CN113796189A - Accurate positioning and seeding system of corn no-tillage seeder - Google Patents
Accurate positioning and seeding system of corn no-tillage seeder Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/006—Minimum till seeding
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
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- General Physics & Mathematics (AREA)
- Sowing (AREA)
Abstract
A precise positioning and seeding system of a corn no-tillage seeding machine comprises the corn no-tillage seeding machine and a monitoring system, wherein the corn no-tillage seeding machine comprises a fertilizing module and a seeding module; the monitoring system comprises an upper computer, a controller, a vehicle speed monitoring device, a Beidou positioning module, a seeding monitoring module and a fertilizing monitoring module; the seeding monitoring module comprises a seeding amount information monitoring device, a seeding compensation device, a rolling pressure monitoring and controlling device and a seeding depth monitoring and controlling device, the seeding amount information monitoring device monitors the seeding condition in real time, the seeding compensation device controls the horizontal movement of the seed discharging pipe, the rolling pressure monitoring and controlling device monitors and adjusts the rolling pressure in real time, and the seeding depth monitoring and controlling device is used for monitoring and adjusting the seeding depth; the fertilization monitoring module is used for monitoring the fertilizer quantity and the blockage condition of the fertilization pipe; the big dipper positioning module is arranged on the main frame of the seeder and used for positioning the seeder; the vehicle speed monitoring device is used for acquiring vehicle speed. The invention can realize the accurate positioning and seeding of the corn.
Description
Technical Field
The invention belongs to the field of agricultural intelligent equipment engineering, and particularly relates to a precise positioning and seeding system of a corn no-tillage planter.
Background
The precision seeding technology becomes an important characteristic of modern agricultural production and is one of the important technologies for increasing yield and harvest and reducing grain production cost. The sowing depth control technology of the no-tillage sowing machine is an important link in the precise positioning sowing technology, proper and consistent sowing depth and rolling force are kept, good contact of seeds and soil is ensured, and the capillary action of the soil to a seed ditch is increased, so that the seeds are easy to absorb moisture from the soil, and the seeds are favorable for germination.
The accurate positioning seeding of the corn refers to an intelligent seeding technology for seeding corn seeds into the soil at fixed points and quantificationally according to the modern agricultural requirements and the accurate row spacing, the accurate planting distance and the seeding depth. Compared with precision seeding, the positioning of corn seeds in soil is emphasized more. The value of realizing accurate positioning seeding not only lies in saving seeds and reducing cost, but also lies in improving the seeding quality, leading the corn to emerge neatly, improving the utilization rate of light energy and land fertility, providing operation objects with highly consistent characters for medium-term management and harvest, and further effectively improving the yield of the corn.
However, the problems of missed seeding, rebroadcasting, blockage, poor seeding depth consistency and the like exist in the current corn seeding, and the realization and the popularization of accurate positioning seeding are restricted.
Disclosure of Invention
The invention aims to provide an accurate positioning seeding system of a no-tillage corn seeder, which aims at solving the problems of missed seeding, rebroadcasting, blockage, poor seeding depth consistency and the like in the corn seeding process, monitors and adjusts the seeding operation quality and realizes accurate positioning seeding.
In order to achieve the purpose, the invention adopts the technical scheme that: a precise positioning and seeding system of a corn no-tillage seeding machine comprises the corn no-tillage seeding machine and a monitoring system, wherein the corn no-tillage seeding machine comprises a fertilizing module and a seeding module which are arranged in a front-back corresponding mode, the monitoring system comprises an upper computer, a controller, a vehicle speed monitoring device, a Beidou positioning module, a seeding monitoring module and a fertilizing monitoring module, and the controller is in signal connection with the vehicle speed monitoring device, the Beidou positioning module, the seeding monitoring module and the fertilizing monitoring module;
the seeding monitoring module comprises a seeding amount information monitoring device, a seeding compensation device, a rolling force monitoring and controlling device and a seeding depth monitoring and controlling device; the seeding quantity information monitoring device is arranged in the middle of a seeding pipe of the seeding module and used for monitoring the phenomena of missed seeding and rebroadcasting, the seeding quantity and the seeding track in real time; the seeding compensation device is connected with the seed discharging pipe in a one-to-one manner so as to drive the seed discharging pipe to move in the horizontal plane; the pipe orifice of the seed discharging pipe is provided with a seed pressing strip to press seeds into the seed ditch; the pressing force monitoring and controlling device is arranged on a pressing wheel mechanism of the sowing module and used for monitoring the ground reaction force applied to the pressing wheel in real time and adjusting the pressing force of the pressing wheel to a range favorable for seed germination; the sowing depth monitoring and controlling device comprises a laser sensor and a sowing depth adjusting device which are arranged on the sowing module and are used for monitoring and adjusting the sowing depth;
the fertilization monitoring module is arranged on the fertilization module and used for monitoring the fertilizer quantity of a fertilizer box in the fertilization module and the blockage condition of a fertilization pipe;
the Beidou positioning module is arranged on a main frame of the seeder and is used for positioning the no-tillage corn seeder;
the speed monitoring device comprises a speed measuring sensor which is arranged above a gear of a land wheel shaft so as to monitor the advancing speed of the corn no-tillage planter.
The fertilization monitoring module comprises a fertilizer shortage sensor arranged on the fertilizer box and a fertilization blockage sensor arranged in the fertilization pipe.
The seeding module includes one or more seeding units, and the seeding unit sets gradually ditching mechanism, seeder and press wheel mechanism on the seeding unit mount including the front and back, and the seeding unit mount is connected in seeder assembly frame, is provided with biax angular transducer on the seeding unit mount to detect the seeding unit in the angle variation of X and Y direction, and give the controller with relevant angle information, control the position of seeding compensation arrangement to the seed metering pipe by the controller and adjust.
The seeding compensation device comprises a first support plate, a second support plate, a transitional connecting support, an X-direction linear driving mechanism and a Y-direction linear driving mechanism, wherein the first support plate is connected with the second support plate in a sliding mode through a pair of X-direction sliding mechanisms, the first support plate is connected with the transitional connecting support in a sliding mode through a pair of Y-direction sliding mechanisms, the transitional connecting support is fixedly connected with the lower end of a connecting rod, and the upper end of the connecting rod is fixedly connected with a seeding unit fixing frame; the seed sowing pipe is fixedly connected with the second bracket plate through a connecting piece; the two ends of the X-direction linear driving mechanism are respectively fixed on the first support plate and the second support plate, and the two ends of the Y-direction linear driving mechanism are respectively fixed on the first support plate and the transition connecting support.
The seeding compensation device is also provided with an X-direction displacement sensor and a Y-direction displacement sensor which are used for respectively detecting the X-direction displacement and the Y-direction displacement of the seeding pipe.
The lower end of the seed discharge pipe is bent towards the rear of the no-tillage corn planter, the whole seed pressing strip has elasticity, is arranged at the position of the pipe opening of the seed discharge pipe in a floating mode, extends backwards along the bending direction of the seed discharge pipe, and the width of the part, close to the pipe opening of the seed discharge pipe, of the seed pressing strip is larger than the caliber of the pipe opening of the seed discharge pipe.
The sowing quantity information monitoring device is a correlation type seed monitoring sensor and is arranged in the seed sowing pipe, and seeds pass through a detection area of the correlation type seed monitoring sensor.
The laser sensor among the monitoring of broadcasting depth and controlling means sets up on broadcasting depth monitoring mount to measure the height apart from ground, broadcasting depth adjusting device is the hydraulic pressure regulation pole, and the both ends of hydraulic pressure regulation pole are connected respectively on broadcasting depth monitoring mount and seeding unit mount, and the furrow opener setting that is used for excavating the seed ditch is on broadcasting depth monitoring mount to ensure that laser sensor and the terminal distance of furrow opener are fixed unchangeable at the regulation of broadcasting depth in-process.
The monitoring of suppression power and controlling means include suppression force transducer and servo electric putter, and the suppression force transducer lower extreme is connected with the sensor mount, and the upper end is connected with the threaded rod that the cover was equipped with compression spring, and the setting that the threaded rod can move about from top to bottom is on seeding unit mount, and the suppression wheel mount and the sensor mount fixed connection of installation suppression wheel, servo electric putter's both ends are connected respectively on suppression wheel mount and seeding unit mount to rise or fall adjustment suppression pressure through control suppression wheel.
Big dipper orientation module includes GNSS location receiver, radio station, preceding antenna and back antenna, and preceding antenna and back antenna interval set up on seeder total frame width direction's central line, and the radio station antenna is connected with the host computer, and communication protocol adopts NMEA0183 agreement, and whole module adopts 9~18V power supply, and a plurality of seed metering pipes average distribution of seeding module are in seeder total frame width direction's central line both sides.
The invention has the beneficial effects that: the invention can realize real-time monitoring of seeding and fertilizing information, can observe the magnitude of the pressing force and the seeding depth at any time, realize accurate positioning of seeds, collect the seeds passing through four seed tubes, and store the longitude and latitude information at the moment，The seed positions are marked individually by distance from the centerline and are indicated by dark green dots. Changing dark green dots to red dots if a replay phenomenon occurs at this timeIf the sowing is missed, the seed position is not marked; if the phenomena of blockage and fertilizer shortage occur, the green track is changed into a yellow track in the blockage and fertilizer shortage area, the non-fertilization area is displayed as a yellow rectangular block, and the seeding state can be observed at any time through the display of an industrial personal computer program interface; the accurate positioning seeding is realized, the plant spacing, the row spacing and the seeding depth of the corn can be effectively controlled, the germination rate of the seeds and the uniformity of seedling emergence in the later period are improved, and operation objects with highly consistent characters are provided for medium-period management and harvesting, so that the yield of the corn is effectively improved.
The invention is provided with a seeding compensation device, and the compensation is mainly to dynamically compensate the seeding position according to the displacement change of the seeding unit, so as to ensure that the seeding pipe seeds corresponding to the seed ditch and ensure the seeding uniformity.
The invention can realize the synchronous seed pressing effect, the seed pressing strip can effectively prevent the seeds from falling out of the ditch due to jumping, and the seed pressing strip can accurately press the seeds into the ditch holes formed by the furrow opener in the advancing process, thereby effectively avoiding the waste of the seeds and well ensuring the germination rate of the seeds.
The invention is designed with a sowing depth compensation mechanism, and the sowing depth is controlled mainly by controlling the height change of the sowing unit and the magnitude of the pressing force. The length that hydraulic pressure regulation pole and servo electric putter adjusted is confirmed to the signal that combines suppression force transducer and laser sensor to monitor to realize the regulation of depth of planting.
Drawings
FIG. 1 is a top view of a schematic structural diagram of a precise positioning and seeding system of a no-tillage corn seeder;
FIG. 2 is a side view of a schematic structural diagram of a precise positioning and seeding system of the no-tillage planter for corn of the invention;
FIG. 3 is a top plan view of a planting unit of the present invention;
FIG. 4 is a schematic structural diagram of a rolling force monitoring and controlling device according to the present invention;
FIG. 5 is a schematic view showing a coupling structure of the sowing compensation device and the sowing unit in the present invention;
FIG. 6 is a schematic diagram of the present invention of the monitoring of the depth of broadcast;
FIG. 7 is a schematic structural diagram of a correlation seed monitoring sensor according to the present invention;
the labels in the figure are: 1. PLC controller, 2, fertilizer shortage sensor, 3, fertilizing shaft, 4, fertilizer box, 5, RTK positioning antenna, 6, seeder general frame, 7, GNSS positioning receiver, 8, gear box, 9, profiling device connecting frame, 10, land wheel shaft, 11, supporting wheel, 12, seed box, 13, seed supplementing box, 14, land wheel, 15, vehicle speed monitoring device, 16, supporting wheel hydraulic lifting device, 17, fertilizing ditching fixing frame, 18, fertilizing ditching wheel, 19, fertilizing blocking sensor, 20, reel wheel, 21, furrow drawer, 22, land wheel shaft gear box, 23, scraper, 24, disc furrow opener, 25, seeding compensation device, 26, depth limiting wheel, 27, laser sensor, 28, press wheel, 29, servo electric push rod, 30, reel wheel fixing frame, 31, furrow drawer fixing frame, 32, seeding unit, 33, hydraulic adjusting rod, 34, seeder general frame, 6, seeding unit main frame, GNSS positioning receiver, fertilizing shaft, 9, profiling device connecting frame, 10, land wheel shaft, fertilizer-digging wheel, reel wheel, 21, furrow opener fixing frame, seeding unit, seeding compensation device, seeding unit, 25, seeding compensation device, seeding unit, and seeding unit, The seed sowing device comprises a seed sowing pipe, 35, a sowing depth monitoring fixing frame, 36, a transition connecting support, 37, a Y-direction push rod motor, 38, a Y-direction displacement sensor, 39, an overhanging beam, 40, a pressure spring, 41, a threaded rod, 42, a pulling pressure sensor, 43, a sensor fixing frame, 44, a press wheel fixing frame, 45, a seed pressing strip, 46, a seed sowing pipe fixing frame, 47, a connecting rod, 48 and an X-direction push rod motor, 49 and an X-direction displacement sensor, 50, a first supporting plate, 51, an X-direction guide rail, 52 and an X-direction sliding block, 53, a second supporting plate, 54, a Y-direction guide rail, 55 and a Y-direction sliding block, 56, a screw sleeved with a spring, 57, a transmitting end shell, 58, a transmitting end LED, 59, a connecting rod, 60, a receiving end diode hole, 61, a receiving end shell, 62 and a connecting hole slot.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples, but the invention is not limited thereto.
In the following description of the structure, the terms "front", "rear", "upper", "lower", "left" and "right" are used with reference to the forward direction in the actual operation of the seed sowing machine, and the terms "X direction" and "Y direction" refer to the lateral direction and the longitudinal direction of the seed sowing machine, respectively. The invention is described in detail below with reference to the accompanying drawings by way of specific embodiments. The illustration is only an example of a portion of a no-tillage planter and does not encompass all examples.
The utility model provides an accurate location seeding system of maize no-tillage seeder, maize no-tillage seeder and monitored control system, maize no-tillage seeder corresponds fertilization module and the seeding module that sets up including the front and back, monitored control system includes host computer, a controller, speed of a motor vehicle monitoring devices, big dipper orientation module, seeding monitoring module and fertilization monitoring module, can realize seeding information and fertilization information monitoring, seeding condition control, the missed seeding that appears in having solved maize seeding process, the rebroadcasting, jam and the poor scheduling problem of depth of sowing uniformity, monitor and adjust seeding operation quality, realize accurate location seeding, can effectively control maize plant spacing, line spacing and depth of sowing, improve seed germination percentage and later stage homogeneity of emerging, provide the operation object of property highly uniform for middle period management and results, thereby effectively improve the output of maize.
In this embodiment, as shown in fig. 1, the fertilizing module includes four fertilizing units disposed at the front of the main frame 6 of the seeding machine, and the seeding module includes four seeding units disposed at the rear of the main frame 6 of the seeding machine, and the respective structures of the fertilizing units and the seeding units are described below by taking one fertilizing unit and one seeding unit as an example.
The fertilizing unit comprises a fertilizer box 4, a fertilizing shaft 3, a fertilizing pipe and a fertilizing ditching wheel 18, the fertilizer box 4 and the fertilizing shaft 3 are arranged on the seeder main frame 6, and the fertilizing ditching wheel 18 is connected to the seeder main frame 6 through a fertilizing ditching fixing frame 17; the servo motor for fertilization drives the fertilizing shaft 3 in the fertilizer box 4 to rotate, the fertilizing shaft 3 stirs the fertilizer, the fertilizer falls down from the fertilizing pipe at the bottom of the fertilizer box 4 and enters the fertilizing groove opened by the fertilizing ditching wheel 18, and the rotating speed of the servo motor can control the fertilizing amount. For the real-time supervision of further realization to the fertilization, still set up fertilization monitoring module, fertilization monitoring module includes that the fertilization that sets up in the middle section of the pipe that fertilizies blocks up sensor 19 and the scarce fertile sensor 2 that sets up in the bottom of can fertilizer 4, and fertilization blocks up sensor 19 and is used for monitoring whether the pipe that fertilizies has the jam, and lack fertile sensor 2 and be used for monitoring the fertilizer volume in the can fertilizer 4, fertilization blocks up sensor 19 and lacks fertile sensor 2 and is capacitance sensor. When fertilizer is lacking and the fertilizing pipe is blocked, the upper computer displays fertilizing information on the interface and displays a red state to give an alarm.
As shown in fig. 2 and 3, the sowing unit comprises a ditching mechanism, a sowing device and a press wheel mechanism which are sequentially arranged on a fixing frame 32 of the sowing unit from front to back, and the fixing frame of the sowing unit is connected on a main frame 6 of the sowing machine through a connecting frame 9 of a copying device. In order to show the lower structure of the seed box, the conventional structures of the seed box, the seed replenishing box, the seed sowing device and the like are omitted in fig. 3.
As shown in fig. 2 and 3, the ditching mechanism comprises a ditching device 21 and a disc ditcher 24 which are arranged in a front-back corresponding mode, the ditching device 21 comprises a ditching wheel and a ditching device fixing frame 31, the ditching device fixing frame 31 is fixed in front of a sowing unit fixing frame 32, the ditching wheel is rotatably arranged on the ditching device fixing frame 31, the ditching wheel rotates along with the advancing of the sowing machine during sowing, and a shallow trench is carved on one side of a fertilizing trench which is carved by the fertilizing ditching wheel 18. The disc furrow opener 24 is arranged in front of a seed discharging pipe in the sowing device, and expands a furrow along the opened shallow furrow to open a seed furrow for sowing. Further, a reel fixing frame 30 is connected to the furrow opener fixing frame 31, and a reel 20 is mounted on the reel fixing frame 30 to reel off weeds which may appear in the sowing and walking process.
The seeding device comprises a seed box 12, a reseeding box 13, a seed metering device and a seed metering pipe 34. The seed supplementing box 13 is used for supplementing corn seeds to the seed box 12, the seed metering device discharges the seeds in the seed box 12 into a seed metering pipe 34 and then enters the opened seed ditch, the seed metering pipe 34 is a bent pipe which is bent backwards, the seeds jump when coming out of the seed metering pipe 34, and in order to prevent the seeds from jumping out of the seed ditch, a seed pressing strip 45 is arranged at the position of a pipe opening of the seed metering pipe 34, as shown in fig. 5. In the advancing process, the seed pressing strip 45 can accurately press seeds into the groove holes formed in the disc furrow opener 24, the waste of the seeds is effectively avoided, and the germination rate of the seeds can be well guaranteed.
As shown in FIG. 5, the seed pressing strip 45 has elasticity, and is floatingly arranged at the position of the nozzle of the seed tube 34 by a screw 56 sleeved with a spring, and the seed pressing strip 45 extends backwards along the bending direction of the seed tube 34, and the width of the part of the seed pressing strip 45 close to the nozzle of the seed tube 34 is larger than the caliber of the nozzle of the seed tube 34. The elasticity and floating installation of pressing kind strip 45 self can improve the trafficability characteristic to avoid pressing kind strip and bend.
In order to realize the monitoring of the sowing information, such as missing sowing, rebroadcasting and sowing quantity monitoring, a sowing quantity information monitoring device is arranged in the seed sowing pipe 34 and is a correlation type seed monitoring sensor, and a correlation type photoelectric sensor can be adopted. The structure of the correlation photoelectric sensor is shown in fig. 7, two ends of a connecting rod 59 are respectively connected with a connecting hole slot 62 of an emitting end shell 57 and a connecting hole slot 62 of a receiving end shell 61, an induction area is arranged between the two connecting rods 59, the emitting end shell 57 and the receiving end shell 61 are respectively fixed on the tube walls at two sides of a seed sowing tube, and when seeds fall down, signals passing between the two connecting rods 59 one by one are collected by the sensor and are uploaded to the controller.
The seed falling position prediction is completed on a seeding test bed, and the counted offset distribution rule after the prediction is completed is applied to the seeding machine. The seed falls along the seed metering pipe after coming out from the seed metering ware, and the rotary motion of seed metering ware and the collision motion of seed in the seed metering pipe for the seed falls to the ground the position and appears certain skew in the orificial center of seed metering relatively, calculates this offset and can further reachs the position that falls to the ground of seed, realizes the accurate location of seeding. Therefore, the invention utilizes the analysis software to track the target track and analyze the speed, visually displays the slight change which can not be observed by naked eyes, performs difference analysis on the image, is beneficial to accurately researching the motion rule of the target and performs optimization and improvement on the mechanism. Analyzing the speed and the acceleration of the target object by combining hydrodynamics and aerodynamics, searching factors influencing the speed and the acceleration of the target object, finding out the change rule of the speed and the acceleration, and predicting the motion trail of the target object. The seed falling track and the offset distribution rule of the seeds at the outlet of the seed discharging pipe are obtained, and a seed falling offset equation is established:
lateral offset:
longitudinal offset:
wherein,x-the transverse inclination is represented in equation 1 and the longitudinal inclination is represented in equation 2, in units of: (iv) DEG;
y—horizontal displacement of the plane, in units of: mm.
The transverse inclination angle and the longitudinal inclination angle are obtained by monitoring in real time by a double-shaft inclination angle sensor arranged on the seeder; the transverse direction refers to the width direction of the seeder, and the longitudinal direction refers to the length direction of the seeder.
The vehicle speed of the seeder can be obtained by the vehicle speed monitoring device 15. The speed monitoring device 15 adopts a gear speed measuring mode, the speed measuring sensor adopts a proximity switch, the proximity switch is fixed above the gear of the land wheel shaft 10 through an iron frame, in the actual work, when the land wheel 14 starts to roll to drive the land wheel shaft 10 to start rotating, the gear on the land wheel shaft 10 also starts to move, and the proximity switch records the interval time of two teetht，The speed of the seedervComprises the following steps:
in the formula (I), wherein,ttwo teeth are separated by time in unit s;bis the ground wheel radius in m;rthe transmission ratio of the land wheel to the land wheel shaft;vis the vehicle speed.
The longitude and latitude information of the seeder needs to be obtained through the arranged Beidou positioning module. The big dipper positioning module includes GNSS location receiver 7, radio station, preceding antenna and back antenna, and preceding antenna and back antenna are RTK location antenna 5, and preceding antenna and back antenna set up on 6 width direction's of seeder center line apart from 1m, and the radio station antenna is placed on the driver's cabin, is connected with the host computer through the serial ports, and communication protocol adopts NMEA0183 agreement, and whole module adopts 9~18V power supply power.
The working principle of the Beidou positioning module is as follows: when the seeder starts to work, the Beidou positioning module starts to acquire position information, the positioning position is the antenna center position of the rear antenna, and the advancing direction of the vehicle is judged by an included angle between a connecting line of the rear antenna and the front antenna and the due north direction. When sowing starts, the sowing and fertilizing tracks are unfolded into 1.4m green strips along the left and right sides of the center line of the sowing machine with the width of 2.8 meters, in the embodiment, four sowing units are arranged, so that two seeds are distributed on the left and right sides of the center line respectively, and the distances of four seed discharging pipes from the center line are known, so that the accurate positions of the four seeds can be further calculated.
Due to the unevenness of the field and even a certain gradient, when the seeder moves forward, the machine body can incline back and forth and left and right, the seeding uniformity is influenced, and even the seeding pipe can not be over against the opened seed ditch. In contrast, the seeding compensation device 25 is arranged on the seeding device, and the seeding compensation device 25 is mainly used for compensating the position of the seed discharging pipe 34 and controlling the front and back and left and right movement of the seed discharging pipe 34 so as to ensure stable column spacing and row spacing.
As shown in fig. 5, in order to compensate the position of the seed discharging pipe 24, the seed compensation device 25 includes a first support plate 50, a second support plate 53, a transition connection support 36, an X-direction linear driving mechanism, an X-direction displacement sensor 49, a Y-direction linear driving mechanism, and a Y-direction displacement sensor 38. The first support plate 50 is connected with the second support plate 53 in a sliding mode through a pair of X-direction sliding mechanisms, the first support plate 50 is connected with the transition connecting support 36 in a sliding mode through a pair of Y-direction sliding mechanisms, the transition connecting support 36 is fixedly connected with the lower end of the connecting rod 47, and the upper end of the connecting rod 47 is fixedly connected with the sowing unit fixing frame 32; the seed discharge pipe 24 is fixedly connected with the second bracket plate 53 through a seed discharge pipe fixing frame 46; the two ends of the X-direction linear driving mechanism are respectively fixed on the first support plate 50 and the second support plate 53, and the two ends of the Y-direction linear driving mechanism are respectively fixed on the first support plate 50 and the transition connecting support 36. An X-direction displacement sensor 49 is further connected between the first carriage plate 50 and the second carriage plate 53 to detect the displacement of the X-direction linear drive mechanism, and a Y-direction displacement sensor 38 is further connected between the first carriage plate 50 and the transitional coupling carriage 36 to detect the displacement of the Y-direction linear drive mechanism.
With continued reference to fig. 5, the X-direction sliding mechanism includes an X-direction guide rail 51 fixed on the first bracket plate 50 and an X-direction slider 52 slidably disposed on the X-direction guide rail 51, and the X-direction slider 52 is fixedly connected to the second bracket plate 53; the Y-direction sliding mechanism comprises a Y-direction guide rail 54 fixed on the first support plate 50 and a Y-direction slider 55 arranged on the Y-direction guide rail 54 in a sliding manner, and the Y-direction slider 55 is fixedly connected with the transitional connecting support 36.
The X-direction linear driving mechanism is an X-direction push rod motor 48, and the Y-direction linear driving mechanism is a Y-direction push rod motor 37.
The seeding compensation device works on the principle that the inclination change condition of the seed discharging pipe 34 needs to be acquired. To this end, a biaxial inclination sensor is provided on the sowing unit holder 32 to detect the angular changes of the sowing unit in the X and Y directions. The upper computer determines the position compensation range of the seed discharging pipe 34 according to the angle change condition of the seeding unit, and then controls the corresponding push rod motor to drive the seed discharging pipe 34 to move a certain distance along the X direction or the Y direction according to the position compensation range, so that the purpose of seeding position compensation is achieved. The X-direction displacement sensor 49 and the Y-direction displacement sensor 38 can detect the X-direction displacement and the Y-direction displacement of the seed discharging pipe 34, and the upper computer in the cab judges whether the position of the seed discharging pipe 34 is compensated in place or not according to the detection result.
In the process of sowing, the sowing depth also needs to be monitored and controlled so as to improve the germination rate. For this purpose, a sowing depth monitoring and controlling device is provided for monitoring and adjusting the sowing depth.
As shown in fig. 2 and 3, the sowing depth monitoring and controlling device includes a laser sensor 27 and a hydraulic adjusting rod 33, which are both mounted on a sowing depth monitoring fixing frame 35, two ends of the hydraulic adjusting rod 33 are respectively connected with the sowing depth monitoring fixing frame 35 and a sowing unit fixing frame 32 to control the sowing depth monitoring fixing frame 35 to vertically lift up and down, the laser sensor 27 is disposed on the sowing depth monitoring fixing frame 35 to measure the height from the ground, the disc furrow opener 24 is provided with two furrowing discs, the seed sowing pipe 34 is located between the two furrowing discs, the two furrowing discs are mounted on a shaft, the shaft is rotatably supported in a bearing seat, the bearing seat is fixed on the sowing depth monitoring fixing frame 35, and thus the distance between the laser sensor 27 and the tail end of the disc furrow opener 24 is fixed. The laser sensor 27 monitors that a sowing depth signal is uploaded to an industrial personal computer program through a PLC, the industrial personal computer controls the hydraulic adjusting rod 33 to stretch and retract to adjust the height of the sowing depth monitoring fixing frame 35, the ditching depth of the disc ditcher 24 is controlled, and then the sowing depth is adjusted.
The principle of monitoring the propagation depth of the laser sensor 27 is shown in fig. 6, and it is known that the fixed distance from the laser sensor 27 to the ground isd 2The distance from the laser sensor 27 to the ground isd 1Because the fixed distance of the laser sensor 27 from the ground is actually the vertical distance of the laser sensor 27 from the lowest point of the disc opener 24, the depth of the seed trench is therefored 3= d 2- d 1The instant sowing depth isd 3. When the seeder is in operation, the laser sensor 27 starts to continuously measure the height from the groundd 1And transmitting the measured data to the PLC through an analog input port so as to obtain the seeding depth.
Continuing to refer to fig. 2, in order to avoid the interference of the distance measurement of the laser sensor 27, a depth wheel 26 installed on the sowing depth monitoring fixing frame 35 is further arranged behind the disc furrow opener 24, the depth wheel 26 is two inclined wheels which are symmetrically arranged and have small inside and large outside, the sowing depth, soil crushing and soil collection are limited into a whole, the irradiation position of the laser sensor 27 is just in the area rolled by the depth wheel 26, the land smoothness is ensured, and the influence of sundries on laser is reduced. In addition, the arrangement of the depth wheel 26 can also improve the balance and stability of the sowing machine. The front of the depth wheel 26 is also provided with a scraper 23, and the edge of the scraper 23 contacts with the wheel surface of the depth wheel 26 to scrape off attached impurities such as soil.
The seeding compensation device can compensate the plant spacing and the row spacing, and the seeding depth monitoring and controlling device can control the seeding depth, thereby improving the consistency and the uniformity of the seeding depth.
The general frame 6 of the seeder is also provided with a supporting wheel 11 and a supporting wheel hydraulic lifting device 16, the supporting wheel hydraulic lifting device 16 controls the lifting or falling of the supporting wheel 11, and when the supporting wheel 11 is lifted to a certain height, the whole seeder is lowered down for seeding operation.
As shown in fig. 4, the press wheel mechanism include press wheel mount 44 and two press wheels, two press wheels are rotatable the installing on the press wheel mount 44 of V-arrangement, still be equipped with pressure monitoring and controlling means between press wheel mount 44 and the seeding unit mount 32, the reaction force on the ground that real-time supervision press wheel received and adjust the press force of press wheel to the scope that is favorable to the seed to sprout.
Continuing to refer to fig. 4, suppression power monitoring and controlling means includes suppression force transducer and servo electric putter 29, suppression force transducer adopts and draws pressure sensor 42, its lower extreme is connected with sensor mount 43, the upper end is connected with the threaded rod 41 that the cover was equipped with pressure spring 40, the setting that threaded rod 41 can move about from top to bottom is on the overhanging crossbeam 39 of seeding unit mount 32, the suppression wheel mount 44 and the sensor mount 43 fixed connection of installation suppression wheel, servo electric putter 29's both ends are connected respectively on suppression wheel mount 44 and seeding unit mount 32, in order to rise or fall the adjustment suppression pressure through control suppression wheel.
The tension and pressure sensor 42 can directly measure the tension and pressure in the vertical direction
Knowing the inclination angle of the V-shaped press wheel
From the formula
The transverse extrusion force of the V-shaped pressing wheel to the soil can be calculated.
In the actual operation in-process, the seeding machinery is whole to be put down, adjust the servo motor push rod under the plane state and make suppression device give with suitable suppression power, this suppression power is in the scope that suitable seed is grown, when suppression power because the violent change of complicated topography emergence and not when good suppression scope, suppression force transducer converts pressure signal into signal of telecommunication to PLC controller, transmit the host computer after handling, the length change of the servo electronic push rod of suppression control program control in the host computer, thereby control suppression wheel rises or whereabouts, make suppression power adjust to the scope that is favorable to the seed to sprout.
The controller of the invention can be programmed by the communication PLC programming software, and can carry out debugging and data monitoring in real time by the software. And according to the data transmission type of each sensor, distributing the PLC interfaces, developing a PLC program and realizing the actual functional requirements of the lower computer.
The upper computer adopts the industrial computer, installs in the seeder driver's cabin, and the industrial computer links to each other with PLC controller 1 through the serial port line. The upper computer adopts Visual Studio as upper computer monitoring program development software, adopts C # as the programming language of the no-tillage seeding operation quality monitoring system of corn, and the upper computer communicates with the PLC controller 1 through RS232 serial ports and realizes information exchange between the industrial personal computer and the PLC controller through a Modbus communication protocol, and finally completes the software design of the no-tillage seeding operation quality monitoring system of corn.
The invention can realize the real-time monitoring of the seeding and fertilizing information, the industrial personal computer programs designs a display interface which displays the seeding state in real time, the invention can observe the pressing force and the seeding depth at any time, and realize the accurate positioning of seeds, collects the seeds passing through four seed tubes, and stores the longitude and latitude information at the moment，O（x，y) Then is at this timeO（x，y) The length of the central line of the point back edge islIs on the left and right sides of the distance according to the vertical centerline distanced 1、d 2、d 3And d 4the marked seed positions are indicated by dark green dots, respectively. If the rebroadcasting phenomenon occurs at the moment, the dark green round dots are changed into red round dots, and the positions of the seeds are not marked if the rebroadcasting is missed; if the phenomena of blockage and fertilizer shortage occur, the green track is changed into a yellow track in the blockage and fertilizer shortage area, the non-fertilization area is displayed as a yellow rectangular block, and the seeding state can be observed at any time through the display of an industrial personal computer program interface; realizes accurate positioning seeding, can effectively control the plant spacing, the row spacing and the seeding depth of the corn, improves the germination rate of the seeds and the seedling emergence in the later periodUniformity, and provides operation objects with highly consistent characters for medium-term management and harvest, thereby effectively improving the yield of the corn.
The above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the same, and it should be understood by those of ordinary skill in the art that the specific embodiments of the present invention can be modified or substituted with equivalents with reference to the above embodiments, and any modifications or equivalents without departing from the spirit and scope of the present invention are within the scope of the claims to be appended.
Claims (10)
1. The utility model provides an accurate location seeding system of no-tillage seeder of maize, includes no-tillage seeder of maize and monitored control system, the no-tillage seeder of maize corresponds fertilization module and the seeding module that sets up including the front and back, its characterized in that: the monitoring system comprises an upper computer, a controller, a vehicle speed monitoring device, a Beidou positioning module, a seeding monitoring module and a fertilizing monitoring module, wherein the controller is in signal connection with the vehicle speed monitoring device, the Beidou positioning module, the seeding monitoring module and the fertilizing monitoring module;
the seeding monitoring module comprises a seeding amount information monitoring device, a seeding compensation device, a rolling force monitoring and controlling device and a seeding depth monitoring and controlling device; the seeding quantity information monitoring device is arranged in the middle of a seeding pipe of the seeding module and used for monitoring the phenomena of missed seeding and rebroadcasting, the seeding quantity and the seeding track in real time; the seeding compensation device is connected with the seed discharging pipe in a one-to-one manner so as to drive the seed discharging pipe to move in the horizontal plane; the pipe orifice of the seed discharging pipe is provided with a seed pressing strip to press seeds into the seed ditch; the pressing force monitoring and controlling device is arranged on a pressing wheel mechanism of the sowing module and used for monitoring the ground reaction force applied to the pressing wheel in real time and adjusting the pressing force of the pressing wheel to a range favorable for seed germination; the sowing depth monitoring and controlling device comprises a laser sensor and a sowing depth adjusting device which are arranged on the sowing module and are used for monitoring and adjusting the sowing depth;
the fertilization monitoring module is arranged on the fertilization module and used for monitoring the fertilizer quantity of a fertilizer box in the fertilization module and the blockage condition of a fertilization pipe;
the Beidou positioning module is arranged on a main frame of the seeder and is used for positioning the no-tillage corn seeder;
the speed monitoring device comprises a speed measuring sensor which is arranged above a gear of a land wheel shaft so as to monitor the advancing speed of the corn no-tillage planter.
2. The accurate positioning seeding system of the corn no-tillage planter of claim 1, wherein: the fertilization monitoring module comprises a fertilizer shortage sensor arranged on the fertilizer box and a fertilization blockage sensor arranged in the fertilization pipe.
3. The accurate positioning seeding system of the corn no-tillage planter of claim 1, wherein: the seeding module includes one or more seeding units, and the seeding unit sets gradually ditching mechanism, seeder and press wheel mechanism on the seeding unit mount including the front and back, and the seeding unit mount is connected in seeder assembly frame, is provided with biax angular transducer on the seeding unit mount to detect the seeding unit in the angle variation of X and Y direction, and give the controller with relevant angle information, control the position of seeding compensation arrangement to the seed metering pipe by the controller and adjust.
4. The accurate positioning and seeding system of the corn no-tillage planter of claim 3, wherein: the seeding compensation device comprises a first support plate, a second support plate, a transitional connecting support, an X-direction linear driving mechanism and a Y-direction linear driving mechanism, wherein the first support plate is connected with the second support plate in a sliding mode through a pair of X-direction sliding mechanisms, the first support plate is connected with the transitional connecting support in a sliding mode through a pair of Y-direction sliding mechanisms, the transitional connecting support is fixedly connected with the lower end of a connecting rod, and the upper end of the connecting rod is fixedly connected with a seeding unit fixing frame; the seed sowing pipe is fixedly connected with the second bracket plate through a connecting piece; the two ends of the X-direction linear driving mechanism are respectively fixed on the first support plate and the second support plate, and the two ends of the Y-direction linear driving mechanism are respectively fixed on the first support plate and the transition connecting support.
5. The accurate positioning and seeding system of the corn no-tillage planter according to claim 4, wherein: the seeding compensation device is also provided with an X-direction displacement sensor and a Y-direction displacement sensor which are used for respectively detecting the X-direction displacement and the Y-direction displacement of the seeding pipe.
6. The precise positioning and seeding system of the corn no-tillage planter of claim 1 or 3, wherein: the lower end of the seed discharge pipe is bent towards the rear of the no-tillage corn planter, the whole seed pressing strip has elasticity, is arranged at the position of the pipe opening of the seed discharge pipe in a floating mode, extends backwards along the bending direction of the seed discharge pipe, and the width of the part, close to the pipe opening of the seed discharge pipe, of the seed pressing strip is larger than the caliber of the pipe opening of the seed discharge pipe.
7. The accurate positioning seeding system of the corn no-tillage planter of claim 1, wherein: the sowing quantity information monitoring device is a correlation type seed monitoring sensor and is arranged in the seed sowing pipe, and seeds pass through a detection area of the correlation type seed monitoring sensor.
8. The accurate positioning seeding system of the corn no-tillage planter of claim 1, wherein: the laser sensor among the monitoring of broadcasting depth and controlling means sets up on broadcasting depth monitoring mount to measure the height apart from ground, broadcasting depth adjusting device is the hydraulic pressure regulation pole, and the both ends of hydraulic pressure regulation pole are connected respectively on broadcasting depth monitoring mount and seeding unit mount, and the furrow opener setting that is used for excavating the seed ditch is on broadcasting depth monitoring mount to ensure that laser sensor and the terminal distance of furrow opener are fixed unchangeable at the regulation of broadcasting depth in-process.
9. The accurate positioning seeding system of the corn no-tillage planter of claim 1, wherein: the monitoring of suppression power and controlling means include suppression force transducer and servo electric putter, and the suppression force transducer lower extreme is connected with the sensor mount, and the upper end is connected with the threaded rod that the cover was equipped with compression spring, and the setting that the threaded rod can move about from top to bottom is on seeding unit mount, and the suppression wheel mount and the sensor mount fixed connection of installation suppression wheel, servo electric putter's both ends are connected respectively on suppression wheel mount and seeding unit mount to rise or fall adjustment suppression pressure through control suppression wheel.
10. The accurate positioning seeding system of the corn no-tillage planter of claim 1, wherein: big dipper orientation module includes GNSS location receiver, radio station, preceding antenna and back antenna, and preceding antenna and back antenna interval set up on seeder total frame width direction's central line, and the radio station antenna is connected with the host computer, and communication protocol adopts NMEA0183 agreement, and whole module adopts 9~18V power supply, and a plurality of seed metering pipes average distribution of seeding module are in seeder total frame width direction's central line both sides.
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| CN202110914499.7A CN113796189A (en) | 2021-08-10 | 2021-08-10 | Accurate positioning and seeding system of corn no-tillage seeder |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114487351A (en) * | 2022-02-07 | 2022-05-13 | 湖南生物机电职业技术学院 | Transgenic rice soil farmland soil fertility monitoring balance system and equipment thereof |
| CN114651574A (en) * | 2022-02-22 | 2022-06-24 | 山东省农业科学院作物研究所 | Independent suspension mechanism and suspension type seeder |
| CN115553108A (en) * | 2022-10-10 | 2023-01-03 | 扬州大学 | Anti-blocking seed discharging tail end with seeding quantity monitoring function and anti-blocking method thereof |
| CN115773777A (en) * | 2023-02-13 | 2023-03-10 | 济宁中堃农业机械科技有限公司 | Cereal seeding rate monitoring devices |
| CN117490786A (en) * | 2023-12-29 | 2024-02-02 | 四川省农业机械科学研究院 | Flow detection alarm device of pneumatic conveying type corn planter |
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2021
- 2021-08-10 CN CN202110914499.7A patent/CN113796189A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114487351A (en) * | 2022-02-07 | 2022-05-13 | 湖南生物机电职业技术学院 | Transgenic rice soil farmland soil fertility monitoring balance system and equipment thereof |
| CN114487351B (en) * | 2022-02-07 | 2023-10-24 | 湖南生物机电职业技术学院 | Transgenic rice soil cultivated land force monitoring and balancing system and equipment thereof |
| CN114651574A (en) * | 2022-02-22 | 2022-06-24 | 山东省农业科学院作物研究所 | Independent suspension mechanism and suspension type seeder |
| CN114651574B (en) * | 2022-02-22 | 2023-05-09 | 山东省农业科学院作物研究所 | Independent suspension mechanism and suspension type seeder |
| CN115553108A (en) * | 2022-10-10 | 2023-01-03 | 扬州大学 | Anti-blocking seed discharging tail end with seeding quantity monitoring function and anti-blocking method thereof |
| CN115553108B (en) * | 2022-10-10 | 2023-09-01 | 扬州大学 | Anti-blocking seed metering terminal with sowing quantity monitoring function and anti-blocking method thereof |
| CN115773777A (en) * | 2023-02-13 | 2023-03-10 | 济宁中堃农业机械科技有限公司 | Cereal seeding rate monitoring devices |
| CN115773777B (en) * | 2023-02-13 | 2023-06-09 | 济宁中堃农业机械科技有限公司 | Cereal seeding rate monitoring devices |
| CN117490786A (en) * | 2023-12-29 | 2024-02-02 | 四川省农业机械科学研究院 | Flow detection alarm device of pneumatic conveying type corn planter |
| CN117490786B (en) * | 2023-12-29 | 2024-03-12 | 四川省农业机械科学研究院 | Flow detection alarm device of pneumatic conveying type corn planter |
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