions of the first transmission one-way bearing (2) and the second transmission one-way bearing (4) are opposite, and the free rotation directions are opposite; a weighing and collecting module is arranged below the seed and fertilizer discharging component (10); the power component is provided with a speed acquisition module and a seeding stepping driver; the CPU module is used as a control center of the whole control system and is respectively in signal connection with the speed acquisition module, the sowing stepping driver and the weighing acquisition module;
the automatic calibration control method comprises the following steps:
s1, inputting parameters: inputting target seeding quantity and fertilizing quantity at a calibration control terminal;
s2, starting: the seed and fertilizer discharging component (10) is rotated for a set number of turns, the mass of the seeds or fertilizers discharged is weighed, the average mass of the seeds or fertilizers discharged in each turn of the seed and fertilizer discharging component is automatically calculated, and the mutual matching relation between the advancing speed of the seeder and the rotating speed of a seed or fertilizer discharging motor is adjusted;
s3, inoculating, fertilizing and weighing: the control system drives the power component to rotate the power component in the reverse direction, at the moment, the seed and fertilizer discharging component of the operation row does not work, and the seed and fertilizer discharging component of the calibration row works; seeds or fertilizers fall down through the seed and fertilizer discharging components of the calibration rows and enter the lower inoculation fertilizer receiving box (9); weighing the mass of seeds or fertilizers received in the inoculation fertilizer receiving box when the seed and fertilizer discharging component rotates for a set number of turns, and calibrating the seed discharging amount per revolution or the fertilizer discharging amount per revolution;
s4, calculation and adjustment: the control system calculates the value of the seed or fertilizer quality under the set number of rotations, obtains the seed or fertilizer quantity per rotation of the seed and fertilizer discharging component, calculates the proportional relation between the rotating speed of the driving motor and the advancing speed of the machine tool, which are required by the target seed and fertilizer quantity, and adjusts the rotating speed control parameters of the power component during working so as to lead the seed and fertilizer quantity to reach the expected target.
2. The automatic calibration control method of the intelligent fertilizing and seeding machine as claimed in claim 1, characterized in that: the intelligent fertilizing and seeding machine also comprises a rotary cultivator (20), and a Hall sensor (19) is arranged on the rotary cultivator; and a mercury angle sensor (18) is arranged on the frame of the intelligent fertilizing and seeding machine.
3. The automatic calibration control method of the intelligent fertilizing and seeding machine as claimed in claim 2, characterized in that: the control system further comprises a display controller (16), wherein the display controller (16) is electrically connected with the Hall sensor (19), the mercury angle sensor (18), the seed blockage alarm (12), the fertilizer blockage alarm (13), the seed box material level sensor (14), the fertilizer box material level sensor (15) and the satellite antenna (17) respectively.
4. The automatic calibration control method of the intelligent fertilizing and seeding machine as claimed in claim 1, characterized in that: the power component is a driving motor (3).
5. The automatic calibration control method of the intelligent fertilizing and seeding machine as claimed in claim 1, characterized in that: further comprising step S5: emptying the inoculation and fertilizer receiving box: after the power part stops, the control system sends an instruction to the discharging motor (7), the discharging motor (7) rotates for a set number of turns, the discharging shaft rotates for 180 turns after passing through the discharging gearbox, the weighing sensor and the inoculation fertilizer receiving box rotate together with the discharging shaft, the opening of the inoculation fertilizer receiving box faces downwards, and seeds or fertilizers are discharged; after a period of time, the seeds or the fertilizer are completely discharged, the control system sends an instruction to the discharging motor (7), so that the discharging motor rotates reversely for the same number of turns, the system is restored to the initial state, a working process is completed, and the next calibration is waited.
6. The automatic calibration control method of the intelligent fertilizing and seeding machine as claimed in claim 1, characterized in that:
in step S3, the method further includes the following steps:
s3a: the calibrated seed and fertilizer discharging component rotates for X circles to a stable rotating speed state, and the weighing sensor (8) records the mass of the container and the seeds and records the mass into a cache;
s3b: after the seed and fertilizer discharging component is controlled to automatically stop for a set time, the seed and fertilizer discharging component is calibrated to be started again to rotate for Y circles at the default rotating speed, and Y is larger than X; weighing the container and the seed mass by a weighing sensor, storing the container and the seed mass into a cache, and subtracting the mass of the previous X circles from the mass to obtain the net mass of the seed discharged by the Y-X circles at a stable rotating speed, wherein the container mass is subtracted from the net mass;
s3c: the control system divides the net seed mass of the circle of the seed metering device (Y-X) by the net seed mass (Y-X) to obtain the seed metering quantity of 1 circle of the seed metering device, and the seed metering quantity of 1 circle is recorded into a cache.
7. The automatic calibration control method of the intelligent fertilizing and seeding machine as claimed in claim 1, characterized in that: x is 5,Y is 35; the driving motor drives the seed and fertilizer discharging component to rotate for 5 circles and then stop, the system records a weighing value Q1 of the weighing sensor when the seed and fertilizer discharging component rotates for 5 circles, the seed and fertilizer discharging component stops after stopping for a period of time and then starts again and rotates for 35 circles, and the system records a weighing value Q2 of the weighing sensor again; the seed and fertilizer discharging component stably rotates for 30 circles to discharge seeds or fertilizers with the mass Q = Q2-Q1.
8. The automatic calibration control method of the intelligent fertilizing and seeding machine as claimed in claim 1, characterized in that:
further comprising step S5: emptying the inoculation and fertilizer receiving box:
after the driving motor stops, the control system sends an instruction to the discharging motor, the discharging motor rotates for a set number of turns, the discharging shaft rotates for 180 turns after passing through the discharging gearbox, the weighing sensor and the inoculation and fertilizer receiving box rotate together with the discharging shaft, the opening of the inoculation and fertilizer receiving box faces downwards, and seeds or fertilizers are discharged;
after a period of time, the seeds or the fertilizer are completely discharged, the control system sends an instruction to the discharging motor, so that the discharging motor rotates reversely for the same number of turns as the set number of turns, and the control system is restored to the initial state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011537116.0A CN112655298B (en) | 2020-12-23 | 2020-12-23 | Intelligent fertilizing and seeding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011537116.0A CN112655298B (en) | 2020-12-23 | 2020-12-23 | Intelligent fertilizing and seeding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112655298A CN112655298A (en) | 2021-04-16 |
| CN112655298B true CN112655298B (en) | 2022-12-02 |
Family
ID=75408160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011537116.0A Active CN112655298B (en) | 2020-12-23 | 2020-12-23 | Intelligent fertilizing and seeding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112655298B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113647233B (en) * | 2021-07-17 | 2022-12-27 | 广东皓耘科技有限公司 | Fertilizer throwing machine capable of automatically adjusting fertilizer throwing amount and control method |
| CN114721300B (en) * | 2022-04-07 | 2023-06-02 | 四川农业大学 | Seed fertilizer synchronous driving system and control method |
| CN116671323B (en) * | 2023-08-03 | 2023-10-31 | 北京市农林科学院智能装备技术研究中心 | Intelligent fertilizing device and control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901258A (en) * | 2018-07-27 | 2018-11-30 | 贵州兴贵源酒业有限公司 | A kind of planting equipment of Rosa roxburghii Tratt |
| WO2019239363A1 (en) * | 2018-06-15 | 2019-12-19 | BMK - Engineering d.o.o. Brežice | Tractor attachment for loosening and deep root fertilisation of soil |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100781846B1 (en) * | 2000-02-16 | 2007-12-03 | 산요덴키가부시키가이샤 | Medication supplying apparatus |
| TW459936U (en) * | 2001-03-27 | 2001-10-11 | Pantech Internat Inc | Forward and backward rotating control device |
| JP2004292150A (en) * | 2003-03-28 | 2004-10-21 | Canon Inc | Image forming apparatus |
| CN105302013B (en) * | 2014-07-03 | 2017-09-12 | 农业部南京农业机械化研究所 | A kind of many crop drill for sowing in lines adaptively sow control method |
| CN106941842B (en) * | 2017-03-03 | 2023-02-17 | 山东农业大学 | Variable rate fertilization adjusting device and control method thereof |
| CN210265048U (en) * | 2019-06-24 | 2020-04-07 | 北京博键传动技术有限公司 | High-temperature-resistant anti-vibration directional transmission structure |
-
2020
- 2020-12-23 CN CN202011537116.0A patent/CN112655298B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019239363A1 (en) * | 2018-06-15 | 2019-12-19 | BMK - Engineering d.o.o. Brežice | Tractor attachment for loosening and deep root fertilisation of soil |
| CN108901258A (en) * | 2018-07-27 | 2018-11-30 | 贵州兴贵源酒业有限公司 | A kind of planting equipment of Rosa roxburghii Tratt |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112655298A (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112698597B (en) | Automatic control system and control method for seeder | |
| CN112655298B (en) | Intelligent fertilizing and seeding machine | |
| US6170704B1 (en) | Machine and method for monitoring mobile product application | |
| EP2708104B1 (en) | Product distribution machine and method for such | |
| US6534728B1 (en) | Tractor load weighing device | |
| WO2019080545A1 (en) | Monitoring system and monitoring method for seeder | |
| WO2022174561A1 (en) | Variable sowing and fertilizing method, system, and device | |
| CN111373908A (en) | Control system and method for realizing precision seeding and fertilizing by using Beidou navigation satellite system | |
| CN106856759A (en) | A kind of fertilizer applicator and fertilizing method | |
| CN102550169A (en) | Intelligent seeding control device driven by step motor | |
| JP5460993B2 (en) | Agricultural machine | |
| CN212116163U (en) | Control system for realizing precise seeding and fertilizing by using Beidou navigation | |
| CN114721300A (en) | Seed manure synchronous driving system and control method | |
| CN112655297B (en) | Fertilizing and seeding machine with automatic calibration function | |
| CN112673769B (en) | Automatic calibrating device and method for seeding rate and fertilizing rate of seeder | |
| JPH05252810A (en) | Fertilizer applicator of rice transplanter | |
| CN112690068B (en) | Automatic calibration control system and control method for seeding quantity and fertilizing quantity of precision seeder | |
| CN107168233A (en) | A kind of planting machine essence amount intelligence control system | |
| JP4693032B2 (en) | How to adjust the feeding amount | |
| CN202374666U (en) | Intelligently controlled seeding device driven by stepping motor | |
| CN213306199U (en) | Tilling device | |
| US11576300B2 (en) | Operator speed guidance for an agricultural product application system | |
| CN217884437U (en) | Fertilizing and seeding machine device convenient to real-time monitoring | |
| CN216087570U (en) | Rice seed sowing device capable of automatically adjusting sowing quantity and intelligent control system for sowing quantity | |
| US10980168B2 (en) | Systems and methods for monitoring an agricultural metering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |