CN113875368B - 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
- Publication number
- CN113875368B CN113875368B CN202111361831.8A CN202111361831A CN113875368B CN 113875368 B CN113875368 B CN 113875368B CN 202111361831 A CN202111361831 A CN 202111361831A CN 113875368 B CN113875368 B CN 113875368B
- Authority
- CN
- China
- Prior art keywords
- seedling
- data
- container
- door opening
- rotation angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 32
- 241000196324 Embryophyta Species 0.000 description 13
- 230000006978 adaptation Effects 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
- 238000004891 communication Methods 0.000 description 1
Classifications
-
- 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
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 control system and the control method of the seedling throwing device can effectively avoid the situations of seedling breaking, seedling connection and the like during seedling throwing, ensure that the seedling container can realize continuous seedling throwing, improve seedling throwing efficiency, and realize automatic seedling planting according to fixed plant spacing 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
In the planting process of the traditional Chinese medicinal materials such as astragalus mongholicus and the like, seeds grow into seedlings in a seedling raising chamber, and then the seedlings are transplanted to a field for continuous growth. In the transplanting process, seedlings are planted underground at a fixed depth at a vertical angle, so that the grown medicinal materials are good in quality and high in yield.
The existing seedling throwing device of transplanting machinery cannot effectively control the angle of throwing the seedlings, and when the seedling loading amount is large, the seedlings cannot be effectively separated, the conditions of breaking the seedlings, connecting the seedlings and the like are easy to occur, and the continuity of throwing the seedlings is affected. How to improve the efficiency of seedling transplanting, design an automatic transplanting device suitable for seedling characteristics, so that the seedlings can be automatically planted according to fixed plant spacing, and the problem to be solved by the person skilled in the art is urgent.
Disclosure of Invention
The invention aims at: aiming at the problems, the invention provides a control system and a control method of a seedling throwing device, which can effectively avoid the situations of seedling breaking, seedling connection and the like during seedling throwing, ensure that a seedling container can realize continuous seedling throwing, improve seedling throwing efficiency, and realize automatic planting of seedlings according to fixed plant spacing by controlling the opening frequency of a door opening mechanism.
The technical scheme adopted by the invention is as follows:
a seedling throwing device control system comprises a control module, a detection module for detecting moving state data of a seedling container and a door opening driving module for controlling a door opening mechanism to open and close; 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 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, a plurality of seedling emergence openings are formed in the seedling emergence unit, the seedling emergence openings and the seedling throwing part form a plurality of ring layers in one-to-one correspondence, and a door opening mechanism for controlling the opening and closing of the seedling emergence openings is correspondingly arranged at each seedling emergence opening.
Due to the adoption of the technical scheme, the multi-ring-layer structure ensures that the seedling container can load the seedling loading quantity meeting the requirements of transplanting machinery; the seedling loading container is driven to rotate relative to the seedling emergence unit, the data of the moving state of the seedling loading container is detected through the detection module and transmitted to the control module, the control module controls the door opening mechanism to throw seedlings according to the data of the moving state of the seedling loading container, the situations of broken seedlings, continuous seedlings and the like during seedling throwing can be effectively avoided, the seedling loading container is ensured to realize continuous seedling throwing, and the seedling throwing efficiency is improved.
Further, the moving state data comprise data of the number of rotation turns n and the rotation angle theta, and the detection module transmits the data of the number of rotation turns n and the rotation angle theta of the seedling container to the control module in real time; the control module transmits control signals to the door opening driving module according to the data of the rotation number n and the rotation angle theta.
By adopting the technical scheme, the frequency of seedling throwing can be controlled according to the data of the rotation number 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 planted automatically according to fixed plant spacing.
Further, the detection module comprises a rotary encoder for detecting the rotation angle theta of the rotating shaft, and the rotary encoder is matched with the rotating shaft of the seedling container.
Due to the adoption of the technical scheme, the rotary encoder is used for detecting the rotation angle theta of the rotating shaft, the structure is simple, and the detected data are accurate.
