CN113875368A - Seedling throwing device control system and seedling throwing device control method - Google Patents
Seedling throwing device control system and seedling throwing device control method Download PDFInfo
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- CN113875368A CN113875368A CN202111361831.8A CN202111361831A CN113875368A CN 113875368 A CN113875368 A CN 113875368A CN 202111361831 A CN202111361831 A CN 202111361831A CN 113875368 A CN113875368 A CN 113875368A
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims description 32
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000045403 Astragalus propinquus Species 0.000 description 1
- 235000006533 astragalus Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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Abstract
The invention discloses a seedling throwing device control system and a seedling throwing device control method, and relates to the field of transplanting machinery. The seedling throwing device control system and the seedling throwing device control method provided by the invention can effectively avoid the situations of seedling breaking, seedling connection and the like during seedling throwing, ensure that the continuous seedling throwing of the seedling container can be realized, improve the seedling throwing efficiency, and realize that the seedlings can be automatically planted according to a fixed planting distance by controlling the opening frequency of the door opening mechanism.
Description
Technical Field
The invention relates to the field of transplanting machinery, in particular to a seedling throwing device control system and a seedling throwing device control method.
Background
During planting of traditional Chinese medicinal materials such as astragalus membranaceus and the like, firstly, seedlings grow from seeds in a seedling growing chamber, and then, the seedlings are transplanted to a field to continue growing. In the transplanting process, the seedlings need to be planted under the ground with a fixed depth at a vertical angle, so that the grown medicinal materials are relatively good, and the medicine yield is high.
The seedling throwing device of the existing transplanting machine cannot effectively control the angle of the thrown seedlings, and when the seedling loading amount is large, the seedlings cannot be effectively separated from one another, so that the conditions of seedling breaking, seedling connection and the like are easy to occur, and the continuity of the thrown seedlings is influenced. How to improve the efficiency of seedling transplantation and design automatic transplanting equipment suitable for the characteristics of seedlings to ensure that the seedlings can be automatically planted according to fixed plant spacing becomes a problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to: aiming at the existing problems, the invention provides a seedling throwing device control system and a seedling throwing device control method, which can effectively avoid the conditions of seedling breaking, seedling connection and the like during seedling throwing, ensure that a seedling container can realize continuous seedling throwing, improve the seedling throwing efficiency, and realize that seedlings can be automatically planted according to a fixed planting distance by controlling the opening frequency of a door opening mechanism.
The technical scheme adopted by the invention is as follows:
a control system of a seedling throwing device comprises a control module, a detection module for detecting the moving state data of a seedling container and a door opening driving module for controlling the opening and closing of a door opening mechanism; the detection module is in signal connection with the control module, and the door opening driving module is in signal connection and controlled by the control module; the seedling container consists of a rotating shaft and a plurality of seedling throwing parts for loading single seedlings, and the plurality of seedling throwing parts are arranged around the rotating shaft to form a multi-circle layer structure; dress seedling container rotatable coupling has the unit of emerging, it is equipped with a plurality of mouths of emerging on the unit of emerging, it is a plurality of emerge mouth and throw seedling portion and form a plurality of circle layer one-to-one, every department of emerging corresponds and is equipped with the mechanism of opening a door that this mouth of emerging of control opened and shut.
Due to the adoption of the technical scheme, the seedling container can be loaded with the seedling loading amount meeting the requirements of the transplanting machine by the multi-circle-layer structure; the drive dress seedling container unit rotation of emerging relatively to detect dress seedling container moving state's data through detection module, and with this data transfer to control module, control module throws the seedling according to dress seedling container moving state's data control door opening mechanism, can effectively avoid appearing the circumstances such as disconnected seedling, continuous seedling when throwing the seedling, ensure that dress seedling container can realize throwing the seedling in succession, improve and throw seedling efficiency.
Furthermore, the moving state data comprises data of the number of turns n and the rotation angle theta, and the detection module transmits the data of the number of turns n and the rotation angle theta of the seedling container to the control module in real time; and the control module transmits a control signal to the door opening driving module according to the data of the number of rotation turns n and the rotation angle theta.
Due to the adoption of the technical scheme, the seedling throwing frequency can be controlled according to the data of the number of rotation turns n and the rotation angle theta, so that the interval time of seedling throwing between two adjacent seedlings is consistent, and the seedlings can be automatically planted according to a fixed planting distance.
Further, the detection module comprises a rotary encoder used for detecting the rotation angle theta of the rotating shaft, and the rotary encoder is matched with the rotating shaft of the seedling container.
By adopting the technical scheme, the rotary encoder is used for detecting the rotating angle theta of the rotating shaft, the structure is simple, and the detected data is accurate.
Furthermore, the detection module also comprises a counting device, the rotary encoder is in signal connection with the counting device and transmits data of the rotation angle theta of the seedling container to the counting device, and the counting device obtains data of the number of rotation turns n according to the data of the rotation angle theta of the seedling container.
By adopting the technical scheme, the counting device counts the rotation circle of the seedling container after the rotary encoder detects that the rotating shaft rotates for 360 degrees.
Furthermore, the number of the ring layers of the seedling throwing parts is K, K is an integer greater than or equal to 1, the ring layer close to the rotating shaft is an inner ring layer, the number of the seedling throwing parts contained in the K-th ring layer is A ═ KX from inside to outside, and X is the number of the seedling throwing parts contained in the innermost ring layer; and the control module controls the door opening mechanism of the K-th circle layer to open the door once through the K seedling throwing parts.
By adopting the technical scheme, under the condition that the speed of the rotating shaft is constant, the rotating angular speed of each circle of layers is not changed but the linear speed is in a linear relation, so that the seedlings can be automatically planted according to the fixed planting distance by controlling the opening frequency of the door opening mechanism.
Furthermore, the door opening device further comprises a power supply unit, and the power supply unit can provide electric energy for the control module, the detection module and the door opening driving module.
Further, the door opening mechanism is a push-pull electromagnet.
Correspondingly, the invention also discloses a control method of the seedling throwing device, which is applied to the seedling throwing device, wherein the seedling throwing device comprises a seedling container and an emergence unit, the seedling container consists of a rotating shaft and a plurality of seedling throwing parts for loading single seedlings, and the plurality of seedling throwing parts are arranged around the rotating shaft to form a multi-circle layer structure; the seedling container is rotatably connected with a seedling emergence unit, the seedling emergence unit is provided with a plurality of seedling emergence openings, the seedling emergence openings and the seedling throwing part form a plurality of circle layers in one-to-one correspondence, and each seedling emergence opening is correspondingly provided with a door opening mechanism for controlling the opening and closing of the seedling emergence opening; the method comprises the following steps:
collecting container data of the seedlings: starting a rotating shaft, driving a seedling container to rotate relative to an emergence unit through the rotating shaft, detecting data of the moving state of the seedling container by a detection module, and transmitting the data to a control module in real time;
door opening decision making: the control module transmits a control signal to the door opening driving module according to the data of the moving state of the seedling container;
seedling throwing: and after the door opening driving module receives the control signal of the control module, the corresponding door opening mechanism is driven to be opened, so that the seedlings are thrown from the corresponding seedling emergence opening.
By adopting the technical scheme, the seedling container is driven to rotate relative to the seedling emergence unit, the data of the moving state of the seedling container is detected through the detection module and is transmitted to the control module, the control module controls the door opening mechanism to throw the seedlings according to the data of the moving state of the seedling container, the situations of seedling breakage, seedling connection and the like can be effectively avoided when the seedlings are thrown, the continuous seedling throwing of the seedling container can be realized, and the seedling throwing efficiency is improved.
Furthermore, in the step of collecting the data of the seedling container, the detection module detects the rotation angle of the rotating shaft through a rotary encoder, the rotary encoder transmits the collected data of the rotation angle theta of the seedling container to the counting device, the counting device calculates the data of the rotation number n according to the data of the rotation angle theta of the seedling container, and the detection module transmits the data of the rotation number n and the rotation angle theta of the seedling container to the control module in real time.
Due to the adoption of the technical scheme, the seedling throwing frequency can be controlled according to the data of the number of rotation turns n and the rotation angle theta, so that the interval time of seedling throwing between two adjacent seedlings is consistent, and the seedlings can be ensured to be automatically planted according to a fixed planting distance; the rotary encoder can directly detect the rotation angle theta of the rotating shaft, the structure is simple, the detected data is accurate, and after the rotating shaft rotates 360 degrees, the counting device counts the seedling container for one rotation.
Furthermore, the number of the circle layers of the seedling throwing parts is K, K is an integer greater than or equal to 1, the number of the seedling throwing parts contained in the K-th circle layer is A-KX, and X is the number of the seedling throwing parts contained in the innermost circle layer; in the step of door opening decision, the door opening mechanism of the K-th circle layer opens the door once after passing through the K seedling throwing parts, and the seedlings of the K-th circle layer are thrown after the rotating shaft rotates for K circles.
By adopting the technical scheme, under the condition that the speed of the rotating shaft is constant, the rotating angular speed of each circle of layers is not changed but the linear speed is in a linear relation, so that the seedlings can be automatically planted according to the fixed planting distance by controlling the opening frequency of the door opening mechanism.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention can effectively avoid the conditions of seedling breaking, seedling connection and the like during seedling throwing, ensure that the continuous seedling throwing of the seedling container can be realized, and improve the seedling throwing efficiency.
2. The invention can realize the automatic planting of the seedlings according to the fixed planting distance by controlling the opening frequency of the door opening mechanism.
3. The invention detects the rotation angle theta of the rotating shaft through the rotary encoder, has simple structure and accurate detected data.
4. The invention can detect the rotation turns of the seedling container through the counting device.
5. The invention can ensure larger seedling loading amount under the condition of automatic operation.
6. The invention realizes automatic seedling throwing without manual assistance.
Drawings
FIG. 1 is a schematic flow diagram of a control system of a seedling throwing device according to the present invention;
FIG. 2 is a schematic structural view of the seedling throwing device of the present invention;
FIG. 3 is a top view of the present invention seedling device;
FIG. 4 is a bottom view of the seedling throwing device of the present invention.
The labels in the figure are: 1-seedling container, 2-seedling emergence unit, 101-seedling throwing part, 102-rotating shaft, 201-seedling emergence opening and 202-door opening mechanism.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
A seedling throwing device control system is shown in figures 1-4 and comprises a control module, a detection module for detecting the moving state data of a seedling container 1 and a door opening driving module for controlling the opening and closing of a door opening mechanism 202; the detection module is in signal connection with the control module, and the door opening driving module is in signal connection and controlled by the control module; the seedling container 1 consists of a rotating shaft 102 and a plurality of seedling throwing parts 101 for loading single seedlings, and the plurality of seedling throwing parts 101 are arranged around the rotating shaft 102 to form a 16-circle layer structure; dress seedling container 1 rotatable coupling has the unit 2 of emerging, it is equipped with a plurality of mouths 201 of emerging on the unit 2 of emerging, it is a plurality of emerge mouth 201 and throw seedling portion 101 and form a plurality of circle layers one-to-one, every mouth 201 department of emerging corresponds and is equipped with the mechanism 202 of opening a door that this mouth 201 of emerging of control opened and shut. Specifically, the multi-circle layer structure ensures that the seedling container 1 can load the seedling amount meeting the requirements of the transplanting machine; drive dress seedling container 1 is relative to the unit 2 rotation of emerging to detect the data of dress seedling container 1 moving state through detection module, and with this data transfer to control module, control module throws the seedling according to dress seedling container 1 moving state's data control door opening mechanism 202, can effectively avoid appearing the circumstances such as disconnected seedling, continuous seedling when throwing the seedling, ensure that dress seedling container 1 can realize throwing the seedling in succession, improve and throw seedling efficiency.
The moving state data comprises data of the number of turns n and the rotating angle theta, and the detection module transmits the data of the number of turns n and the rotating angle theta of the seedling container 1 to the control module in real time; and the control module transmits a control signal to the door opening driving module according to the data of the number of rotation turns n and the rotation angle theta. Specifically, the seedling throwing frequency can be controlled according to the data of the number of rotation turns n and the rotation angle theta, so that the interval time of seedling throwing between two adjacent seedlings is consistent, and the seedlings can be automatically planted according to a fixed planting distance.
The detection module comprises a rotary encoder used for detecting the rotation angle theta of the rotating shaft 102, and the rotary encoder is matched with the rotating shaft 102 of the seedling container 1. Specifically, the rotary encoder detects the rotation angle θ of the rotating shaft 102, the structure is simple, and the detected data is accurate.
The detection module further comprises a counting device, the rotary encoder is in signal connection with the counting device and transmits data of the rotation angle theta of the seedling container 1 to the counting device, and the counting device obtains data of the number of rotation turns n according to the data of the rotation angle theta of the seedling container 1. Specifically, the counting device counts one rotation of the seedling container 1 every time the rotary encoder detects that the rotary shaft 102 rotates 360 °.
The number of the ring layers of the seedling throwing parts 101 is K, K is an integer larger than or equal to 1, the ring layer close to the rotating shaft 102 is an inner ring layer, the number of the seedling throwing parts 101 contained in the K-th ring layer is KX from inside to outside, and X is the number of the seedling throwing parts 101 contained in the innermost ring layer; the control module controls the door opening mechanism 202 of the K-th circle layer to open the door once after passing through the K seedling throwing parts 101. Specifically, under the condition that the speed of the rotating shaft 102 is constant, the angular speed of rotation of each circle of layers is constant, but the linear speed is in a linear relation, so that the seedlings can be automatically planted according to a fixed planting distance by controlling the opening frequency of the door opening mechanism 202.
Preferably, the number of the innermost circle of seedling throwing portions 101 is X (X may be different according to different working conditions), the number of the second circle of seedling throwing portions 101 from inside to outside is 2X, the number of the 3 rd circle of seedling throwing portions 101 from inside to outside is 3X, and so on. When the seedling at the innermost circle is thrown, the seedling outlet 201 corresponding to the seedling throwing part 101 at the innermost circle is always opened, the rest fifteen seedling outlets 201 are closed, and the seedling container 1 rotates for one circle and then throws all the seedlings at the innermost circle. After throwing the first circle of seedlings, close the mouth of emergence 201 that corresponds first circle of seedling, this moment because of the second circle throw the number of seedling portion 101 and be 2X, the rotational speed ratio of dress seedling container 1 is unchangeable, so the unchangeable linear velocity of angular velocity of second circle is 2 times of first circle, 2X seedlings can be thrown in every turn promptly, but can carry out automatic planting according to fixed plant spacing for guaranteeing the seedling, when detecting module detects that first circle throw the seedling and finish and carry out the second circle and throw seedling work, every through two throw seedling portion 101, the emergence that control module control corresponds second circle and throw seedling portion 101 is opened once, dress seedling container 1 can throw the seedling of second circle after rotating two circles. When the detection module detects that the second circle of seedling throwing is finished and the third circle of seedling throwing is carried out, the control module controls the seedling outlet 201 corresponding to the third circle of seedling throwing part 101 to be opened once every three seedling throwing parts 101, namely the seedling container 1 can throw the seedlings in the third circle after rotating for three circles. By analogy, all the seedlings in the seedling container 1 are thrown, and the seedlings are ensured to be automatically planted at a fixed planting distance.
The door opening device further comprises a power supply unit, and the power supply unit can provide electric energy for the control module, the detection module and the door opening driving module.
The door opening mechanism 202 is a push-pull electromagnet.
Example 2
A control method of a seedling throwing device is applied to the seedling throwing device as shown in figures 1-4, the seedling throwing device comprises a seedling container 1 and an emergence unit 2, the seedling container 1 consists of a rotating shaft 102 and a plurality of seedling throwing parts 101 used for loading single seedlings, and the plurality of seedling throwing parts 101 are arranged around the rotating shaft 102 to form a multi-circle layer structure; the seedling container 1 is rotatably connected with a seedling emergence unit 2, a plurality of seedling emergence openings 201 are formed in the seedling emergence unit 2, the seedling emergence openings 201 and the seedling throwing portion 101 form a plurality of circle layers in one-to-one correspondence, and a door opening mechanism 202 for controlling the opening and closing of the seedling emergence openings 201 is correspondingly arranged at each seedling emergence opening 201; the method comprises the following steps:
collecting container data of the seedlings: starting the rotating shaft 102, driving the seedling container 1 to rotate relative to the seedling emergence unit 2 through the rotating shaft 102, detecting data of the moving state of the seedling container 1 by the detection module, and transmitting the data to the control module in real time;
door opening decision making: the control module transmits a control signal to the door opening driving module according to the data of the moving state of the seedling container 1;
seedling throwing: after the door opening driving module receives the control signal of the control module, the corresponding door opening mechanism 202 is driven to open, so that the seedlings are thrown from the corresponding seedling emergence opening 201.
Specifically speaking, drive dress seedling container 1 and relative the unit 2 that emerges to detect the data of dress seedling container 1 moving state through detection module, and transmit this data to control module, control module controls mechanism 202 of opening the door according to dress seedling container 1 moving state and throws the seedling, can effectively avoid appearing the circumstances such as disconnected seedling, continuous seedling when throwing the seedling, guarantee that dress seedling container 1 can realize throwing the seedling in succession, improve and throw seedling efficiency.
In the step of collecting the data of the seedling container 1, the detection module detects the rotation angle of the rotating shaft 102 through the rotary encoder, the rotary encoder transmits the collected data of the rotation angle theta of the seedling container 1 to the counting device, the counting device calculates the data of the rotation number n according to the data of the rotation angle theta of the seedling container 1, and the detection module transmits the data of the rotation number n and the rotation angle theta of the seedling container 1 to the control module in real time.
Specifically, the seedling throwing frequency can be controlled according to the data of the number of rotation turns n and the rotation angle theta, so that the interval time of seedling throwing between two adjacent seedlings is consistent, and the seedlings can be automatically planted according to a fixed planting distance; the rotary encoder can directly detect the rotation angle theta of the rotating shaft 102, the structure is simple, the detected data is accurate, and the counting device counts the seedling container 1 to rotate for one circle after the rotating shaft 102 rotates for 360 degrees.
The number of the circle layers of the seedling throwing parts 101 is K, K is an integer larger than or equal to 1, the number of the seedling throwing parts 101 contained in the K-th circle layer is A-KX, and X is the number of the seedling throwing parts 101 contained in the innermost circle layer; in the door opening decision step, the door opening mechanism 202 of the K-th circle layer opens the door once after passing through the K seedling throwing portions 101, and seedlings of the K-th circle layer are thrown after the rotating shaft 102 rotates for K circles.
Specifically, under the condition that the speed of the rotating shaft 102 is constant, the angular speed of rotation of each circle of layers is constant, but the linear speed is in a linear relation, so that the seedlings can be automatically planted according to a fixed planting distance by controlling the opening frequency of the door opening mechanism 202.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to aid in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (10)
1. A control system of a seedling throwing device is characterized by comprising a control module, a detection module for detecting the moving state data of a seedling container and a door opening driving module for controlling the opening and closing of a door opening mechanism; the detection module is in signal connection with the control module, and the door opening driving module is in signal connection and controlled by the control module; the seedling container consists of a rotating shaft and a plurality of seedling throwing parts for loading single seedlings, and the plurality of seedling throwing parts are arranged around the rotating shaft to form a multi-circle layer structure; dress seedling container rotatable coupling has the unit of emerging, it is equipped with a plurality of mouths of emerging on the unit of emerging, it is a plurality of emerge mouth and throw seedling portion and form a plurality of circle layer one-to-one, every department of emerging corresponds and is equipped with the mechanism of opening a door that this mouth of emerging of control opened and shut.
2. The seedling throwing device control system of claim 1, wherein the movement state data comprises data of the number of turns n and the rotation angle theta, and the detection module transmits the data of the number of turns n and the rotation angle theta of the seedling container to the control module in real time; and the control module transmits a control signal to the door opening driving module according to the data of the number of rotation turns n and the rotation angle theta.
3. The seedling device control system of claim 2, wherein the detection module comprises a rotary encoder for detecting a rotation angle θ of a rotating shaft, and the rotary encoder is matched with the rotating shaft of the seedling container.
4. The seedling throwing device control system of claim 3, wherein the detection module further comprises a counting device, the rotary encoder is in signal connection with the counting device and transmits data of the rotation angle theta of the seedling container to the counting device, and the counting device obtains data of the number of rotation turns n according to the data of the rotation angle theta of the seedling container.
5. The seedling throwing device control system of claim 2, wherein the number of the ring layers of the seedling throwing parts is K, K is an integer greater than or equal to 1, the ring layer close to the rotating shaft is an inner ring layer, the number of the seedling throwing parts contained in the K-th ring layer is A-KX from inside to outside, and X is the number of the seedling throwing parts contained in the innermost ring layer; and the control module controls the door opening mechanism of the K-th circle layer to open the door once through the K seedling throwing parts.
6. The seedling throwing device control system of claim 1, further comprising a power supply unit, wherein the power supply unit can provide electric energy to the control module, the detection module and the door opening driving module.
7. The seedling device control system of claim 1, wherein the door opening mechanism is a push-pull electromagnet.
8. A control method of a seedling throwing device is applied to the seedling throwing device, the seedling throwing device comprises a seedling container and an emergence unit, the seedling container consists of a rotating shaft and a plurality of seedling throwing parts for loading single seedlings, and the plurality of seedling throwing parts are arranged around the rotating shaft to form a multi-circle layer structure; the seedling container is rotatably connected with a seedling emergence unit, the seedling emergence unit is provided with a plurality of seedling emergence openings, the seedling emergence openings and the seedling throwing part form a plurality of circle layers in one-to-one correspondence, and each seedling emergence opening is correspondingly provided with a door opening mechanism for controlling the opening and closing of the seedling emergence opening; the method is characterized by comprising the following steps:
collecting container data of the seedlings: starting a rotating shaft, driving a seedling container to rotate relative to an emergence unit through the rotating shaft, detecting data of the moving state of the seedling container by a detection module, and transmitting the data to a control module in real time;
door opening decision making: the control module transmits a control signal to the door opening driving module according to the data of the moving state of the seedling container;
seedling throwing: and after the door opening driving module receives the control signal of the control module, the corresponding door opening mechanism is driven to be opened, so that the seedlings are thrown from the corresponding seedling emergence opening.
9. The method for controlling a seedling throwing device according to claim 8, wherein in the step of collecting the seedling container data, the detection module detects the rotation angle of the rotating shaft through a rotary encoder, the rotary encoder transmits the collected data of the rotation angle theta of the seedling container to a counting device, the counting device calculates the data of the number of rotation turns n according to the data of the rotation angle theta of the seedling container, and the detection module transmits the data of the number of rotation turns n and the data of the rotation angle theta of the seedling container to the control module in real time.
10. The seedling throwing device control method according to claim 9, wherein the number of the ring layers of the seedling throwing portions is K, K is an integer greater than or equal to 1, the number of the seedling throwing portions included in the kth ring layer is a ═ KX, and X is the number of the seedling throwing portions included in the innermost ring layer; in the step of door opening decision, the door opening mechanism of the K-th circle layer opens the door once after passing through the K seedling throwing parts, and the seedlings of the K-th circle layer are thrown after the rotating shaft rotates for K circles.
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