CN116097950A - Cultivator and automatic seeding control method - Google Patents

Cultivator and automatic seeding control method Download PDF

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Publication number
CN116097950A
CN116097950A CN202310157322.6A CN202310157322A CN116097950A CN 116097950 A CN116097950 A CN 116097950A CN 202310157322 A CN202310157322 A CN 202310157322A CN 116097950 A CN116097950 A CN 116097950A
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China
Prior art keywords
rope
seed
adjusting
cultivator
profiling
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CN202310157322.6A
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Chinese (zh)
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CN116097950B (en
Inventor
王宝龙
纳伊
刘建
刘宏岩
葛振波
潘宜虹
宁欣伟
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Hainan University
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Hainan University
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Priority to CN202310157322.6A priority Critical patent/CN116097950B/en
Priority claimed from CN202310157322.6A external-priority patent/CN116097950B/en
Publication of CN116097950A publication Critical patent/CN116097950A/en
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C1/00—Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting
    • A01C1/04—Arranging seed on carriers, e.g. on tapes, on cords ; Carrier compositions
    • A01C1/042—Tapes, bands or cords
    • 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
    • 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
    • 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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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Sowing (AREA)
  • Soil Working Implements (AREA)

Abstract

The application provides a cultivator and an automatic seeding control method, and relates to the field of agricultural equipment. The cultivating machine comprises a machine body and a direct seeding device, wherein the direct seeding device comprises a frame, a rope reel, a rope pressing mechanism, a profiling mechanism, an adjusting mechanism, a rope tensioning mechanism and a rope breaking mechanism; the device comprises a rope disc, a rope pressing mechanism, a rope tensioning mechanism, a profiling mechanism, an adjusting mechanism and a rope breaking mechanism, wherein the rope disc is used for storing and releasing a seed rope, the rope pressing mechanism is used for pressing the seed rope into a seed ditch, the rope tensioning mechanism is used for adjusting the tightness degree between the seed rope and the pinch roller rope, the profiling mechanism is used for simulating the topography fluctuation of a paddy field, and the adjusting mechanism is used for adjusting the posture of the frame; the method comprises the following steps: adjusting the speed of the rope reel for releasing the seed rope according to the advancing speed of the cultivator; controlling an adjusting mechanism to adjust the rope pressing mechanism according to the fluctuation state of the profiling mechanism; and controlling the rope breaking mechanism to break the seed rope according to the stop operation signal. The intelligent seeding efficiency of the cultivator is improved.

Description

Cultivator and automatic seeding control method
Technical Field
The application relates to the field of agricultural instrument automation, in particular to a cultivator and an automatic seeding control method.
Background
Rice farming machines have been accepted by more and more farmers because of their labor and cost savings. However, the original paddy planter is still a manual operation mode, and the operations of manually operating the lower part of the seed rope of the cultivator, adjusting the rope pressing mechanism, cutting the seed rope and the like are required, so that the paddy planter requires a driver to have certain operation experience, has low efficiency, and is not beneficial to agricultural modernization and intellectualization.
Disclosure of Invention
The present application aims to provide an automatic cultivator control method for solving the above technical problems in the related art, aiming at the defects in the prior art.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
the embodiment of the application provides an automatic seeding control method, which is applied to a cultivator, wherein the cultivator comprises a machine body and a direct seeding device, and the direct seeding device is connected with the machine body; the direct seeding device comprises a frame body, a rope reel, a rope pressing mechanism, a profiling mechanism, an adjusting mechanism, a seed rope tensioning mechanism and a rope breaking mechanism;
the device comprises a frame body, a rope disc, a rope pressing mechanism, a rope tensioning mechanism, a profiling mechanism, an adjusting mechanism and a rope breaking mechanism, wherein the rope disc is used for storing a seed rope and placing the seed rope, the rope pressing mechanism is used for pressing the seed rope in a seed groove when the seed rope is placed below the rope pressing mechanism in a rotating mode in the rope disc, the rope tensioning mechanism is used for adjusting the tightness degree between the seed rope and a pinch roller rope, the profiling mechanism is used for simulating the topography fluctuation of a paddy field, and the adjusting mechanism is used for adjusting the posture of the frame body;
the method comprises the following steps:
adjusting the falling speed of the seed rope according to the advancing speed of the cultivator;
the adjusting structure adjusts the lifting of the rope pressing mechanism according to the fluctuation state of the profiling mechanism;
and controlling the rope breaking mechanism to break the seed rope according to the stop operation signal.
Optionally, the adjusting the speed of the seed rope falling according to the travelling speed of the cultivator includes:
acquiring the current travelling speed of the cultivator;
and adjusting the rotation speed of the rope reel according to the advancing speed.
Optionally, the adjusting the speed of the seed rope falling according to the travelling speed of the cultivator includes:
acquiring the current travelling speed of the cultivator;
obtaining fluctuation data of the profiling mechanism;
and adjusting the rotation speed of the rope reel according to the current travelling speed of the cultivator and combining the fluctuation data of the profiling mechanism.
Optionally, the adjusting mechanism includes a suspension structure and a power unit, the power unit is respectively connected with the profiling mechanism and the suspension structure, and is characterized in that before adjusting the rotation speed of the rope reel according to the running speed of the cultivator and combining the heave data of the profiling mechanism, the adjusting mechanism further includes:
and controlling the power unit to adjust the posture of the suspension structure according to the fluctuation data of the profiling mechanism, wherein the posture of the suspension structure comprises leftward inclination, rightward inclination and lifting.
Optionally, after controlling the power unit to adjust the posture of the suspension structure according to the heave data of the profiling mechanism, the method further includes:
acquiring pressure data of the rope pressing mechanism;
and the rope pressing mechanism is lifted or fallen according to the fluctuation data until the pressure data is within a preset pressure threshold value.
Optionally, after the adjusting mechanism is controlled to adjust the lifting of the rope pressing mechanism according to the fluctuation state of the profiling mechanism, the method further comprises:
obtaining the tensioning coefficient of the seed rope;
and the seed rope tensioning mechanism is used for tensioning and adjusting the seed rope according to the tensioning coefficient until the tensioning coefficient is within a preset tensioning threshold.
Optionally, the controlling the rope breaking mechanism to break the rope of the seed rope according to the stopping operation signal includes:
acquiring the working state of the cultivator, wherein the working state comprises advancing, steering, stopping or reversing;
when the working state is a stop or reversing state, the rope reel reduces the rotation speed or stops rotating;
the rope breaking mechanism is used for breaking the seed rope.
Optionally, the rope breaking mechanism includes feeding driver, slide rail, rope breaking driver and drive wheelset, feeding driver with rope breaking driver all install in the support body, drive wheelset part set up in one side of slide rail, the opposite side of slide rail with feeding driver is connected, rope breaking mechanism carries out rope breaking operation to sub-rope, includes:
the feed driver drives the sliding rail to move from a first position to a second position;
the rope breaking driver drives the transmission wheel set to rotate;
the feed driver drives the slide rail to move from the second position to the first position.
The application also provides an automatic control device of a cultivator, which is characterized in that the device is applied to the cultivator and comprises: the device comprises a first acquisition module, a second acquisition module, a third acquisition module and a control module, wherein the first acquisition module, the second acquisition module, the third acquisition module and the fourth acquisition module are respectively and electrically connected with the control module, and the control module is respectively and electrically connected with a rope reel, a rope pressing mechanism, a rope tensioning mechanism, an adjusting mechanism and a rope breaking mechanism;
the first acquisition module is used for acquiring the travelling speed of the cultivator;
the second acquisition module is used for acquiring the fluctuation state of the profiling mechanism;
the third acquisition module is used for acquiring the rotation speed of the rope reel;
the fourth acquisition module is used for acquiring the tensioning coefficient of the seed rope;
and the control module is used for receiving the data fed back by the first acquisition module, the second acquisition module and the third acquisition module and controlling the rope reel, the rope pressing mechanism, the adjusting mechanism, the rope tensioning mechanism and the rope breaking mechanism to move.
The present application also provides a computer device, comprising: memory, a processor, in which a computer program is stored which is executable on the processor, when executing the computer program, realizing the steps of the method of any one of claims 1 to 8.
According to the cultivator and the automatic sowing control method, the speed of the seed rope placed on the rope reel is adjusted according to the advancing speed of the cultivator, the adjusting mechanism adjusts the lifting of the rope pressing mechanism through the fluctuation state of the profiling mechanism in the advancing process of the cultivator, when the cultivator needs to stop working, the rope breaking mechanism breaks the seed rope, so that the automatic sowing, rope breaking and other operations of the cultivator are completed, inconvenience caused by the fact that the cultivator needs to be manually operated frequently in working is reduced, and the operation difficulty of the cultivator is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a live broadcast device according to an embodiment of the present application;
fig. 2 is another schematic structural diagram of a live broadcast device according to an embodiment of the present application;
fig. 3 is a schematic view of a seed rope tensioning mechanism of a live device according to an embodiment of the present disclosure;
fig. 4 is an overall flow diagram of an automated seeding control method according to an embodiment of the present disclosure;
FIG. 5 is a flow chart illustrating the step S10 in FIG. 4;
FIG. 6 is another flow chart of step S10 in FIG. 4;
FIG. 7 is a flowchart of step S20 in FIG. 4;
fig. 8 is a schematic flow chart of step S30 in fig. 4.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In the description of the present application, it should be noted that, if the terms "upper", "lower", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or the positional relationship that is commonly put when the product of the application is used, it is merely for convenience of description and simplification of the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application.
Furthermore, the terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, without conflict, features in embodiments of the present application may be combined with each other.
In the related art, the cultivator is a cultivator matched with a tractor to complete cultivation and harrowing operation, when the conventional cultivator is used for seeding operation, an operator firstly needs to drive the tractor to travel, then manually operates related control buttons on the cultivator to perform seeding operation, and as different keys on the cultivator correspond to different functional modules, the cultivator has higher requirements on professional skills of a driver.
Aiming at the technical problems in the related art, the embodiment of the application provides the cultivator, which can improve the automation rate of the cultivator, reduce the labor cost and improve the sowing efficiency.
A cultivator provided in the embodiment of the present application is explained below.
The cultivator includes a machine body (not shown in the drawings) and a direct seeding device 1, fig. 1 is a schematic structural diagram of the direct seeding device 1 provided in the embodiment of the present application, as shown in fig. 1 and fig. 2, the direct seeding device 1 includes: comprises a frame body 10, a rope reel 20, a rope pressing mechanism 30, a profiling mechanism 40, an adjusting mechanism 50, a rope tensioning mechanism 60 and a rope breaking mechanism 70. The rope reel 20 is rotatably arranged on the frame body 10, and the rope reel 20 is used for storing seed ropes and placing the seed ropes down. The rope pressing mechanism 30 is disposed on the frame 10, and the rope pressing mechanism 30 is used for pressing the seed rope into the seed groove when the seed rope falls below the rope pressing mechanism 30 in the rope reel 20. The profiling mechanism 40 is arranged at one side of the frame 10, the profiling mechanism 40 is used for simulating relief of paddy field topography, the adjusting mechanism 50 is respectively connected with the frame 10 and the profiling mechanism 40, and the adjusting mechanism 50 is used for adjusting the frame 10 according to relief of the profiling mechanism 40 along with topography in paddy field. The seed rope tensioning mechanism 60 is disposed on the frame 10, and the seed rope tensioning mechanism 60 is used for adjusting the tension between the seed rope and the rope pressing mechanism 30 after the seed rope is rotationally placed below the rope pressing mechanism 30 in the rope disc 20. The rope cutting mechanism 70 is provided on the frame 10, and the rope cutting mechanism 70 is used for cutting the seed ropes.
When the cultivator performs a sowing operation, the profiling mechanism 40 fluctuates up and down according to the topography fluctuation condition of the paddy field, the adjusting mechanism 50 adjusts the frame 10 according to the fluctuation condition of the profiling mechanism 40, so that the frame 10 is lifted, lowered, tilted left or tilted right, the seed rope in the rope reel 20 can be covered in a proper depth of the paddy field by the rope pressing mechanism 30 after falling to the rope pressing mechanism 30, the seed rope tensioning mechanism 60 can adjust the tension of the seed rope in the lifting process of the frame 10, and the rope breaking mechanism 70 is used for cutting the seed rope after the live sowing device 1 stops the operation.
For the above rope reel 20, the rope reel 20 includes a first end cover (not shown), a second end cover (not shown), and a rotation shaft (not shown), the first end cover and the second end cover are respectively mounted on two sides of the rotation shaft, and the rotation shaft is rotatably disposed on the frame 10. The seed rope is wound along the rotating shaft, and the first end cover and the second end cover limit the two sides of the wound seed rope, so that the seed rope can be well contained in the rope reel 20.
In some embodiments, the rope reel 20 further includes a first driver (not shown), which is disposed on the frame 10, is connected to the rotation shaft, and is capable of driving the rotation shaft to rotate. The first driver drives the rotation shaft to rotate so that the seed string wound in the string reel 20 is dropped when the cultivator is operated, and the driving device locks the rotation shaft when the cultivator is stopped. Wherein, the first driver is a direct current motor.
In the embodiment of the present invention, referring to fig. 2, the rope pressing mechanism 30 includes a second driver 301 and a wheel 302, wherein the wheel 302 is rotatably disposed at one end of the second driver 301, and the other end of the second driver 301 is connected to the frame. Wherein, the second driver 301 can drive the wheel body 302 to approach or separate from the frame 10.
Specifically, the number of the second drivers 301 and the wheel bodies is plural, the wheel body 301 includes a wheel body (not shown) and a wheel shaft (not shown), the wheel body is connected with one end of the wheel shaft and rotates around the wheel shaft, and the other end of the wheel shaft is connected with the second drivers 301. Wherein, one lifting device is respectively connected with two wheel bodies.
The following illustrates the process of driving the wheel body 302 to lift by the second driver 301, when the profiling mechanism 40 lifts, the frame body 10 lifts and the lifting amplitude of one end of the frame body 10 is greater than that of the other end, the distance between the wheel body 302 and the frame body 10 driven by the second driver 301 located on the side where the lifting amplitude of the frame body 10 is greater is h1, the distance between the wheel body 302 and the frame body 10 driven by the second driver 301 located on the side where the lifting amplitude of the frame body 10 is smaller is h2, and the difference between the lifting height of the end where the lifting amplitude of the frame body 10 is greater and the difference between the lifting height of the end where the lifting amplitude of the frame body 10 is smaller is the difference between the lifting height of the end where the lifting amplitude of the frame body 10 is smaller.
In other embodiments, the rope pressing mechanism 30 further includes a first sensor (not shown) disposed on the wheel 303, and the first sensor is configured to obtain the pressure applied to the wheel 303.
It should be noted that the lifting device may be a hydraulic device or a telescopic motor.
In the embodiment of the present invention, the profiling mechanisms 40 are buoyancy tanks, the number of the profiling mechanisms 40 is at least two, and the two profiling mechanisms 40 are respectively disposed at two sides of the adjusting mechanism 50. It should be noted that the number of profiling mechanisms 40 includes, but is not limited to, two, and the producer may appropriately increase the corresponding profiling mechanisms 40 according to the accuracy of the live broadcast apparatus 1 to sense the paddy field surface relief.
In some embodiments, the profiling mechanism is further provided with a second sensor (not shown) for acquiring the heave state of the profiling mechanism.
For the above-mentioned adjusting mechanism 50, the adjusting mechanism 50 includes a suspension structure 501 and a third driver 502, one end of the suspension structure 501 is connected to the frame 10, and the other end of the suspension structure 501 is connected to the third driver 502.
It should be noted that, in this application, the third driver 502 is a transmission link, one end of the third driver 502 is connected to the profiling mechanism 40, the other end of the third driver 502 is connected to the suspension structure 501, when the profiling mechanism 40 fluctuates along with the paddy field topography, the transmission link drives the suspension structure 501 to fluctuate, and the suspension structure 501 drives the frame 10 to rise, descend, tilt left or tilt right. When the direct seeding apparatus 1 performs a direct seeding operation, the profiling mechanism 40 can fluctuate along with the movement of the frame 10 according to the fluctuation of the topography of the paddy field, and the third driver 502 can regulate the suspension structure 501 according to the feedback of the profiling mechanism 40, so that the frame 10 can be lifted, lowered, tilted leftwards or rightwards by the suspension structure 501.
In other embodiments, the third driver 502 is a driving motor, and when the profiling mechanism 40 fluctuates, the third driver 502 drives the suspension structure 501 to move, so that the suspension structure 501 lifts, lowers, leans left or leans right the frame 10.
For the above-mentioned seed rope tensioning mechanism 60, please refer to fig. 3, the seed rope tensioning mechanism 60 includes a ratchet group 601, a connection assembly 602, and a mounting seat 603, one end of the connection assembly 602 is connected to the mounting seat 603, and the other end of the connection assembly 602 is connected to the ratchet group 601.
Specifically, the rope tensioning mechanism 60 further includes a reversing component 604 and a rotating component 605, a ratchet wheel of the ratchet wheel set 601 is connected with the reversing component 604, the reversing component 604 is connected with the rotating component 605 through the connecting component 602, and the rotating component 605 is connected with the mounting seat 603. Wherein the tension of the seed rope passing through the ratchet 601 can be adjusted by rotating the reversing component 604 and/or rotating the rotating component 6013.
In some embodiments, the ratchet set further includes a fourth driver (not shown) and a fifth driver (not shown), the fourth driver being mounted to the reversing assembly 604 and the fourth driver being coupled to one of the ratchet wheels, the fourth driver being configured to drive the ratchet wheel to rotate. The fifth driver is disposed on the mounting seat 603, and is connected with the rotating assembly 605, and the fifth driver may drive the rotating assembly 605 to rotate.
In other embodiments, the seed rope tensioning mechanism 60 further includes a third sensor (not shown) disposed on the pulley 6011, the third sensor being configured to obtain the tension of the seed rope.
For the above-mentioned rope breaking mechanism 70, the rope breaking mechanism 70 includes a feeding driver 701, a sliding rail 702, a rope breaking driver 703 and a transmission wheel set 704, where the feeding driver 701 and the rope breaking driver 703 are both installed on the frame 10, the transmission wheel set 704 is partially disposed on one side of the sliding rail 702, and the other side of the sliding rail 702 is connected with the feeding driver 701. The driving wheel set 704 includes a driving wheel set and a driven wheel set, the driving wheel set is rotatably disposed on the frame 10, and the driven wheel set is rotatably disposed on the sliding rail 702. Specifically, the driving wheel set includes at least two driving wheels, the driven wheel set includes at least two driven wheels, at least two driving wheels are disposed at intervals on the frame 10, and at least two driven wheels are disposed at intervals on the slide rail 702. The feeder actuator 701 is capable of driving the slide rail 702 to slide such that one of the driven wheels approaches or moves away from one of the drive wheels. The following describes a specific operation manner of the rope breaking mechanism 70, when the sowing operation of the cultivator is about to be completed, the feeding driver 701 drives the slide rail 702 to move until one driven wheel and one driving wheel clamp the seed rope, then the rope breaking driver 703 drives the driving wheel to rotate, and the driving wheel and the driven wheel drive the down speed of the seed rope to be smaller than the travelling speed of the rope pressing mechanism 30, at this time, since the linear speed of the seed rope under the pressing of the rope pressing mechanism 30 is faster than the linear speed of the seed rope under the driving wheel and the driven wheel, the rope pressing mechanism 30 applies a certain pulling force to the seed rope until the seed rope is cut.
To above-mentioned live device 1, live device 1 still includes first furrow opener and second furrow opener, first furrow opener with the second furrow opener set up in the bottom of support body 10, first furrow opener is used for the in-process that support body 10 removed is given the paddy field and is seted up the seed ditch, the second furrow opener is used for seting up the ditch in the paddy field, the seed ditch is used for laying the seed rope, the ditch is used for the seed rope is laid in convenience of customers diversion irrigation behind the seed ditch.
In the embodiment of the invention, the fluctuation condition of the paddy field is simulated in real time by the profiling mechanism 40, and then the adjusting mechanism 50 adjusts the lifting of the frame body 10 according to the fluctuation condition of the profiling mechanism 40, so that the seed rope in the rope reel 20 can be pressed and placed at the proper height of the paddy field under the action of the rope pressing mechanism 30, and the sowing efficiency and the survival rate of the seeds are improved.
The invention also provides an embodiment of a cultivator comprising a machine body and the direct seeding device 1 according to any one of the embodiments, wherein the direct seeding device 1 is mounted on the machine body. The structure and function of the live broadcast device 1 are described in the above embodiments, and are not described herein.
The embodiment of the application also provides an automatic seeding control method which is applied to the cultivator, and the automatic seeding control method is explained below.
Fig. 5 is a schematic flow chart of an automatic seeding control method according to an embodiment of the present application, where the control method may include:
step S10, adjusting the falling speed of the seed ropes according to the advancing speed of the cultivator;
in some embodiments, the adjusting the speed of the seed rope drop according to the travel speed of the cultivator comprises:
step S11: acquiring the current travelling speed of the cultivator;
step S12: and adjusting the rotation speed of the rope reel according to the advancing speed.
In other embodiments, the adjusting the speed of the rope reel to drop the seed rope according to the travel speed of the cultivator comprises:
step S101: acquiring the current travelling speed of the cultivator;
in some embodiments, the tiller
Step S102: obtaining fluctuation data of the profiling mechanism;
step S103: adjusting the posture of the suspension mechanism according to the fluctuation data of the profiling mechanism;
step S104: acquiring pressure data of the rope pressing mechanism;
step S105: the rope pressing mechanism is lifted or lowered according to the fluctuation data until the pressure data is within a preset pressure threshold;
step S106: and adjusting the rotating speed of the rope reel according to the current travelling speed of the cultivator and combining the fluctuation data of the profiling structure.
In some embodiments, the cultivator acquires the travel speed of the cultivator in real time when the cultivator works, and then the cultivator adjusts the rotation speed of the rope reel according to the travel speed. Because the speed of the cultivator is not always constant when sowing, when the travelling speed of the cultivator is high, the rotation speed of the rope reel is high, so that the speed of the rope reel for releasing the seed rope is matched with the speed of the rope pressing mechanism for pressing the seed rope, and the situation that the seed rope is pulled and broken is improved. Or when the travelling speed of the cultivator is slower, the rotation speed of the rope reel is reduced, so that the speed of the rope reel for placing the seed rope is matched with the speed of the rope pressing mechanism for pressing the seed rope, and the condition of residual seed rope is improved.
Step S20: the adjusting structure adjusts the lifting of the rope pressing mechanism according to the fluctuation state of the profiling mechanism;
when the profiling mechanism undulates, the undulation data of the profiling mechanism can be transmitted to the sensor, the adjusting structure controls the lifting or the falling of the rope pressing mechanism according to the data fed back by the sensor, and the adjusting structure comprises a plurality of sensors, a plurality of rope pressing mechanisms and a plurality of rope pressing mechanisms, wherein the sensors are arranged on the rope pressing mechanism
In some embodiments, the step S20 further includes:
step S21: obtaining the tensioning coefficient of the seed rope;
step S22: and the seed rope tensioning mechanism is used for tensioning and adjusting the seed rope according to the tensioning coefficient until the tensioning coefficient is within a preset tensioning threshold.
S30, controlling the rope breaking mechanism to break the seed rope according to the stop operation signal;
in some embodiments, the step S30 includes:
step S31: acquiring the working state of the cultivator;
step S32: when the working state is a stop or reversing state, the rope reel reduces the rotation speed or stops rotating;
step S33: the rope breaking mechanism is used for breaking the seed rope.
The application also provides an automatic control device of a cultivator, the device is applied to the cultivator, and the device comprises: the device comprises a first acquisition module, a second acquisition module, a third acquisition module and a control module, wherein the first acquisition module, the second acquisition module, the third acquisition module and the fourth acquisition module are respectively and electrically connected with the control module, and the control module is respectively and electrically connected with a rope reel, a rope pressing mechanism, a rope tensioning mechanism, an adjusting mechanism and a rope breaking mechanism. The first acquisition module is used for acquiring the advancing speed of the cultivator, the second acquisition module is used for acquiring the fluctuation state of the profiling mechanism, the third acquisition module is used for acquiring the rotating speed of the rope reel, the fourth acquisition module is used for acquiring the tensioning coefficient of the seed rope, and the control module is used for receiving the data fed back by the first acquisition module, the second acquisition module and the third acquisition module and controlling the rope reel, the rope pressing mechanism, the adjusting mechanism, the seed rope tensioning mechanism and the rope breaking mechanism to move.
In summary, the embodiment of the application provides a cultivator and an automatic seeding control method, by adjusting the speed of the seed rope placed on the rope reel according to the travelling speed of the cultivator, and the adjusting mechanism adjusts the lifting of the rope pressing mechanism through the fluctuation state of the profiling mechanism in the travelling process of the cultivator, when the cultivator needs to stop working, the rope breaking mechanism breaks the seed rope to finish the operations of automatic seeding, rope breaking and the like of the cultivator, thereby reducing the inconvenience caused by the need of frequent manual operation of the cultivator in working and reducing the operation difficulty of the cultivator.
The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. An automatic seeding control method is characterized in that the method is applied to a cultivator, and the cultivator comprises a machine body and a direct seeding device, wherein the direct seeding device is connected with the machine body; the direct seeding device comprises a frame body, a rope reel, a rope pressing mechanism, a profiling mechanism, an adjusting mechanism, a seed rope tensioning mechanism and a rope breaking mechanism;
the device comprises a frame body, a rope disc, a rope pressing mechanism, a rope tensioning mechanism, a profiling mechanism, an adjusting mechanism and a rope breaking mechanism, wherein the rope disc is used for storing a seed rope and placing the seed rope, the rope pressing mechanism is used for pressing the seed rope in a seed groove when the seed rope is placed below the rope pressing mechanism in a rotating mode in the rope disc, the rope tensioning mechanism is used for adjusting the tightness degree between the seed rope and a pinch roller rope, the profiling mechanism is used for simulating the topography fluctuation of a paddy field, and the adjusting mechanism is used for adjusting the posture of the frame body;
the method comprises the following steps:
adjusting the falling speed of the seed rope according to the advancing speed of the cultivator;
the adjusting structure adjusts the lifting of the rope pressing mechanism according to the fluctuation state of the profiling mechanism;
and controlling the rope breaking mechanism to break the seed rope according to the stop operation signal.
2. The method of claim 1, wherein said adjusting the speed at which the seed string is dropped according to the travel speed of the cultivator comprises:
acquiring the current travelling speed of the cultivator;
and adjusting the rotation speed of the rope reel according to the advancing speed.
3. The method of claim 1, wherein said adjusting the speed at which the seed string is dropped according to the travel speed of the cultivator comprises:
acquiring the current travelling speed of the cultivator;
obtaining fluctuation data of the profiling mechanism;
and adjusting the rotation speed of the rope reel according to the current travelling speed of the cultivator and combining the fluctuation data of the profiling mechanism.
4. The method of claim 3, the adjustment mechanism comprising a suspension structure and a power unit that connects the profiling mechanism and the suspension structure, respectively, wherein prior to adjusting the rotational speed of the rope reel based on the current travel speed of the cultivator in combination with the heave data of the profiling mechanism, further comprising:
and adjusting the posture of the suspension structure according to the fluctuation data of the profiling mechanism, wherein the posture of the suspension structure comprises leftward inclination, rightward inclination and lifting.
5. The method of claim 4, wherein said controlling said power unit to adjust said attitude of said suspension structure based on heave data of said profiling mechanism further comprises:
acquiring pressure data of the rope pressing mechanism;
and the rope pressing mechanism is lifted or fallen according to the fluctuation data until the pressure data is within a preset pressure threshold value.
6. The method of claim 1, wherein after controlling the adjusting mechanism to adjust the lifting of the rope pressing mechanism according to the undulating state of the profiling mechanism, further comprising:
obtaining the tensioning coefficient of the seed rope;
and the seed rope tensioning mechanism is used for tensioning and adjusting the seed rope according to the tensioning coefficient until the tensioning coefficient is within a preset tensioning threshold.
7. The method of claim 1, wherein controlling the rope severing mechanism to sever the seed rope based on the stop signal comprises:
acquiring the working state of the cultivator, wherein the working state comprises advancing, steering, stopping or reversing;
when the working state is a stop or reversing state, the rope reel reduces the rotation speed or stops rotating;
the rope breaking mechanism is used for breaking the seed rope.
8. The method of claim 1, the rope breaking mechanism comprising a feed driver, a slide rail, a rope breaking driver, and a drive wheel set, the feed driver and the rope breaking driver being mounted to the frame, the drive wheel set being disposed in the frame, the drive wheel set being disposed on one side of the slide rail, the other side of the slide rail being connected to the feed driver, wherein the rope breaking mechanism performs a rope breaking operation on a sub-rope, comprising:
the feed driver drives the sliding rail to move from a first position to a second position;
the rope breaking driver drives the transmission wheel set to rotate;
the feed driver drives the slide rail to move from the second position to the first position.
9. An automated control device for a cultivator, the device being applied to a cultivator, the device comprising: the device comprises a first acquisition module, a second acquisition module, a third acquisition module and a control module, wherein the first acquisition module, the second acquisition module, the third acquisition module and the fourth acquisition module are respectively and electrically connected with the control module, and the control module is respectively and electrically connected with a rope reel, a rope pressing mechanism, a rope tensioning mechanism, an adjusting mechanism and a rope breaking mechanism;
the first acquisition module is used for acquiring the travelling speed of the cultivator;
the second acquisition module is used for acquiring the fluctuation state of the profiling mechanism;
the third acquisition module is used for acquiring the rotation speed of the rope reel;
the fourth acquisition module is used for acquiring the tensioning coefficient of the seed rope;
and the control module is used for receiving the data fed back by the first acquisition module, the second acquisition module and the third acquisition module and controlling the rope reel, the rope pressing mechanism, the adjusting mechanism, the rope tensioning mechanism and the rope breaking mechanism to move.
10. A computer device, comprising: memory, a processor, in which a computer program is stored which is executable on the processor, when executing the computer program, realizing the steps of the method of any one of claims 1 to 8.
CN202310157322.6A 2023-02-23 Cultivator and automatic seeding control method Active CN116097950B (en)

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