CN208227666U - Field intelligent seeder device people - Google Patents

Abstract

The utility model discloses a kind of field intelligent seeder device people, the robot includes control module, drive module, infrared sensor, ultrasonic sensor, seeding apparatus and crawler body, the seeding apparatus is obliquely installed, the control module is arranged on crawler body, the drive module is connect with crawler body, for driving crawler body to travel, the left and right wheel of the crawler body is equipped with speed measuring module, and drive module, speed measuring module, infrared sensor, ultrasonic sensor and seeding apparatus are connect with control module respectively.Orientation sowing may be implemented by infrared sensor in the utility model, it can be realized set a distance sowing by the speed measuring module of left and right wheels on crawler body, and by ultrasonic sensor can adjust automatically driving direction, be the important automated arm of modern manufacturing industry for integrating the multidisciplinary advanced technology such as machinery, electronics, control, computer, sensor.

Description

Field intelligent seeder device people

Technical field

The utility model relates to a kind of robot, especially a kind of field intelligent seeder device people belongs to intelligent agriculture Field.

Background technique

Recently as the continuous development of agricultural, the demand to agricultural machinery device constantly increases, agricultural machinery intelligence Change is increasingly becoming a kind of inexorable trend.

Currently, although there is sowing machine people, to replace people's labour work, being used in agriculture intelligence sowing field Sowing machine human eeded can be improved working efficiency, more convenient, but realize fixed point, set a distance sowing, existing sowing machine The level of intelligence of people need to be improved, it is also necessary to the participation of manpower, and not up to completely intelligent effect.

Utility model content

Purpose of the utility model is to solve the defects of the above-mentioned prior art, provide a kind of field intelligent seeder device People, the robot may be implemented orientation sowing by infrared sensor, pass through the speed measuring module energy of left and right wheels on crawler body Enough realize set a distance sowing, and by ultrasonic sensor can adjust automatically driving direction, be collection machinery, electronics, control, The multidisciplinary advanced technology such as computer, the sensor automated arm important in the modern manufacturing industry of one.

The purpose of this utility model can be reached by adopting the following technical scheme that:

Field intelligent seeder device people, including control module, drive module, infrared sensor, ultrasonic sensor, sowing Device and crawler body, the seeding apparatus are obliquely installed, and the control module is arranged on crawler body, the drive module It is connect with crawler body, for driving crawler body to travel, the left and right wheel of the crawler body is equipped with speed measuring module, drives Dynamic model block, speed measuring module, infrared sensor, ultrasonic sensor and seeding apparatus are connect with control module respectively.

It further, further include rotating horizontally module, the seeding apparatus is connect with module is rotated horizontally, the horizontal rotation Revolving die block is connect with control module, for driving seeding apparatus to rotate horizontally.

Further, the horizontal rotation module includes the first steering engine and horizontal rotation holder, first steering engine, level Rotary head and seeding apparatus are sequentially connected, and the first steering engine is connect with control module.

The control module includes main control unit, pressure unit, circuit amplifying unit and power supply unit, the power supply unit Connect with pressure unit, the pressure unit respectively with main control unit, drive module, speed measuring module, infrared sensor, ultrasonic wave Sensor, seeding apparatus connection, the main control unit also respectively with speed measuring module, infrared sensor, ultrasonic sensor, sowing Device connection, and connect by circuit amplifying unit with drive module.

Further, the drive module includes electric-motor drive unit, first motor and the second motor, the first motor With the second motor left and right settings, and first motor is for driving the left wheel of crawler body to rotate, and the mould that tests the speed with left wheel Block connection, the second motor are used to drive the right vehicle wheel rotation of crawler body, and connect with the speed measuring module of right wheel, the motor Driving unit is connect with control module, and is connect respectively with first motor, the second motor.

Further, the ultrasonic sensor has three groups, and every group of ultrasonic sensor includes ultrasonic transmitter and surpass Acoustic receiver, wherein two groups of ultrasonic sensors or so are oppositely arranged, another group of ultrasonic sensor is arranged in crawler body Front.

Further, the ultrasonic sensor in front of crawler body is set and is also connected with the second steering engine.

Further, the seeding apparatus includes that feed mechanism for seed, sowing pipe and third steering engine, the sowing pipe are divided into upper and lower two Part, upper and lower two parts all have equidistant groove, and two-part groove is equidistantly staggered up and down, the feed mechanism for seed and sowing Wherein one end of pipe is fixedly connected, and the third steering engine is connect with control module, for driving feed mechanism for seed and the vertical rotation of sowing pipe Turn.

Further, hairbrush is equipped in the feed mechanism for seed.

Further, the speed measuring module on the left and right wheel of the crawler body includes code-disc and Hall sensor, institute It states code-disc to connect with drive module, the Hall sensor is connect with control module.

The utility model have compared with the existing technology it is following the utility model has the advantages that

1, the utility model by infrared sensor identify position of the seeding apparatus on seed board to realize Precise sowing, And seed gradation and quickly sowing are able to achieve according to specific seeding apparatus, pass through the speed measuring module of left and right wheels on crawler body It can be realized set a distance sowing, identify that robot, being capable of automatic adjusting machine to the distance of ridge wall by ultrasonic sensor ranging The direction of advance of device people, guarantee are not rebuffed, and whether the Distance Judgment robot obtained by ultrasound needs to turn round, turning process In, control ultrasonic wave quick distance measurement, until reach setting apart from when just stop turn act, continue to travel；Further, since field Between soil it is soft, wheel be easy sink, therefore the utility model use crawler body structure, make the driving process of robot more Steadily；The utility model is the modern system for integrating the multidisciplinary advanced technology such as machinery, electronics, control, computer, sensor Make the important automated arm of industry.

2, the ultrasonic sensor of the utility model has three groups, wherein two groups of ultrasonic sensors or so are oppositely arranged, separately The front of crawler body is arranged in one group of ultrasonic sensor, and the ultrasonic sensor in front of crawler body is arranged in and also connects Steering engine is connect, multi-angle, multidirectional distance detection may be implemented.

3, the speed measuring module of the utility model includes code-disc and Hall sensor, by Hall sensor and code-disc to output The counting of pulse, obtains speed, can control robot by umber of pulse and travel specific range, to realize that set a distance is sowed.

4, in the seeding apparatus of the utility model, by feed mechanism for seed to the gradation of seed, seed is turned to by group Individual turns to continuous single seed and is sequentially sent to sowing pipe, and steering engine can drive feed mechanism for seed and sowing pipe vertical rotary, make A lattice can be pushed ahead after every rotation 180 degree is managed in sowing by obtaining seed, guaranteed that a most preceding lattice groove has seed, needed to sow When, sowing pipe constantly rotation 180 degree makes seed hurtle down；In addition, being equipped with hairbrush in feed mechanism for seed, it is ensured that it is accurate to sow, simultaneously Do not damage seed.

Detailed description of the invention

Fig. 1 is field intelligent seeder device people's decomposition diagram of the utility model embodiment 1.

Fig. 2 is the schematic diagram of field intelligent seeder device people's insole board of the utility model embodiment 1.

Fig. 3 is the circuit connection block diagram of the utility model embodiment 1.

Fig. 4 is the pwm signal amplifying circuit schematic diagram of the utility model embodiment 1.

Fig. 5 is the schematic diagram of the seeding apparatus of the utility model embodiment 1.

Fig. 6 is the front view that pipe is sowed in the seeding apparatus of the utility model embodiment 1.

Fig. 7 is the side view that pipe is sowed in the seeding apparatus of the utility model embodiment 1.

Fig. 8 is the top view that pipe is sowed in the seeding apparatus of the utility model embodiment 1.

Wherein, 1- seeding apparatus, 2- crawler body, the first steering engine of 3-, 4- rotate horizontally holder, 5- main control unit, 6- drop Press unit, 7- circuit amplifying unit, 8- power supply unit, the first speed measuring module of 9-, the second speed measuring module of 10-, 11- motor driven list Member, 12- first motor, the second motor of 13-, 14- top plate, 15- bottom plate, 16- copper post, the first infrared sensor of 17-, 18- second Infrared sensor, the first ultrasonic sensor of 19-, the second ultrasonic sensor of 20-, 21- third ultrasonic sensor, 22- Two steering engines, 23- feed mechanism for seed, 24- sowing pipe, 25- third steering engine, the first groove of 26-, the second groove of 27-, 28- hairbrush.

Specific embodiment

The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model Mode is without being limited thereto.

Embodiment 1:

As shown in FIG. 1 to 3, a kind of field intelligent seeder device people is present embodiments provided, which includes control Module, drive module, infrared sensor, ultrasonic sensor, seeding apparatus 1 and crawler body 2, seeding apparatus 1 are obliquely installed, Control module is arranged on crawler body 2, and drive module is connect with crawler body 2, for driving crawler body 2 to travel, crawler belt The left and right wheel on chassis 2 is equipped with speed measuring module, drive module, speed measuring module, infrared sensor, ultrasonic sensor and broadcasts Kind device 1 is connect with control module respectively.

In order to control the sowing direction of seeding apparatus 1, the field intelligent seeder device people of the present embodiment further includes horizontal rotation Revolving die block, seeding apparatus 1 are connect with module is rotated horizontally, and are rotated horizontally module and are connect with control module, for driving sowing dress Set 1 horizontal rotation.

Further, the horizontal rotation module includes the first steering engine 3 and horizontal rotation holder 4, the first steering engine 3, level Rotary head 4 and seeding apparatus 1 are sequentially connected, and the first steering engine 3 is connect with control module, seeding apparatus 1 and horizontal rotation cloud Platform 4 rotates horizontally above holder 4 at certain downward gradient since seeding apparatus 1 is placed on, and passes through the first steering engine 3 of control Rotation can be realized the variation of 180 degree, the control to holder 4 is rotated horizontally be realized, to control the sowing side of seeding apparatus 1 To.

The control module includes main control unit 5, pressure unit 6, circuit amplifying unit 7 and power supply unit 8, power supply unit 8 connect with pressure unit 6, pressure unit 6 respectively with main control unit 5, drive module, speed measuring module, infrared sensor, ultrasonic wave Sensor, seeding apparatus 1 connect, with realize power supply unit 8 be main control unit 5, drive module, speed measuring module, infrared sensor, The electrical equipments such as ultrasonic sensor, seeding apparatus 1 are powered, specifically, battery pack of the power supply unit 8 using 14.8V, drop The battery pack of the input terminal and 14.8V of pressing unit 6 connects, and output end provides different voltage respectively, and the voltage of 14.8V is converted It is used for 3.3V voltage for main control unit 5, is converted to 9V voltage and is used for drive module, the voltage for being converted to 5V is passed for ultrasonic wave Sensor and infrared sensor use.

The main control unit 5 is also filled with speed measuring module, infrared sensor, ultrasonic sensor, sowing by wiring respectively Set connection, and connect by circuit amplifying unit 7 with drive module, main control unit 5 can control robot prior to seeding one section when Between slow down, improve accuracy rate, accelerate after finishing kind, save the time；In the present embodiment, main control unit 5 is used and is connect with number The STM32F407 master control borad of mouth and analog interface, i.e. main control chip on main control unit 5 are STM32F407 singlechip chip.It passes Scm software design method of uniting is single, and data processing speed is slow, becomes complicated as software program function increases, module it Between interfering with each other property it is larger, it is difficult to the system for designing function complexity, thus the present embodiment use have more than other chips The STM32F407 singlechip chip of power, such as more timers and interruption, processing speed is also relatively high, can be with Realize faster operation and control, convenient for quickly controlling the traveling of robot and sowing.

Speed measuring module on the left and right wheel of the crawler body 2 is respectively the first speed measuring module 9 and the second speed measuring module 10, the first speed measuring module 9 and the second speed measuring module 10 include code-disc and Hall sensor, and code-disc is connect with drive module, suddenly You connect sensor with main control unit 5, and the counting by Hall sensor and code-disc to output pulse obtains speed, can pass through Umber of pulse controls robot and travels specific range, and the active wheel diameter of crawler body 2 is optionally about 4.8cm, overall diameter 4.8* 3.14=15 (cm), 100*15=1500cm/min, it is relatively high using the project risk of wheel, be not suitable in soft field Road traveling because the contact point of trolley over the ground is relatively fewer in the case where using wheel, this allow for trolley traveling when It waits and is easy to shake and be easily trapped into soft surface, to various uncontrollable factors occur, it is next to influence robot Accuracy when various debugging and sowing is even unable to normally travel, therefore passes through conscientious analysis, determines using caterpillar Configuration increases device and road surface interface product, to make machine man-hour more steady and can adapt to various complicated roads Face.

The drive module includes electric-motor drive unit 11, first motor 12 and the second motor 13, first motor 12 and Two motors, 13 left and right settings, and first motor 12 is for driving the left wheel of crawler body 2 to rotate, and with the first speed measuring module 9 Connection, the second motor are used to drive the right vehicle wheel rotation of crawler body 2, and connect with the second speed measuring module 10, the present embodiment First motor 12 and the second motor 13 select the direct current generator of GM25-370-24140-75-14.5D10 model, load speed For 100+10%rpm；The electric-motor drive unit 11 is connect with main control unit 5, and respectively with first motor 12, the second motor 13 The driving chip of connection, the electric-motor drive unit 11 of the present embodiment uses L298N dual H-bridge direct current generator driving chip, to realize Low power signal control needs the first motor 12 and the second motor 13 of high-power operation, and the signal that main control unit 5 exports is Minimum required for the high level of electric-motor drive unit 11 is not achieved in 3.3V electric signal, therefore needs circuit amplification as shown in Figure 4 Module realizes the state of control first motor 12 and the second motor 13, specifically by the level various combination of two input ports Ground further controls the by adjusting the PWM parameter of main control unit 5 to generate specific PWM wave control electric-motor drive unit 11 The input voltage of one motor 12 and the second motor 13, to control the revolving speed of first motor 12 and the second motor 13, wherein input electricity It is flat as shown in table 1 below with the state of motor.

Enable port	IN1	IN2	Motor status
				Low level	X	X	Stop
High level	Low level	Low level	Stop
				High level	Low level	High level	It rotates forward
High level	High level	Low level	Reversion
				High level	High level	High level	Stop

The state table of table 1 incoming level and motor

Preferably, the field intelligent seeder device people of the present embodiment further includes top plate 14 and bottom plate 15, top plate 14 and bottom plate 15 is setting up and down, and bottom plate 15 is connect using sub- chocolate material with crawler body 2, for carrying robot except crawler body 2, the other parts outside first motor 12 and the second motor 13.

In the present embodiment, the main control unit 5, pressure unit 6, power supply unit 8 and the setting of electric-motor drive unit 11 exist On bottom plate 15, first steering engine 3 and circuit amplifying unit 7 are arranged on top plate 14；Preferably, between top plate 14 and bottom plate 15 It is connected by four copper posts 16, so that top plate 14 and bottom plate 15 are more firm.

The acquisition of the information on the field surface real-time monitored can be sowed position when encountering by the infrared sensor When, infrared sensor receives signal, send back main control unit 5, for can more acurrate identification position, the field intelligence of the present embodiment Energy sowing machine people uses two infrared sensors, and two infrared sensors are respectively that the first infrared sensor 17 and second is infrared Sensor 18, it is preferable that the two sides of seeding apparatus 1 are arranged in the first infrared sensor 17 and the second infrared sensor 18, work as master When control unit 5 receives two low level signals, show to arrived sowing position, starts to play the fixed point of seed.

The ultrasonic sensor has three groups, and every group of ultrasonic sensor includes that ultrasonic transmitter and ultrasonic wave receive Device, ultrasonic transmitter emit ultrasonic wave to a direction, start timing while emission time, ultrasonic wave passes in air It broadcasts, encounters barrier on the way and just return to come immediately, ultrasonic receiver receives back wave and just stops timing, main control unit 5 immediately Corresponding distance is calculated by the reading to the time, and is controlled according to driving direction of the actual distance to crawler body 2 System, the aerial spread speed of ultrasonic wave is 340m/s, according to the time t of timer record, so that it may calculate launch point Distance (s) away from barrier, it may be assumed that s=340t/2.

Preferably, three groups of ultrasonic sensors are respectively the first ultrasonic sensor 19,20 and of the second ultrasonic sensor Third ultrasonic sensor 21, the first ultrasonic sensor 19 and the second ultrasonic sensor 20 or so are oppositely arranged on bottom plate 15 On, the front of crawler body 2 is arranged in third ultrasonic sensor 21, and specifically, third ultrasonic sensor 21 passes through second The forefront of bottom plate 15 is arranged in steering engine 22, and the second steering engine 22 is connect with third ultrasonic sensor 21, for driving third super Sonic sensor 21 rotates horizontally, and realizes the multi-direction distance detection of third ultrasonic sensor 21.

As shown in FIG. 1 to FIG. 3, Fig. 5~Fig. 8, the seeding apparatus 1 includes feed mechanism for seed 23, sowing pipe 24 and third steering engine 25, sowing pipe 24 is divide into upper part and lower part, and upper and lower two parts all have equidistant first groove 26, and up and down two-part the One groove 26 is equidistantly staggered, and feed mechanism for seed 23 is fixedly connected with wherein one end of sowing pipe 24, is divided by feed mechanism for seed 23 seed Seed is turned to individual, turns to continuous single seed and is sequentially sent to sowing pipe by grain effect by group, and feed mechanism for seed 23 is equipped with Second groove 27, to carry out chimes；Third steering engine 25 is connect with control module, for driving feed mechanism for seed 23 and sowing pipe 24 vertical Rotation guarantees that a most preceding lattice groove has seed so that seed can push ahead a lattice after sowing the every rotation 180 degree of pipe 24, When needing to sow, sowing pipe 24 constantly rotation 180 degree makes seed hurtle down.

Preferably, hairbrush 28 is equipped in the feed mechanism for seed 23, it is ensured that it is accurate to sow, while not damaging seed.

Field intelligent seeder device people's working principle of the present embodiment is as follows:

Distance of the robot apart from field wall is measured by third ultrasonic sensor 21, according to this distance, guarantees machine Device people's straight-line travelling, when institute's ranging from be less than set distance when, robot toward far from field wall direction running, when institute's ranging from When greater than set distance, direction running of the robot toward close field wall.Robot utilizes first motor 12 and the second motor 13 The method of differential, which is realized, to be turned to: i.e. when measured distance is less than normal, the motor speed of the side far from field wall reduces, another Motor remains unchanged, until institute's ranging is within the set range；When the third ultrasonic sensor 21 and the right and left in front First ultrasonic sensor 19, the second ultrasonic sensor 20 all detect setting greatly apart from when, similarly, utilize differential method realize It turns round.

In order to overcome the problems, such as cannot to accomplish precisely turning, the present embodiment big by such environmental effects using delay turning Field intelligent seeder device people use program condition interpretation, to determine the condition of the traveling of robot and the item of sowing Part；When turn, third ultrasonic sensor 21 accelerates detection speed, when institute's ranging is from set distance is reached, turn movement Stop, work of walking about always under；When having just enter into the road Xin Long, starting end increases differential, and robot is made faster to ajust traveling side To.

The distance that first ultrasonic sensor 19, the second ultrasonic sensor 20 and third ultrasonic sensor 21 measure is adopted With secondary judgement, i.e., when measured distance satisfaction acts transformation condition, using determining again, when all meeting condition twice Next movement is just continued to execute, the mistake for avoiding electric wave shake from bringing program executes, and improves the job stability of robot.

There are two types of seeding methods for robot: first, fixed point sowing: being previously set and sow position, when the first of robot Infrared sensor 17 and the second infrared sensor 18 recognize sowing of just stopping behind specific sowing position, and flexibility is larger；Its Two, set a distance is sowed, i.e., sowing of stopping after every traveling certain distance (distance can be modified by main control unit 5), restart, Sowing, and so on, it is suitble to flowing water work.

Speed measuring module is surveyed motor speed, operating range, travel speed as device by Hall sensor and code-disc The reference condition for travelling field determines position of the robot in field and the foundation as device orient steering, every turn of code-disc A circle is crossed, can generate two pulses, pulse number in the acquisition units time, then learn by the radius of wheel the perimeter of wheel, it can Calculate the speed of robot traveling；Further, it is also possible to realize that robot travels certain distance by the number for controlling pulse, And then realize set a distance seeding method.

The PWM parameter of main control unit 5 is adjusted according to the distance for the various aspects measured to generate specific PWM wave control electricity Machine driving unit 11 controls the input voltage of first motor 12 and the second motor 13 further to control the revolving speed of motor, realizes dress Set the function of traveling field；When robot will reach sowing position, by change PWM parameter, make robot slow-down, Slower speed can be reduced robot momentum, reduce stopping distance, make to stop when recognizing sowing position faster, it is more steady, from And improve sowing accuracy rate；With high-ball after finishing kind, the running time of robot is reduced, the overall work of sowing is improved Efficiency.

Enter sowing stage by interrupt function, when encountering trigger condition, program enters interruption, and it is higher to start priority Movement.Control unit can jump out interrupt routine and return to the instruction that original program continues to execute next line after the completion of interrupt routine, Control unit, which is constantly repeatedly adjusted the distance, to be compared with programmed values and carrys out finishing device traveling field to the judgement of interruption With the function of precisely being sowed.

In conclusion the utility model identifies position of the seeding apparatus on seed board to realize essence by infrared sensor Really sowing, and seed gradation and quickly sowing are able to achieve according to specific seeding apparatus, pass through left and right wheels on crawler body Speed measuring module can be realized set a distance sowing, identify that robot, can be certainly to the distance of ridge wall by ultrasonic sensor ranging The direction of advance of dynamic adjustment robot, guarantee are not rebuffed, and whether the Distance Judgment robot obtained by ultrasound needs to turn round, In turning process, control ultrasonic wave quick distance measurement, until reach setting apart from when just stop turn act, continue to travel；This Outside, since field soil is soft, wheel is easy to sink, therefore the utility model uses the structure of crawler body, makes robot Driving process is more stable；The utility model is to collect the multidisciplinary advanced technology such as machinery, electronics, control, computer, sensor in one The important automated arm of the modern manufacturing industry of body.

The above, only the utility model patent preferred embodiment, but the protection scope of the utility model patent is simultaneously Not limited to this, anyone skilled in the art is in the range disclosed in the utility model patent, according to this Technical solution and its utility model design of utility model patent are subject to equivalent substitution or change, belong to the utility model patent Protection scope.

Claims (10)

1. field intelligent seeder device people, it is characterised in that: passed including control module, drive module, infrared sensor, ultrasonic wave Sensor, seeding apparatus and crawler body, the seeding apparatus are obliquely installed, and the control module is arranged on crawler body, institute It states drive module to connect with crawler body, for driving crawler body to travel, the left and right wheel of the crawler body is equipped with survey Fast module, drive module, speed measuring module, infrared sensor, ultrasonic sensor and seeding apparatus are connect with control module respectively.

2. intelligent seeder device people in field according to claim 1, it is characterised in that: further include rotating horizontally module, institute It states seeding apparatus and is connect with module is rotated horizontally, the horizontal rotation module is connect with control module, for driving seeding apparatus It rotates horizontally.

3. intelligent seeder device people in field according to claim 2, it is characterised in that: the horizontal rotation module includes the One steering engine and rotate horizontally holder, first steering engine rotates horizontally holder and seeding apparatus and is sequentially connected, and the first steering engine with Control module connection.

4. intelligent seeder device people in field according to claim 1, it is characterised in that: the control module includes master control list Member, pressure unit, circuit amplifying unit and power supply unit, the power supply unit are connect with pressure unit, the pressure unit point It is not connect with main control unit, drive module, speed measuring module, infrared sensor, ultrasonic sensor, seeding apparatus, the master control Unit is also connect with speed measuring module, infrared sensor, ultrasonic sensor, seeding apparatus respectively, and passes through circuit amplifying unit It is connect with drive module.

5. intelligent seeder device people in field according to claim 1, it is characterised in that: the drive module includes that motor drives Moving cell, first motor and the second motor, the first motor and the second motor left and right settings, and first motor is carried out for driving Left wheel rotation with chassis, and connect with the speed measuring module of left wheel, the second motor is used to drive the right wheel of crawler body Rotation, and connect with the speed measuring module of right wheel, the electric-motor drive unit is connect with control module, and electric with first respectively Machine, the connection of the second motor.

6. intelligent seeder device people in field according to claim 1, it is characterised in that: the ultrasonic sensor has three Group, every group of ultrasonic sensor includes ultrasonic transmitter and ultrasonic receiver, wherein two groups of ultrasonic sensors or so phase To setting, the front of crawler body is arranged in another group of ultrasonic sensor.

7. intelligent seeder device people in field according to claim 6, it is characterised in that: be arranged in super in front of crawler body Sonic sensor is also connected with the second steering engine.

8. intelligent seeder device people in field according to claim 1, it is characterised in that: the seeding apparatus includes seeding Device, sowing pipe and third steering engine, the sowing pipe are divide into upper part and lower part, and upper and lower two parts all have equidistant groove, and Upper and lower two-part groove is equidistantly staggered, and the feed mechanism for seed is fixedly connected with wherein one end of sowing pipe, the third steering engine and Control module connection, for driving feed mechanism for seed and sowing pipe vertical rotary.

9. intelligent seeder device people in field according to claim 8, it is characterised in that: be equipped with hairbrush in the feed mechanism for seed.

10. intelligent seeder device people in field according to claim 1, it is characterised in that: the left and right vehicle of the crawler body Speed measuring module on wheel includes code-disc and Hall sensor, and the code-disc is connect with drive module, the Hall sensor with Control module connection.