Further, the detection module further comprises a counting device, the rotary encoder is in signal connection with the counting device, data of the rotation angle theta of the seedling container are transmitted to the counting device, and the counting device obtains data of the rotation number n according to the data of the rotation angle theta of the seedling container.
By adopting the technical scheme, the counting device counts one rotation of the seedling container after the rotary encoder detects that the rotating shaft rotates 360 degrees.
Further, the number of the ring layers of the seedling throwing part 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 Kth ring layer from inside to outside is A=KX, and X is the number of the seedling throwing parts contained in the innermost ring layer; the control module controls the door opening mechanism of the K-th layer to open the door once through K seedling throwing parts.
By adopting the technical scheme, under the condition that the rotating shaft speed is constant, the rotating angular speed of each circle of layer is unchanged but the linear speed is in a linear relation, so that seedlings can be automatically planted according to fixed plant spacing by controlling the opening frequency of the door opening mechanism.
Further, the door opening device further comprises a power supply unit, wherein the power supply unit can supply electric energy to 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 a seedling 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-ring layer structure; the seedling container is rotatably connected with a seedling emergence unit, a plurality of seedling emergence openings are formed in the seedling emergence unit, the seedling emergence openings and the seedling throwing part form a plurality of ring layers in one-to-one correspondence, and a door opening mechanism for controlling the opening and closing of the seedling emergence openings is correspondingly arranged at each seedling emergence opening; the method comprises the following steps:
collecting container data of container seedlings: starting a rotating shaft, driving the seedling container to rotate relative to the seedling 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;
a door opening decision step: 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;
and (3) seedling throwing: and after receiving the control signal of the control module, the door opening driving module drives the corresponding door opening mechanism to be opened, so that seedlings are thrown down from the corresponding seedling emergence openings.
By adopting the technical scheme, the seedling loading container is driven to rotate relative to the seedling emergence unit, the data of the moving state of the seedling loading container is detected through the detection module and 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 loading container, the situations of broken seedlings, continuous seedlings and the like during seedling throwing can be effectively avoided, the seedling loading container can be ensured to realize continuous seedling throwing, and the seedling throwing efficiency is improved.
Further, in the step of collecting the seedling container data, the detection module detects the rotation angle of the rotating shaft through the rotary encoder, the rotary encoder transmits 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 of the seedling container and the data of the rotation angle theta to the control module in real time.
Due to the adoption of the technical scheme, the frequency of seedling throwing can be controlled according to the data of the rotation number 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 planted automatically according to fixed plant spacing; the rotary encoder can directly detect the rotation angle theta of the rotating shaft, the structure is simple, the detected data are accurate, and the counting device counts one rotation of the seedling container after detecting that the rotating shaft rotates 360 degrees.
Further, the number of the ring layers of the seedling throwing part is K, K is an integer greater than or equal to 1, the number of the seedling throwing parts contained in the K-th ring layer is A=KX, and X is the number of the seedling throwing parts contained in the innermost ring layer; in the door opening decision step, the door opening mechanism of the K-th layer opens the door once through K seedling throwing parts, and seedlings of the K-th layer are thrown after the rotating shaft rotates for K circles.
By adopting the technical scheme, under the condition that the rotating shaft speed is constant, the rotating angular speed of each circle of layer is unchanged but the linear speed is in a linear relation, so that seedlings can be automatically planted according to fixed plant spacing by controlling the opening frequency of the door opening mechanism.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. the invention can effectively avoid the situations of seedling breaking, seedling connection and the like during seedling throwing, ensures that the seedling container can realize continuous seedling throwing, and improves seedling throwing efficiency.
2. The invention can realize automatic planting of seedlings according to fixed plant spacing 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 number of the seedling container through the counting device.
5. The invention can ensure larger seedling loading quantity under the condition of automatic operation.
6. The invention realizes automatic seedling throwing without manual assistance.
Drawings
FIG. 1 is a schematic flow chart of a control system of a seedling throwing device of the 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 seedling throwing device of the present invention;
fig. 4 is a bottom view of the seedling throwing apparatus of the present invention.
The marks in the figure: 1-seedling container, 2-seedling emergence unit, 101-seedling throwing part, 102-rotating shaft, 201-seedling emergence port and 202-door opening mechanism.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
1-4, a seedling throwing device control system comprises a control module, a detection module for detecting moving state data of a seedling container 1 and a door opening driving module for controlling a door opening mechanism 202 to open and close; 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 seedling throwing parts 101 are arranged around the rotating shaft 102 to form a 16-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 part 101 form a plurality of ring 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. Specifically, the multi-turn layer structure ensures that the seedling container 1 can be loaded with seedling loading quantity meeting the requirements of transplanting machinery; the seedling container 1 is driven to rotate relative to the seedling emergence unit 2, the data of the moving state of the seedling container 1 is detected through the detection module, the data are transmitted to the control module, the control module controls the door opening mechanism 202 to throw seedlings according to the data of the moving state of the seedling container 1, the situations of broken seedlings, continuous seedlings and the like during seedling throwing can be effectively avoided, the seedling container 1 can be ensured to realize continuous seedling throwing, and the seedling throwing efficiency is improved.
The moving state data comprise data of the number of rotation turns n and the rotation angle theta, and the detection module transmits the data of the number of rotation turns n and the rotation angle theta of the seedling container 1 to the control module in real time; the control module transmits control signals to the door opening driving module according to the data of the rotation number n and the rotation angle theta. Specifically, the frequency of seedling throwing can be controlled according to the data of the rotation number 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 planted automatically according to fixed plant spacing.
The detection module comprises a rotary encoder 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 rotation angle θ of the rotation shaft 102 is detected by the rotary encoder, and 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, data of the rotation angle theta of the seedling container 1 are transmitted to the counting device, and the counting device obtains data of the rotation number 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 after detecting 360 ° rotation of the rotating shaft 102 by the rotary encoder.
The number of the ring layers of the seedling throwing part 101 is K, K is an integer greater 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 Kth ring layer from inside to outside is A=KX, 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 Kth layer to open the door once every time the K seedling throwing parts 101 pass. Specifically, under the condition that the speed of the rotating shaft 102 is constant, the angular speed of rotation of each layer is constant but the linear speed is in a linear relation, so that seedlings can be automatically planted at fixed plant spacing by controlling the opening frequency of the door opening mechanism 202.
Preferably, the number of the innermost ring seedling throwing parts 101 is X (X may be different according to different working conditions), the number of the second ring seedling throwing parts 101 from inside to outside is 2X, the number of the third ring seedling throwing parts 101 from inside to outside is 3X, and so on. When the seedlings of the innermost ring are thrown, the seedling emergence openings 201 corresponding to the seedling throwing parts 101 of the innermost ring are always opened, the rest fifteen seedling emergence openings 201 are closed, and the seedlings of the innermost ring are thrown after the seedling container 1 rotates for one circle. After the first circle of seedlings is thrown, the seedling outlet 201 corresponding to the first circle of seedlings is closed, at this time, because the number of the seedling throwing parts 101 of the second circle is 2X, the rotation speed ratio of the seedling container 1 is unchanged, so that the angular speed of the second circle is unchanged and is 2 times that of the first circle, namely 2X seedlings can be thrown every circle, but in order to ensure that the seedlings can be planted automatically according to fixed plant spacing, when the detection module detects that the first circle of seedlings are thrown and the second circle of seedlings are thrown, the control module controls the seedling emergence corresponding to the second circle of seedling throwing parts 101 to be started once every time through the two seedling throwing parts 101, namely the seedling container 1 can throw the seedlings of the second circle after rotating for two circles. When the detection module detects that the second-circle seedling throwing is finished and performs the third-circle seedling throwing work, the control module controls the seedling outlet 201 corresponding to the third-circle seedling throwing part 101 to be opened once every time when the third-circle seedling throwing part 101 passes, namely, the seedling container 1 can throw the third-circle seedling after rotating for three circles. And the like, all the seedlings in the seedling container 1 are thrown, so that the seedlings are ensured to be planted automatically at fixed plant spacing.
The door opening device further comprises a power supply unit, wherein 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
1-4, a seedling throwing device control method is applied to a seedling throwing device, wherein the seedling throwing device comprises a seedling container 1 and a seedling emergence unit 2, 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 multi-ring 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 part 101 form a plurality of ring 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 container seedlings: starting a 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 a detection module, and transmitting the data to a control module in real time;
a door opening decision step: 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;
and (3) seedling throwing: after receiving the control signal of the control module, the door opening driving module drives the corresponding door opening mechanism 202 to open, so that seedlings are thrown from the corresponding seedling emergence openings 201.
Specifically, the seedling container 1 is driven to rotate relative to the seedling emergence unit 2, the data of the moving state of the seedling container 1 is detected through the detection module, the data is transmitted to the control module, the control module controls the door opening mechanism 202 to throw the seedlings according to the data of the moving state of the seedling container 1, the situations of broken seedlings, continuous seedlings and the like during seedling throwing can be effectively avoided, the seedling container 1 can be ensured to realize continuous seedling throwing, and the seedling throwing efficiency is improved.
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 frequency of seedling throwing can be controlled according to the data of the number n of rotation turns 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 planted automatically according to fixed plant spacing; the rotary encoder can directly detect the rotation angle theta of the rotating shaft 102, the structure is simple, the detected data are accurate, and the counting device counts one rotation of the seedling container 1 after detecting that the rotating shaft 102 rotates 360 degrees.
The number of the circle layers of the seedling throwing parts 101 is K, K is an integer greater than or equal to 1, the number of the seedling throwing parts 101 contained in the Kth 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 layer opens the door once through the K seedling throwing parts 101, and seedlings of the K-th layer are thrown after the rotation 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 layer is constant but the linear speed is in a linear relation, so that seedlings can be automatically planted at fixed plant spacing by controlling the opening frequency of the door opening mechanism 202.
The principles and embodiments of the present invention have been described herein with reference to specific examples, which are intended to be merely illustrative of the methods of the present invention and their core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, 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 explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Claims (6)
1. The seedling throwing device control system is characterized by comprising a control module, a detection module for detecting moving state data of a seedling container and a door opening driving module for controlling the door opening mechanism to open and close; 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 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, a plurality of seedling emergence openings are formed in the seedling emergence unit, the seedling emergence openings and the seedling throwing part form a plurality of ring layers in one-to-one correspondence, and a door opening mechanism for controlling the opening and closing of the seedling emergence openings is correspondingly arranged at each seedling emergence opening; the moving state data comprise data of the number of rotation turns n and the rotation angle theta, and the detection module transmits the data of the number of rotation turns n and the rotation angle theta of the seedling container to the control module in real time; the control module transmits a control signal to the door opening driving module according to the data of the rotation number n and the rotation angle theta; the number of the ring layers of the seedling throwing part is K, the number of the ring layers close to the rotating shaft is an integer greater than or equal to 1, the number of the seedling throwing parts contained in the Kth ring layer from inside to outside is A=KX, and X is the number of the seedling throwing parts contained in the innermost ring layer; the control module controls the door opening mechanism of the K-th layer to open the door once every time through K seedling throwing parts; the detection module comprises a rotary encoder for detecting the rotation angle theta of the rotating shaft, and the rotary encoder is matched with the rotating shaft of the seedling container.
2. The system of claim 1, 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 θ of the seedling container to the counting device, and the counting device obtains data of the rotation number n according to the data of the rotation angle θ of the seedling container.
3. The seedling device control system of claim 1, further comprising a power supply unit operable to provide electrical power to the control module, the detection module, and the door opening drive module.
4. The seedling device control system of claim 1, wherein the door opening mechanism is a push-pull electromagnet.
5. The seedling throwing device comprises a seedling container and a seedling emergence unit, wherein 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-ring layer structure; the seedling container is rotatably connected with a seedling emergence unit, a plurality of seedling emergence openings are formed in the seedling emergence unit, the seedling emergence openings and the seedling throwing part form a plurality of ring layers in one-to-one correspondence, and a door opening mechanism for controlling the opening and closing of the seedling emergence openings is correspondingly arranged at each seedling emergence opening; the number of the ring 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 ring layer is A=KX, and X is the number of the seedling throwing parts contained in the innermost ring layer; the method is characterized by comprising the following steps of:
collecting container data of container seedlings: starting a rotating shaft, driving the seedling container to rotate relative to the seedling 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, wherein the moving state data comprises data of the number of rotation turns n and the rotation angle theta, and the detection module transmits the data of the number of rotation turns n and the rotation angle theta of the seedling container to the control module in real time;
a door opening decision step: the control module transmits control signals to the door opening driving module according to the data of the rotation number n and the rotation angle theta, and the door opening mechanism of the Kth layer opens the door once through the K seedling throwing parts every time, and seedlings of the Kth layer are thrown after the rotation of the rotating shaft for K circles;
and (3) seedling throwing: and after receiving the control signal of the control module, the door opening driving module drives the corresponding door opening mechanism to be opened, so that seedlings are thrown down from the corresponding seedling emergence openings.
6. The method according to claim 5, wherein in the step of collecting the container data, the detecting module detects the rotation angle of the rotating shaft through a rotary encoder, the rotary encoder transmits the collected data of the rotation angle θ of the container to the counting device, the counting device calculates the data of the rotation number n according to the data of the rotation angle θ of the container, and the detecting module transmits the data of the rotation number n and the rotation angle θ of the container to the control module in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111361831.8A CN113875368B (en) | 2021-11-17 | 2021-11-17 | Seedling throwing device control system and seedling throwing device control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111361831.8A CN113875368B (en) | 2021-11-17 | 2021-11-17 | Seedling throwing device control system and seedling throwing device control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113875368A CN113875368A (en) | 2022-01-04 |
| CN113875368B true CN113875368B (en) | 2023-12-26 |
Family
ID=79017799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111361831.8A Active CN113875368B (en) | 2021-11-17 | 2021-11-17 | Seedling throwing device control system and seedling throwing device control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113875368B (en) |
Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002045010A (en) * | 2000-07-31 | 2002-02-12 | Iseki & Co Ltd | Seedling transplanter |
| JP2002119108A (en) * | 2000-10-18 | 2002-04-23 | Iseki & Co Ltd | Seedling feeder of seedling transplanter |
| CN1792133A (en) * | 2006-01-09 | 2006-06-28 | 浙江理工大学 | Differential level type ordering rice seedlings throwing device |
| JP2011019424A (en) * | 2009-07-14 | 2011-02-03 | Iseki & Co Ltd | Automatic seedling planter for multiple number of rows |
| CN102246625A (en) * | 2011-05-23 | 2011-11-23 | 于宪臣 | Mechanical seedling feeding transplanter |
| JP2012039982A (en) * | 2010-08-23 | 2012-03-01 | Iseki & Co Ltd | Transplanter |
| CN103548457A (en) * | 2013-10-23 | 2014-02-05 | 安徽农业大学 | Singlechip-based cavity-prevention seedling dropping device of pot seedling transplanting machine |
| CN203723044U (en) * | 2013-09-09 | 2014-07-23 | 淮安市滨湖机械有限公司 | Seedling feeding hopper mechanism for automatic transplanting machine |
| CN104335743A (en) * | 2013-08-02 | 2015-02-11 | 高华德 | Automatic rice seedling caster |
| CN105340437A (en) * | 2015-11-23 | 2016-02-24 | 云南烟草机械有限责任公司 | Electric rotating digging self-propelled tobacco seedling transplanter |
| JP2016027834A (en) * | 2015-11-26 | 2016-02-25 | 井関農機株式会社 | Transplanter |
| CN105580543A (en) * | 2016-02-29 | 2016-05-18 | 中国农业大学 | Single-grain precision seed sowing device of non-circular seeds |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
| CN106385896A (en) * | 2016-08-29 | 2017-02-15 | 江苏大学 | Seedling separating apparatus based on gear-rack transmission |
| CN106561127A (en) * | 2016-10-20 | 2017-04-19 | 江苏大学 | Control system and control method for seedling dropping of automatic transplanting machine |
| CN206790954U (en) * | 2017-06-02 | 2017-12-26 | 邢台双环种业有限公司 | A kind of wild cabbage rice seedling transplanter |
| CN107711010A (en) * | 2017-10-14 | 2018-02-23 | 潘颍芳 | Capsicum duplicate rows transplanter |
| WO2019148782A1 (en) * | 2018-02-02 | 2019-08-08 | 江苏大学 | Automatic transplanting machine for plug seedling, and control method therefor |
| CN110140493A (en) * | 2019-06-26 | 2019-08-20 | 四川农业大学 | A kind of automatic transplanter of non-clamping type |
| CN209643335U (en) * | 2018-11-30 | 2019-11-19 | 青岛农业大学 | Pot seedling automatic transplanting |
| CN111670658A (en) * | 2020-07-16 | 2020-09-18 | 中卫市天元锋农业机械制造有限责任公司 | Mechatronic's selenium sand melon seedling transplanter |
| CN213784156U (en) * | 2020-11-26 | 2021-07-27 | 张广达 | Disc type seedling throwing cup structure |
| CN214228866U (en) * | 2020-11-10 | 2021-09-21 | 张国军 | Novel seedling throwing device of seedling transplanter |
| CN216567074U (en) * | 2021-11-17 | 2022-05-24 | 甘肃赫博陇药科技有限责任公司 | Control equipment of seedling throwing device |
-
2021
- 2021-11-17 CN CN202111361831.8A patent/CN113875368B/en active Active
Patent Citations (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002045010A (en) * | 2000-07-31 | 2002-02-12 | Iseki & Co Ltd | Seedling transplanter |
| JP2002119108A (en) * | 2000-10-18 | 2002-04-23 | Iseki & Co Ltd | Seedling feeder of seedling transplanter |
| CN1792133A (en) * | 2006-01-09 | 2006-06-28 | 浙江理工大学 | Differential level type ordering rice seedlings throwing device |
| JP2011019424A (en) * | 2009-07-14 | 2011-02-03 | Iseki & Co Ltd | Automatic seedling planter for multiple number of rows |
| JP2012039982A (en) * | 2010-08-23 | 2012-03-01 | Iseki & Co Ltd | Transplanter |
| CN102246625A (en) * | 2011-05-23 | 2011-11-23 | 于宪臣 | Mechanical seedling feeding transplanter |
| CN104335743A (en) * | 2013-08-02 | 2015-02-11 | 高华德 | Automatic rice seedling caster |
| CN203723044U (en) * | 2013-09-09 | 2014-07-23 | 淮安市滨湖机械有限公司 | Seedling feeding hopper mechanism for automatic transplanting machine |
| CN103548457A (en) * | 2013-10-23 | 2014-02-05 | 安徽农业大学 | Singlechip-based cavity-prevention seedling dropping device of pot seedling transplanting machine |
| CN105340437A (en) * | 2015-11-23 | 2016-02-24 | 云南烟草机械有限责任公司 | Electric rotating digging self-propelled tobacco seedling transplanter |
| JP2016027834A (en) * | 2015-11-26 | 2016-02-25 | 井関農機株式会社 | Transplanter |
