CN113632621A - Sowing depth control device and method based on depth limiting arm pressure and angle adjustment - Google Patents
Sowing depth control device and method based on depth limiting arm pressure and angle adjustment Download PDFInfo
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- CN113632621A CN113632621A CN202110897343.2A CN202110897343A CN113632621A CN 113632621 A CN113632621 A CN 113632621A CN 202110897343 A CN202110897343 A CN 202110897343A CN 113632621 A CN113632621 A CN 113632621A
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- depth
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- angle
- sowing
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
- A01C5/064—Devices for making drills or furrows with rotating tools
Abstract
The invention relates to the technical field of agricultural machinery, in particular to a sowing depth control device and a sowing depth control method based on depth limiting arm pressure and angle adjustment, which comprises a cross beam, four copying connecting rods, a ditching disc, a depth limiting wheel and a rack, wherein the front ends of the four copying connecting rods are connected with the cross beam, the rear ends of the four copying connecting rods are connected with the rack, the ditching disc and the depth limiting wheel are arranged below the rack, the other side of the depth limiting wheel is provided with a depth limiting arm, and the depth limiting arm is provided with an inclination angle sensor; a gear groove is formed in the upper surface of the rack, a depth limiting adjusting handle is clamped in the gear groove, and a pressure sensor is fixed below the depth limiting adjusting handle through a fixing block; the device adopts a method of monitoring the pressure and the angle at the depth limiting arm, and utilizes a pressure sensor to replace a traditional depth limiting block, thereby not only limiting the sowing depth, but also sensing the acting force of soil on a depth limiting wheel; the inclination angle sensor is used for detecting the angle change of the depth limiting arm, so that the operation state can be determined, the output data of the two sensors are effectively fused, and whether the current sowing depth reaches the set sowing depth or not, and whether the depth limiting wheel compacts soil or not can be judged.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a sowing depth control device and method based on depth limiting arm pressure and angle adjustment.
Background
The sowing depth is an important factor influencing the germination, emergence and growth of seeds, and the uniformity of emergence and the crop yield are influenced by the inconsistent sowing depth. For the sowing depth control mode and the monitoring device, the following devices appear on the market: the prior traditional seeder adopts a passive adjustment mode, a plurality of springs are arranged between an upper link and a lower link of a profiling four-link, and the pretightening force of the springs is adjusted according to experience before operation so as to achieve proper seeding depth and ground pressure; however, in actual operation, due to the influences of surface relief, soil property change, stubble residue and the like, the frame under passive adjustment has large fluctuation on the ground pressure, and the ditching depth and the sowing depth stability are influenced. However, with the development of science and technology, a control device replacing the traditional sowing depth control mode of the sowing machine is also provided: the first is a pneumatic adjusting mode, the adjusting mode can only supplement downward pressure, and the adjustment cannot be performed when the depth wheel compacts soil; the second is an electric strut adjustment mode, which cannot be continuously adjusted and is high in cost; the third is an electro-hydraulic adjusting mode, the electro-hydraulic adjusting mode adopts the mode that a hydraulic actuating mechanism is obliquely and downwardly installed along the profile modeling four-bar linkage profile modeling, the downward pressure is dispersed due to the adjusting mode, and meanwhile, the actuating mechanism is large in size and high in running cost. In addition, along with the development of a sowing depth control mode, a sowing depth monitoring device is also developed, and the existing sowing depth monitoring devices on the market are provided with the following 3 types: 1. in the displacement sensor mode, in the no-tillage seeding operation, the seeding depth mechanism is easy to be affected by impact load, the sensor is easy to be damaged, and the detection precision is limited; 2. the method for mounting the piezoelectric film in the depth wheel has the advantages that the monitoring mode is easily influenced by mechanical vibration, the output noise is strong, the signal processing difficulty is high, and a signal processing circuit is complex; 3. the depth stop block adopts a shaft pin sensor mode, and once the depth stop block in the monitoring mode is influenced by impact and vibration, the output signal of the sensor is unstable. Therefore, it is necessary to invent a device and a method for controlling the sowing depth based on the pressure and angle adjustment of the depth-limiting arm to solve the above problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a sowing depth control device and method based on the pressure and angle adjustment of a depth limiting arm.
The sowing depth control device based on the pressure and angle adjustment of the depth limiting arm comprises a cross beam, more than one profiling four-connecting rod, a ditching disc, a depth limiting wheel and a rack, wherein the front ends of the profiling four-connecting rods are connected with the cross beam, the rear ends of the profiling four-connecting rods are connected with the rack, the ditching disc and the depth limiting wheel are arranged below the rack, a hydraulic oil cylinder is fixed at the upper part of the front end of the rack, and the top end of the hydraulic oil cylinder is fixed with the cross beam through a transverse oil cylinder fixing piece; a ditching disc is arranged below the rack through a connecting piece, a depth limiting wheel is attached to the surface of the ditching disc, a depth limiting arm is arranged on the axis of the other side of the depth limiting wheel and matched with the depth limiting arm, the other end of the depth limiting arm is hinged with the tail end of the rack through a movable pin shaft, and an inclination angle sensor is fixed on the depth limiting arm; a gear groove penetrating through the rack is formed in the middle of the upper surface of the rack, a depth limiting adjusting handle is clamped in the gear groove, one end of the depth limiting adjusting handle is arranged above the rack, the other end of the depth limiting adjusting handle penetrates through the gear groove to be connected with a fixed block arranged below the rack, and a pressure sensor is fixed below the fixed block; the pressure sensor and the depth limiting arm are positioned on the same vertical line.
As a further improvement of the invention, the cross beam is provided with a controller, and the pressure sensor and the tilt sensor are both connected with the controller.
As a further improvement of the invention, the upper end of the profiling four-bar linkage is fixed on the rear side of the cross beam through a U-shaped clamp I, and the lower end of the profiling four-bar linkage is connected with the rack through a fixed rod.
As a further improvement of the invention, the pressure sensor is arranged in an included angle between the depth limiting arm and the lower end face of the rack.
As a further improvement of the invention, the number of the gear grooves is more than one.
The sowing depth control method based on the pressure and angle adjustment of the depth limiting arm is realized by the following steps;
(1) storing depth limiting arm angle thresholds and pressure thresholds corresponding to various operation broadcast depths in a memory of the controller, electrifying the controller, and carrying out system initialization;
(2) the method comprises the following steps that (1) in the process of starting a locomotive, starting operation and sowing operation, a controller collects data of an inclination angle sensor and a pressure sensor in real time and judges whether a positive pressure value is in a set pressure threshold range or not;
a. if the pressure value is larger than the maximum set pressure value, indicating that the ditching depth is larger than the set sowing depth, adjusting the reversing valve, contracting the hydraulic oil cylinder and lifting the rack until the measured pressure value reaches the range of the set threshold value;
b. if the pressure value is smaller than the set pressure minimum value, the depth limiting arm is in contact with the pressure sensor, but the set seeding depth is not completely reached, and at the moment, the current angle of the depth limiting arm needs to be read through the inclination angle sensor to determine whether the current angle is within the set angle threshold range; if the angle value is within the set angle threshold value, the set sowing depth is reached, the inclination angle sensor value is continuously read, and the sowing work is carried out; if the angle value is smaller than the minimum value of the set angle, the current ditching depth is larger than the set sowing depth, the reversing valve is adjusted to enable the hydraulic oil cylinder to contract, the rack is lifted until the measured pressure value and the angle value reach the range of the set threshold value, and the hydraulic oil cylinder is stopped to act; if the angle value is larger than the maximum value of the set angle, the current ditching depth does not reach the set sowing depth, the reversing valve is adjusted to enable the hydraulic oil cylinder to stretch, the rack moves downwards until the measured pressure value and the angle value reach the range of the set threshold value, and the hydraulic oil cylinder is stopped to act; when the measured pressure value is equal, the ditching depth is far less than the set sowing depth, the reversing valve is adjusted to enable the hydraulic oil cylinder to stretch, the rack moves downwards until the measured pressure value and the measured angle value reach the set threshold range, and the hydraulic oil cylinder is stopped to act; the steps are circulated, and detection and adjustment are continuously carried out;
c. if the pressure value is within the set pressure range, the set sowing depth is reached, the hydraulic oil cylinder is kept stable, and the operation is continued.
In the process of sowing operation, a controller collects an inclination angle sensor and a pressure sensor in real time, (1) if the output of the inclination angle sensor is larger than an initial angle, the sowing operation is considered to be started, if the output of the pressure sensor is close to 0 at the moment, the current sowing depth of a rack is considered not to reach a set sowing depth, an adjusting signal is output to control an adjusting valve, the pressure of an oil cylinder is increased, and the rack is pressed downwards until the set sowing depth is reached; (2) in the sowing operation, if the output of the inclination angle sensor reaches an angle value corresponding to a set sowing depth and the output of the pressure sensor exceeds a stored corresponding pressure value, the current depth of the ditching disc is considered to be too large, so that the earth surface soil is excessively compacted, and at the moment, the controller can output an adjusting signal to control the adjusting valve, reduce the pressure of the oil cylinder and lift the rack to the set depth; (3) if the measured value is in the deviation range of the stored critical value, the set broadcasting depth is considered to be reached, and the regulating valve keeps the current state.
The sowing depth control device and method based on the depth limiting arm pressure and angle adjustment are reasonable in structure, the method of monitoring the pressure and angle at the depth limiting arm is adopted, and the pressure sensor is used for replacing the effect of a traditional depth limiting block, so that the sowing depth can be limited, and the acting force of soil on a depth limiting wheel can be sensed; the inclination angle sensor is used for detecting the angle change of the depth limiting arm, so that the operation state can be determined, the output data of the two sensors are effectively fused, and the conditions that whether the current sowing depth reaches the set sowing depth, whether the depth limiting wheel compacts soil and the like can be judged; an active adjustment mode is adopted to replace a passive adjustment mode, a hydraulic actuator is used to replace a profiling spring, the output data of the sensor is compared with a stored critical value, the current sowing depth is obtained, and if the preset sowing depth is not reached, the downward pressure is increased through a hydraulic actuator; if the set sowing depth is reached, the hydraulic actuating mechanism does not act; if the set sowing depth is reached and the downward pressure is too large, the hydraulic actuating mechanism is adjusted to lift the rack upwards, and the soil is prevented from being compacted by the depth wheel.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the invention at A;
FIG. 3 is a control flow diagram of the present invention;
fig. 4 is a flow chart of the operation of the present invention.
Detailed Description
The depth-limiting arm pressure and angle adjustment-based sowing depth control device comprises a cross beam 1, four profiling four-bar linkages 2, a ditching disc 3, a depth-limiting wheel 11 and a rack 4, wherein the front ends of the profiling four-bar linkages 2 are connected with the cross beam 1 through U-shaped clamps I16, the rear ends of the profiling four-bar linkages are connected with the rack 4 through fixing rods 17, the ditching disc 3 and the depth-limiting wheel 11 are arranged below the rack 4, a hydraulic oil cylinder 5 is fixed at the upper part of the front end of the rack 4, and the top end of the hydraulic oil cylinder 5 is fixed with the cross beam 1 through a transverse oil cylinder fixing piece 6; a ditching disc 3 is arranged below the rack 4 through a connecting piece, a depth limiting wheel 11 is attached to the surface of the ditching disc 3, a depth limiting arm 12 is arranged on the axis of the other side of the depth limiting wheel 11 and matched with the depth limiting wheel, the other end of the depth limiting arm 12 is hinged with the tail end of the rack 4 through a movable pin 13, and an inclination angle sensor 14 is fixed on the depth limiting arm 12; the middle part of the upper surface of the rack 4 is provided with four gear grooves 7 penetrating through the rack 4, a depth-limiting adjusting handle 8 is clamped in the gear grooves 7, one end of the depth-limiting adjusting handle 8 is arranged above the rack 4, the other end of the depth-limiting adjusting handle 8 penetrates through the gear grooves 7 to be connected with a fixed block 9 arranged below the rack 4, and a pressure sensor 10 is fixed below the fixed block 9; the pressure sensor 10 is arranged in an included angle between the depth limiting arm 12 and the lower end face of the rack 4, the pressure sensor 10 and the depth limiting arm 12 are located on the same straight line, and in addition, the position of the pressure sensor 10 below the rack 4 can be adjusted by moving the positions of the depth limiting adjusting handle 8 in different gear grooves 7.
Before the seeding operation, the depth-limiting adjusting handle 8 is manually adjusted to set the seeding depth, the pressure sensor 10 and the fixing piece move together with the handle to limit the swing amplitude of the depth-limiting arm 12, and therefore the purpose of depth limitation is achieved. In the sowing operation, the disc furrow opener plows the surface of the ground to a certain depth, and the seed sowing device arranges seeds in the seed furrow. The depth of the furrow in the furrow opener is generally used as the depth of the seeding because individual seeds may not be in the bottom of the furrow due to the movement of bouncing and the like after the seeds fall to the ground. The depth wheel 11 is attached to the surface of the ditching disc 3 and is always positioned on the ground surface for limiting the too deep penetration of the ditching disc 3. The depth wheel 11 can freely rotate through the hinged end of the depth arm 12 and the machine frame 4, the depth wheel 11 moves up and down along with the surface fluctuation, and the depth arm 12 rotates around the hinged point along with the depth wheel 11. When the set sowing depth is reached, the depth limiting arm 12 can press the pressure sensor 10, and if the set sowing depth is not reached, the pressure sensor 10 has no output.
The cross beam 1 of the device is provided with a controller 15, the pressure sensor 10 and the inclination angle sensor 14 are both connected with the controller 15, the storage of a memory of the controller 15 stores the angle threshold value of the depth limiting arm 12 corresponding to the sowing depth of various operations and the pressure threshold value of the pressure sensor 10, the stored values are critical values determined by early-stage static experiments and field experiments, the controller 15 uses the stored values as boundaries, the actual measured values are combined, the current sowing depth situation of the sowing machine is judged within a certain deviation range, and in the sowing operation process, the controller 11 collects the inclination angle sensor 14 and the pressure sensor 10 in real time.
The sowing depth control method of the device is realized by the following steps: firstly, the controller 11 is electrified to carry out system initialization, before seeding operation, whether the pressure sensor 10 and the inclination angle sensor 14 are in good condition is checked, if the pressure sensor 10 and the inclination angle sensor 14 have faults, the device sends out sensor fault alarm information which comprises sound alarm and fault number display, when the pressure sensor 10 and the inclination angle sensor 14 are in normal condition, the locomotive is started, seeding operation is started, the hydraulic oil cylinder 5 stretches at the moment, the frame 4 moves downwards, the depth wheel 11 moves to drive the depth limiting arm 12 to extrude the pressure sensor 10, the controller 15 starts to read the measured values of the pressure sensor 10 and the inclination angle sensor 14, the measured value of the pressure is compared with the set maximum pressure value, whether the positive pressure value is in the set pressure threshold value range is judged, as shown in figure 3, when the pressure value is larger than the set maximum pressure value, a hydraulic executive component is adjusted, the frame is lifted, and the downward pressure is reduced; if the pressure value is smaller than the set pressure minimum value, the set sowing depth is reached, the sensor value is continuously read, otherwise, whether the angle value is smaller than the set minimum angle value or not is judged, if yes, the hydraulic executive component is adjusted, the rack is lifted, if not, whether the angle value is larger than the set maximum angle value or not is judged, if yes, the hydraulic executive component is adjusted, the rack is pressed down, if not, the hydraulic mechanism is kept not to act, and the pressure sensor and the angle sensor value are continuously read, and the specific description is as follows;
a. if the pressure value is larger than the maximum set pressure value, the ditching depth is larger than the set sowing depth, the reversing valve is adjusted, the hydraulic oil cylinder 5 is contracted, the frame 4 is lifted until the measured pressure value reaches the range of the set threshold value, the hydraulic oil cylinder 5 is kept stable, and the device continues to operate;
b. if the pressure value is smaller than the set pressure minimum value, the depth limiting arm 12 is in contact with the pressure sensor 10, but the set seeding depth is not completely reached, and at the moment, the current angle of the depth limiting arm needs to be read through the inclination angle sensor 14 to determine whether the current angle is within the set angle threshold range; if the angle value is within the set angle threshold value, the set sowing depth is reached, the value of the inclination angle sensor 14 is continuously read, and the sowing work is carried out; if the angle value is smaller than the minimum value of the set angle, the current ditching depth is larger than the set sowing depth, the reversing valve is adjusted, the hydraulic oil cylinder 5 is contracted, the rack 4 is lifted until the measured pressure value and the angle value reach the range of the set threshold value, and the hydraulic oil cylinder 5 stops acting; if the angle value is larger than the maximum value of the set angle, the current ditching depth does not reach the set sowing depth, the reversing valve is adjusted to enable the hydraulic oil cylinder 5 to stretch, the rack 4 moves downwards, and the hydraulic oil cylinder 5 stops acting until the measured pressure value and the measured angle value reach the range of the set threshold value; when the measured pressure value is 0, the ditching depth is far less than the set sowing depth, the reversing valve is adjusted to enable the hydraulic oil cylinder 5 to stretch, the frame 4 moves downwards, and the hydraulic oil cylinder 5 stops acting until the measured pressure value and the measured angle value reach the set threshold range; the process is circulated, detection and adjustment are carried out continuously, the angle refers to the angle between the depth-limiting arm 12 and the machine frame 4 and the cross beam 1, and the smaller the angle is, the more the position of the depth-limiting wheel 11 is above;
c. if the pressure value is within the set pressure range, the set sowing depth is reached, the hydraulic oil cylinder 5 is kept stable, and the operation is continued.
Because the depth wheel 11 vibration and the device self-shake caused by uneven farmland surface can generate interference noise to the pressure sensor 10 and the inclination angle sensor 14, if the interference noise is not processed, the noise can be caused to submerge useful signals and cannot be measured, therefore, in the aspect of circuit design, the first-order low-pass filtering is carried out on the output signals of the pressure sensor 10 and the inclination angle sensor 14, meanwhile, in the program, a sliding average filtering method is adopted to process the input pressure and angle data, and the measurement precision of the pressure and angle values is improved.
Claims (6)
1. The sowing depth control device based on the pressure and angle adjustment of the depth limiting arm comprises a cross beam (1), more than one profiling four-bar linkage (2), a ditching disc (3), depth limiting wheels (11) and a rack (4), wherein the front ends of the profiling four-bar linkage (2) are connected with the cross beam (1), the rear ends of the profiling four-bar linkage (2) are connected with the rack (4), the ditching disc (3) and the depth limiting wheels (11) are arranged below the rack (4), and the sowing depth control device is characterized in that a hydraulic oil cylinder (5) is fixed at the upper part of the front end of the rack (4), and the top end of the hydraulic oil cylinder (5) is fixed with the cross beam (1) through a transverse oil cylinder fixing piece (6); a ditching disc (3) is arranged below the rack (4) through a connecting piece, a depth limiting wheel (11) is attached to the surface of the ditching disc (3), a depth limiting arm (12) is arranged at the axis of the other side of the depth limiting wheel (11) and matched with the depth limiting wheel, the other end of the depth limiting arm (12) is hinged with the tail end of the rack (4) through a movable pin shaft (13), and an inclination angle sensor (14) is fixed on the depth limiting arm (12); a gear groove (7) penetrating through the rack (4) is formed in the middle of the upper surface of the rack (4), a depth limiting adjusting handle (8) is clamped in the gear groove (7), one end of the depth limiting adjusting handle (8) is arranged above the rack (4), the other end of the depth limiting adjusting handle penetrates through the gear groove (7) to be connected with a fixed block (9) arranged below the rack (4), and a pressure sensor (10) is fixed below the fixed block (9); the pressure sensor (10) and the depth limiting arm (12) are positioned on the same vertical line.
2. The depth-limiting arm pressure and angle adjustment-based sowing control device as claimed in claim 1, wherein a controller (15) is arranged on the cross beam (1), and the pressure sensor (10) and the tilt sensor (14) are both connected with the controller (15).
3. The depth-limiting arm pressure and angle adjustment-based sowing depth control device as claimed in claim 1, wherein the upper end of the profiling four-bar linkage (2) is fixed on the rear side of the cross beam (1) through a U-shaped clamp I (16), and the lower end is connected with the frame (4) through a fixing rod (17).
4. The depth-of-broadcast control device based on depth-limiting arm pressure and angle adjustment as claimed in claim 1, characterized in that the pressure sensor (10) is disposed in the angle between the depth-limiting arm (12) and the lower end face of the frame (4).
5. The depth control device based on the pressure and angle adjustment of the depth-limiting arm as claimed in claim 1, wherein the number of the gear grooves (7) is more than one.
6. The sowing depth control method based on the pressure and angle adjustment of the depth limiting arm is realized by the following steps:
(1) storing depth limiting arm angle thresholds and pressure thresholds corresponding to various operation broadcast depths in a memory of the controller, electrifying the controller, and carrying out system initialization;
(2) the method comprises the following steps that (1) in the process of starting a locomotive, starting operation and sowing operation, a controller collects data of an inclination angle sensor and a pressure sensor in real time and judges whether a positive pressure value is in a set pressure threshold range or not;
a. if the pressure value is larger than the maximum set pressure value, the ditching depth is larger than the set sowing depth, the reversing valve is adjusted, the hydraulic cylinder is contracted, and the rack is lifted until the measured pressure value reaches the range of the set threshold value;
b. if the pressure value is smaller than the set pressure minimum value, the depth limiting arm is in contact with the pressure sensor, but the set seeding depth is not completely reached, and at the moment, the current angle of the depth limiting arm needs to be read through the inclination angle sensor to determine whether the current angle is within the set angle threshold range; if the angle value is within the set angle threshold value, the set sowing depth is reached, the value of the angle sensor is continuously read, and the sowing work is carried out; if the angle value is smaller than the minimum value of the set angle, the current ditching depth is larger than the set sowing depth, the reversing valve is adjusted to enable the hydraulic cylinder to contract, the rack is lifted until the measured pressure value and the angle value reach the range of the set threshold value, and the hydraulic cylinder is stopped to act; if the angle value is larger than the maximum value of the set angle, the current ditching depth does not reach the set sowing depth, the reversing valve is adjusted to enable the hydraulic cylinder to stretch, the rack moves downwards until the measured pressure value and the angle value reach the range of the set threshold value, and the hydraulic cylinder is stopped to act; when the measured pressure value is 0, the ditching depth is far less than the set sowing depth, the reversing valve is adjusted to enable the hydraulic cylinder to stretch, the frame moves downwards, and the hydraulic cylinder is stopped to act until the measured pressure value and the measured angle value reach the set threshold value range; the steps are circulated, and detection and adjustment are continuously carried out;
c. if the pressure value is within the set pressure range, the set sowing depth is reached, the hydraulic oil cylinder is kept stable, and the operation is continued.
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| CN202110897343.2A CN113632621B (en) | 2021-08-05 | 2021-08-05 | Sowing depth control device and method based on depth limiting arm pressure and angle adjustment |
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| CN202110897343.2A CN113632621B (en) | 2021-08-05 | 2021-08-05 | Sowing depth control device and method based on depth limiting arm pressure and angle adjustment |
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| CN113179715A (en) * | 2021-05-25 | 2021-07-30 | 中国农业大学 | Active seeding depth and suppression force adjusting system of no-tillage seeder |
| CN114793555A (en) * | 2022-05-27 | 2022-07-29 | 山东理工大学 | Ditching depth adjustment mechanism based on shovel point pressure |
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| CN113632621B (en) | 2022-11-11 |
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