| CN105580543A (en) * | 2016-02-29 | 2016-05-18 | 中国农业大学 | Single-grain precision seed sowing device of non-circular seeds |
| CN106385896A (en) * | 2016-08-29 | 2017-02-15 | 江苏大学 | Seedling separating apparatus based on gear-rack transmission |
| CN106358537A (en) * | 2016-10-20 | 2017-02-01 | 江苏大学 | Automatic transplanting machine for plug seedlings and control system thereof |
| CN106561127A (en) * | 2016-10-20 | 2017-04-19 | 江苏大学 | Control system and control method for seedling dropping of automatic transplanting machine |
| CN206790954U (en) * | 2017-06-02 | 2017-12-26 | 邢台双环种业有限公司 | A kind of wild cabbage rice seedling transplanter |
| CN107711010A (en) * | 2017-10-14 | 2018-02-23 | 潘颍芳 | Capsicum duplicate rows transplanter |
| WO2019148782A1 (en) * | 2018-02-02 | 2019-08-08 | 江苏大学 | Automatic transplanting machine for plug seedling, and control method therefor |
| CN209643335U (en) * | 2018-11-30 | 2019-11-19 | 青岛农业大学 | Pot seedling automatic transplanting |
| CN110140493A (en) * | 2019-06-26 | 2019-08-20 | 四川农业大学 | A kind of automatic transplanter of non-clamping type |
| CN111670658A (en) * | 2020-07-16 | 2020-09-18 | 中卫市天元锋农业机械制造有限责任公司 | Mechatronic's selenium sand melon seedling transplanter |
| CN214228866U (en) * | 2020-11-10 | 2021-09-21 | 张国军 | Novel seedling throwing device of seedling transplanter |
| CN213784156U (en) * | 2020-11-26 | 2021-07-27 | 张广达 | Disc type seedling throwing cup structure |
| CN216567074U (en) * | 2021-11-17 | 2022-05-24 | 甘肃赫博陇药科技有限责任公司 | Control equipment of seedling throwing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113875368A (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212393213U (en) | Electric control high-speed precision seed sowing device for seeder | |
| CN216567074U (en) | Control equipment of seedling throwing device | |
| CN113875368B (en) | Seedling throwing device control system and seedling throwing device control method | |
| CN102150603B (en) | Multi-region selective intelligent irrigation system | |
| CN103636324A (en) | Non-independent large-grain crop miss-seeding compensation device | |
| CN103548457A (en) | Singlechip-based cavity-prevention seedling dropping device of pot seedling transplanting machine | |
| CN113892326B (en) | Direct planting machine and seedling throwing method | |
| CN216218725U (en) | Throw seedling device | |
| CN216123477U (en) | Direct planting machine | |
| CN112753320B (en) | Agricultural seeding device that digs pit | |
| CN113994802B (en) | Seedling throwing device and seedling throwing method | |
| CN109042277B (en) | Solar energy intelligence plant soilless culture device | |
| CN218006377U (en) | Agricultural thing networking vegetation monitoring device | |
| CN208007293U (en) | A kind of sowing unmanned plane | |
| CN103988617A (en) | Honeycomb seed division mechanism for cell drill seeder | |
| CN203851463U (en) | Honeycomb-type seed distribution mechanism for cell drill seeder | |
| CN113179709A (en) | Single-hole single-grain collection-inclination type rice precision seed sowing device | |
| CN208029415U (en) | Electric transplanter with intelligent parts | |
| CN115586061B (en) | Soil sample pretreatment equipment and method for detecting soil cadmium | |
| CN110073779A (en) | A kind of seeds elimination structure for unmanned aerial vehicles sowing | |
| CN219812798U (en) | Soilless culture box for Chinese yam planting | |
| CN220068238U (en) | Grass seedling reseeding device for controlling grass seedling dilution rate of lawn | |
| CN220023560U (en) | Planting all-in-one | |
| CN214902089U (en) | Single-hole single-grain collection-inclination type rice precision seed sowing device | |
| CN220326373U (en) | Incubator is planted to kiwi fruit convenient to use |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |