CN209845704U - Seed metering system of all-electric drive seed metering potato precision planter - Google Patents
Seed metering system of all-electric drive seed metering potato precision planter Download PDFInfo
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Abstract
The utility model provides a full electric drive seed metering potato precision planter seed metering system, includes seed metering chain and motor, reduction gear, evenly sets up a plurality of spoons of getting seeds, every on the seed metering chain the spoon position signal carrier of getting seeds is installed to the spoon of getting seeds on same position, sets up the spoon position sensor of getting seeds on one side of installing spoon position signal carrier of getting seeds in the correspondence, and spoon position sensor of getting seeds corresponds and sets up seed metering detection photoelectric sensor group, and seed metering detects photoelectric sensor group, gets seed spoon position sensor and is connected with system controller respectively, and system controller is connected with the driver, and the driver is connected with the motor. The utility model provides a based on the seed metering system that "three detection miss-seeding and compensation decision-making system" that seed taking spoon position signal carrier, seed metering detected photoelectric sensor group and core operation treater CPU constitute support, the overall structure of this system can be simplified by nature, does not have extra reserve seed metering device, and the required power of system reduces, supporting power reduces, the investment is showing and is reducing.
Description
Technical Field
The utility model belongs to the technical field of agricultural machine and electric automation thereof, concretely relates to full electric drive seed metering potato precision planter seed metering system.
Background
With the continuous increase of the potato planting area and the mechanization degree, some defects of the mechanization of the potato planting gradually appear. The main reason is that the potato is planted in the most regions in China by using the cut potato blocks, and the shapes and sizes of the potato blocks are different, so that the missed seeding is easily caused by missed seeding when the seed is picked by a seed spoon in the operation, and the undesirable yield reduction is caused. The effective measure for solving the problem of missed seeding is to add a seeding monitoring and missed seeding compensation device, detect that the seed on the seed taking spoon is lack of seeds and supplement the seeds in time. At present, relevant researches on miss-seeding monitoring are carried out at home and abroad, for example, an AVR singlechip-based potato miss-seeding detection and bolt type reseeding device electric control system is proposed by Wangguan and the like, but the technology mainly adopts a seed sowing pipe for monitoring, a set of standby seed sowing device is additionally arranged outside an original seed sowing device, when the original seed sowing device has miss-seeding, the standby seed sowing device carries out reseeding when the original seed sowing device has miss-seeding, the seed supplementing mode that the seed sowing device and the miss-seeding reseeding device are mutually independent has a complex structure, and the prerequisite requirement that the potato seeds to be supplemented are positioned in a limited cavity in advance exists, so that the problem of self-blocking of the compensated potato seeds is easily caused; on the basis, the team also provides a one-way clutch type seeding and reseeding integrated potato planter, the core of the conception lies in that the use of a one-way clutch enables normal seeding and reseeding to use different power sources, but a reseeding box is not needed, the latter seed taking spoon catches up with the former seed leaking spoon for compensation, the system is really novel, but the switching of power easily causes the instability of the machine, the intervention of the power of the compensation system is suddenly increased from zero, and the mechanical implementation of the system is provided with more serious challenges.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a full electric drive seed sowing potato precision planter seed sowing system capable of realizing compensation accurately is provided aiming at the defects in the prior art.
For solving the technical problem of the utility model, adopt the following technical scheme:
the utility model provides a full electric drive seed metering potato precision planter seed metering system, erects roof beam, sprocket bearing, seed metering groove, land wheel including seed case, the frame that sets up on potato planter organism, the frame is erected the roof beam and is set up the seed metering groove, the seed metering inslot sets up the seed metering chain, the seed metering chain links with motor, reduction gear, power transmission gear train, evenly set up a plurality of spoons of getting, every on the seed metering chain the spoon of getting is installed on same position and is got kind spoon position signal carrier, and from the top down three position sets up respectively on the seed metering groove of corresponding installation spoon position signal carrier one side of getting kind spoon position sensor III, spoon position sensor II of getting kind and spoon position sensor of getting kindI, the distance between the position sensors of the adjacent seed taking spoonsL 1Equal to the distance L between adjacent seed-taking spoons, and the average radius of the seed potatoes on the seed-taking spoon position sensor III, the seed-taking spoon position sensor II and the seed-taking spoon position sensor IrA seed metering detection photoelectric sensor group III, a seed metering detection photoelectric sensor group II and a seed metering detection photoelectric sensor group I are respectively arranged at the positions, wherein the distance from the seed taking spoon position sensor I to the starting line of the free falling body movement of the furrow opener with the adjustable seed potato entering positionL 1The distance L between the seed metering detection photoelectric sensor group and the seed taking spoon position sensor is the same as that between adjacent seed taking spoons, the seed metering detection photoelectric sensor group and the seed taking spoon position sensor are respectively connected with a system controller, and the system controller is arranged on a potato seeder body; the system controller is connected with the driver, the driver is connected with the motor, the system controller and the driver are respectively connected with the vehicle-mounted storage battery, and the vehicle-mounted storage battery is arranged on the potato planter body.
The system controller is arranged on a potato planter body outside the seed box and comprises a core operation processor CPU and a vehicle speed sensor, wherein the core operation processor CPU has timing and interrupt functions, the core operation processor CPU is respectively connected with the seed arrangement detection photoelectric sensor group, the seed taking spoon position sensor and the vehicle speed sensor, and the system controller further comprises a keyboard, a reset key, a parameter display and a miss-seeding alarm acousto-optic circuit.
The seeding detection photoelectric sensor groups are respectively and symmetrically arranged on two sides of the seeding groove.
The seed box is provided with a seed surface position detection device.
The seed surface position detection device comprises seed box seed filling proximity sensors and a seed bit line position information prompting acousto-optic circuit which are arranged at the upper, middle and lower positions of the side surface of a seed box, wherein the upper part is a seed box seed filling proximity sensor III, the middle part is a seed box seed filling proximity sensor II, and the lower part is a seed box seed filling proximity sensor I; the seed box filling proximity sensor III, the seed box filling proximity sensor II and the seed box filling proximity sensor I are connected with a system controller, the seed box filling proximity sensor provides signals for the system controller, any one of the seed box filling proximity sensor III, the seed box filling proximity sensor II and the seed box filling proximity sensor I displays the seed for the signal state provided by the system controller, the system controller considers that the seed box filling proximity sensor is located at the corresponding horizontal plane and above, and the seed position line position information prompts the acousto-optic circuit to be controlled by the system controller.
The system controller counts natural broadcast seed number, natural miss broadcast number, seed supplement number and final miss broadcast number in real time, and updates and displays the result on a parameter display in real time; when the core operation processor CPU judges that a miss-seeding event occurs at the seeding detection photoelectric sensor group I, the core operation processor CPU sends corresponding control signals to the driver according to the detection results of whether the main potato seeds to be complemented at the seeding detection photoelectric sensor group II are provided and whether the secondary potato seeds to be complemented at the seeding detection photoelectric sensor group III are provided: if the main potato seeds to be replenished at the position of the photoelectric sensor group II for detecting the seed metering are possessed, the CPU of the core operation processor detects the real-time movement speed of the seed taking spoonv 1The control signal sent out by the driver enables the speed of the motor driving the seed-metering chain to reachv 11So that the seed-taking spoon at the position of the photoelectric sensor group II for seed metering is subjected to displacement 2L 1After acceleration of (2), can reach the original speed still adoptedv 1And the same position is reached, so that the non-deviation compensation of the potato seed position is completed, then the CPU of the core operation processor sends out a control signal to the driver again, so that the motor continuously drives the seed sowing chain to move at the original real-time speedv 1Running and exiting the reseeding state; if the main potato seeds to be complemented at the position of the seeding detection photoelectric sensor group II are not available and the secondary potato seeds to be complemented at the position of the seeding detection photoelectric sensor group III are available, the core operation processor CPU (Central processing Unit) moves at a real-time speed according to the seed taking spoonv 1The control signal sent to the driver can make the speed of the motor driving the seed-metering chain reachv 111So that the seed-taking spoon at the position of the photoelectric sensor group III for seed metering is subjected to displacement 3L 1After acceleration of (2), can reach the original speed still adoptedv 1To the same positionSo as to complete the position deviation-free compensation of the potato seeds, and then the CPU of the core arithmetic processor sends out control signals to the driver again to make the motor continue to drive the seed sowing chain to move at the original real-time speedv 1Running and exiting the reseeding state; if the main potato seeds to be replenished at the position of the seeding detection photoelectric sensor group II and the secondary potato seeds to be replenished at the position of the seeding detection photoelectric sensor group III do not exist, the CPU of the core operation processor starts the miss-seeding alarm acousto-optic circuit to work at a low frequency immediately, and the motor continues to enable the speed of the seeding chain to reach the speed of the seeding chainv 111The state of the seed metering detection photoelectric sensor group I is operated, then, whether the seed taking spoon behind the next seed metering detection photoelectric sensor group III is provided with the potato seeds to be replenished is waited to be detected, if the seed taking spoon behind the seed metering detection photoelectric sensor group II is not provided with the main potato seeds to be replenished and the seed metering detection photoelectric sensor group III is provided with the secondary potato seeds to be replenished, the final miss-seeding event happens once behind the seed taking spoon behind the original seed metering detection photoelectric sensor group I, the final miss-seeding number is required to be updated and displayed in real time on the parameter display, the CPU of the core arithmetic processor re-sends a control signal to the driver, so that the motor continuously drives the seed metering chain to move at the original real-time speedv 1The operation is finished, the reseeding state is quitted, the broadcasting-missing alarm sound and light circuit quits working, and the system operates normally; otherwise, under the condition, the potato seeds to be compensated still do not exist behind the seed taking spoon to be detected, which enters the seeding detection photoelectric sensor group III, the core operation processor CPU immediately starts the miss-seeding alarm sound and light circuit at high frequency to work, meanwhile, the core operation processor CPU sends a control signal to the driver to stop the motor from running, and an operator needs to manually check, find out the reason and take corresponding measures.
The utility model discloses a theoretical calculation does:
v 2tractor travel speed, units: m/s;
v 1normal running speed of the seed-metering chain, unit: m/s;
v 11and (3) detecting the speed of a seed sowing chain in the case that main potato seeds to be complemented at the photoelectric sensor group II have the condition of complementing seeds, unit: m/s;
v 111the seed metering detects that the main potato seeds to be complemented at the photoelectric sensor group II do not exist and the seed metering detects that the secondary potato seeds to be complemented at the photoelectric sensor group III exist, the speed of a seed metering chain is measured by unit: m/s;
ω 1normal angular speed of operation required for the motor, in: rad/s;
when a miss-seeding event occurs, the seeding detects the operation angular speed which is required by the motor when the main potato seeds to be complemented at the photoelectric sensor group II are obtained;
when a miss-seeding event occurs, the seeding detects the operation angular speed which is required to be reached by the motor when the main potato seeds to be complemented at the photoelectric sensor group II are not available, and the seeding detects the operation angular speed which is required to be reached by the motor when the potato seeds to be complemented at the secondary potato sensor group III are available;
ω 2-seed-metering sprocket rotational angular velocity, unit: rad/s;
Rradius of the seed sprocket, unit: m;
L 1seed pick-up scoop spacing, unit: m;
L setdefault potato planting row spacing in the system controller, unit: m;
Lthe planting distance of the potato seeds is as follows: m;
rmean radius of seed potatoes, unit: m;
N-the reduction gear ratio of the reducer;
the core parameter is potato seeding plant spacingLDefault potato planting row spacing in the system controllerL setIf no modification is required, then execution is performedL=L set(ii) a If a modification is required, the system will,L setwill be modified to the required value and then executedL=L set；
(1) Parameter adaptation in normal operation
The parameter in normal operation is matched with the core work that the system controller calculates the required seed sowing chain speed according to the definite parametersv 1To determine the required rotational angular speed of the motorω 1Finally, the required operation angular speed of the driver control motor is obtained through calculationω 1Corresponding to the control signal required to be given.
As can be seen from the parameter relationship:
at this time, the movement of the seed-metering chain can reach the required speedv 1。
(2) Parameter matching in miss-seeding compensation state
It can be known from the summary of the working principle of the system that under the condition of a miss-seeding event, the seed-metering chain must rotate at an accelerated speed so that the seed potatoes on the subsequent seed-taking spoon can reach the original speed after being subjected to special position shiftingv 1And the same position that arrives to also accomplish kind potato position and do not have deviation compensation, the required operation angular velocity of motor has following two kinds of possibilities:
firstly, the seeding detection detects the operation angular speed of the motor when the main potato seeds to be supplemented at the photoelectric sensor group II haveAnd the main potato seeds to be replenished at the position of the photoelectric sensor group II for seeding detection need to be at the original speed of the seeding chainv 1Span the space between seed-taking spoonsL 1Over a period of 2 ×L 1So there are:
at this time, the movement of the seed-metering chain can reach the required speedv 11；
Secondly, when the main potato seeds to be supplemented at the position of the photoelectric sensor group II are detected by the seed sowing device and the secondary potato seeds to be supplemented at the position of the photoelectric sensor group III are detected by the seed sowing device, the operation angular speed required by the motor is equal to；
The seed to be replenished at the position of the seeding detection photoelectric sensor group III needs to be at the original speed of the seeding chainv 1Span the space between seed-taking spoonsL 1In time interval of (3) acrossL 1So there are:
at this time, the movement of the seed-metering chain can reach the required speedv 111。
The utility model provides a seed metering system of a full electric drive seed metering potato precision planter based on three detection miss-seeding and compensation decision-making system's support that seed taking spoon position signal carrier, seed metering detection photoelectric sensor group and core operation processor CPU constitute, this system though also belong to catch up formula compensation, also do not have extra reserve seed metering device. Firstly, the utility model has the advantages that the main power of the seeding system is rewritten from the situation of land wheel, the power of the seed discharging system is not dependent on the complex gear and chain transmission system, but is directly output by the motor for seed discharging, the whole structure of the system is fundamentally simplified, the power required by the system is reduced, the matching power is reduced, and the investment is obviously reduced; on the other hand, the system of the utility model omits a one-way clutch and an auxiliary system thereof, and the structure composition of the miss-seeding compensation system is simplified; secondly, the system has the advantages that besides miss-seeding detection, detection of whether the main potato seeds to be complemented exist or not and detection of whether the secondary potato seeds to be complemented exist simultaneously, and on one hand, the success rate of compensation is obviously improved; thirdly, the acceleration of the compensation system is not suddenly increased from zero, but is accelerated from a constant speed, so that the load and the vibration of the mechanical system are greatly reduced, namely the impact on the system structure of the potato planter, which is generated by miss-seeding compensation, is greatly reduced, and the usability of the system is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a system controller according to the present invention;
fig. 3 is a block diagram of the system controller of the present invention;
fig. 4 is a block diagram of the interruption subprogram for system miss-seeding judgment and compensation of the present invention;
FIG. 5 is a block diagram of the CPU timer and interrupt subroutine of the core processor of the present invention;
FIG. 6 is a block diagram of the sub-process of monitoring and displaying alarm of the device for detecting the location of seed surface of the present invention;
in the figure: a seed box 1; a frame vertical beam 2; a sprocket bearing 3; a seed discharging groove 4; a land wheel 5; a motor 6; a speed reducer 7; a power transmission gear set 8; a seeding detection photoelectric sensor group (III, II, I) 9; a seed-feeding sprocket (II, I) 10; a seed taking spoon 11; a seed scoop position signal carrier 12; a seed-taking spoon position sensor (III, II, I) 13; a seed-metering chain 14; a ground axle 15; a seed-metering slot seed-feeding port 16; seed potatoes 17; a frame bottom beam 18; an in-vehicle battery 19; a seed-filling proximity sensor (III, II, I) 20; a position-adjustable furrow opener 21; sprocket shafts (II, I) 22; a seeding power mounting bottom plate 23; a driver 24; a system controller 25; a core arithmetic processor CPU 25-1; a vehicle speed sensor 25-2; a keyboard 25-3; reset button 25-4; displaying the parameters by 25-5; 25-6 parts of a seed bit line position information prompting sound and light circuit (an indicator light III, an indicator light II, an indicator light I and a buzzer); and an alarm sound and light circuit 25-7 for miss-seeding.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings:
as shown in fig. 1, a seed sowing system of a full-electric drive seed sowing potato precision seeder comprises a seed box 1, a frame vertical beam 2, a chain wheel bearing 3, a seed sowing groove 4, a land wheel 5, a motor 6, a speed reducer 7, a power transmission gear set 8, a seed sowing detection photoelectric sensor group (III, II, I) 9, a seed sowing chain wheel (II, I) 10, a seed taking spoon 11, a seed taking spoon position signal carrier 12, a seed taking spoon position sensor (III, II, I) 13, a seed sowing chain 14, a land wheel shaft 15, a seed sowing groove seed throwing port 16, a seed potato 17, a frame bottom beam 18, a vehicle-mounted storage battery 19, a seed box seed filling proximity sensor (III, II, I) 20, a position adjustable furrow opener 21, a chain wheel shaft (II, I) 22, a seed sowing power mounting bottom plate 23, a driver 24 and a system controller 25.
The system consisting of the land wheels 5 and the land wheel shafts 15 is driven by a tractor to walk in the field, so that a platform support is provided for the whole seeder; the frame bottom beam 18 is arranged on the ground wheel shaft 15, and the frame vertical beam 2 is vertically fixed on the frame bottom beam 18; the seed box 1 is arranged above the bottom beam 18 of the frame and on one side of the vertical beam 2 of the frame far away from or close to the tractor; a seed sowing groove 4 is arranged on one side of the vertical beam 2 of the frame back to the seed box 1, a seed sowing groove seed feeding port 16 is positioned at the lower part of the seed sowing groove 4, chain wheel bearings 3 are respectively arranged at two ends of the vertical beam 2 of the frame, the chain wheel bearings 3 are arranged at two ends of the vertical beam 2 of the frame through a chain wheel shaft II22 and a chain wheel shaft I22, and a seed sowing chain wheel II10 and a seed sowing chain wheel I10 are respectively arranged on the chain wheel shaft II22 and the chain wheel shaft I22; a seed discharging chain 14 is arranged in the seed discharging groove 4, the seed discharging chain 14 also needs to pass through the seed box from the bottom of the seed box 1 upwards, the whole seed discharging chain 14 is installed between the seed guide chain wheel II10 and the seed guide chain wheel I10 in a bridging mode, a plurality of seed taking scoops 11 are uniformly arranged on the seed discharging chain 14, and therefore the moving linear speeds of the seed discharging chain 14 and the seed taking scoops 11 are the same; each seed taking spoon 11 is provided with a seed taking spoon position signal carrier 12 at the same position, a seed taking spoon position sensor III13, a seed taking spoon position sensor II13 and a seed taking spoon position sensor I13 are respectively arranged at the three positions from top to bottom of the seed discharging groove 4 correspondingly provided with one side of the seed taking spoon position signal carrier 12, and the distance between the adjacent seed taking spoon position sensors 13L 1The distance between the seed taking spoon 11 and the adjacent seed taking spoonLEqual; seed metering detection photoelectric sensor groups 9 are arranged at two sides of the seed metering groove 4, and the average radius of the seed potatoes 17 of the seed metering detection photoelectric sensor groups 9 on the seed taking spoon position sensor 13rThe seed metering detection photoelectric sensor group III9, the seed metering detection photoelectric sensor group II9 and the seed metering detection photoelectric sensor group I9 are respectively arranged from top to bottom, wherein the seed taking spoon position sensor I13 is far from the starting point line of the free falling body movement of the furrow opener 21 with the adjustable seed potato 17 entering positionL 1The distance between the seed taking spoon and the adjacent seed taking spoon 11LThe same; the seeding detection photoelectric sensor group 9 and the seed taking spoon position sensor 13 are respectively connected with a system controller 25, and the system controller 25 is arranged on a potato seeder body; system controller 25 and driveThe actuator 24 is connected, the driver 24 is connected with the motor 6, the system controller 25 and the driver 24 are respectively connected with the vehicle-mounted storage battery 19, and the vehicle-mounted storage battery 19 is arranged on the potato planter body; all power of the seeding system is directly derived from driving torque obtained by the power output by the motor 6 to the speed reducer 7 and then transmitted to the chain wheel shaft II22 through the power transmission gear set 8.
As shown in figure 2, the system controller 25 comprises a core operation processor CPU25-1 and a vehicle speed sensor 25-2, wherein the core operation processor CPU25-1 has timing and interrupt functions, the core operation processor CPU25-1 is respectively connected with a seed metering detection photoelectric sensor group 9, a seed taking spoon position sensor 13 and a vehicle speed sensor 25-2, and the system controller 25 further comprises a keyboard 25-3, a reset key 25-4, a parameter display 25-5 and a miss-seeding alarm sound-light circuit 25-7. The speed sensor 25-2 provides the core operation processor CPU25-1 with the real-time speed of the tractor, and the keyboard 25-3, the parameter display 25-5 and the core operation processor CPU25-1 jointly provide a human-computer interaction channel for parameter setting; the reset key 25-4 provides system state reset, emergency condition shutdown and system crash restart services; the system controller 25 also needs to comprehensively acquire the seeding detection photoelectric sensor group 9 and the seeding spoon position sensor 13 to judge whether seeding missing occurs in the seeding process, send out a control signal required by the driver 24 so as to enable the motor 6 to reach the required running speed, count the natural seeding number, the natural seeding missing number, supplement the seeding number and finally update the result on the parameter display 25-5 in real time; the system controller 25 requires a signal provided by the seed tank seed proximity sensor 20 to properly display seed tank information (and simultaneously sound an alarm if necessary).
As shown in fig. 1 and 2, the miss-seeding judgment of the system is obtained by combining a seed-taking spoon position signal carrier 12 attached to the side surface of each seed-taking spoon 11, a seed metering detection photoelectric sensor group 9 and a core arithmetic processor CPU 25-1. The seeding detection photoelectric sensor group I is a substantial detection point for detecting whether a miss-seeding detection event occurs, the seeding detection photoelectric sensor group II is a detection point for detecting whether main potato seeds to be complemented exist, and the seeding detection photoelectric sensor group III9 is a detection point for detecting whether secondary potato seeds to be complemented exist. Each time oneWhen a seed-taking spoon position signal carrier 12 attached to the side surface of each seed-taking spoon 11 reaches the position of a seed-taking spoon position sensor I13, a signal is provided for the transmitting end of a seeding detection photoelectric sensor group I9 by a core arithmetic processor CPU25-1, then the signal change of the receiving end of the seeding detection photoelectric sensor group I9 is detected, if the state of at least one receiving end of the seeding detection photoelectric sensor group I9 is predicted to change in a preset time period, the existence of the seed potato 17 is indicated, and no miss-seeding event occurs; on the contrary, if the seeding detection photoelectric sensor group I does not have any expected change of the state of any receiving end in a preset time period, it indicates that a miss-seeding event occurs on the back of the passing seed taking spoon 11; the real-time movement speed of the seed taking spoon 11 can be obtained by utilizing the time difference that the same carrier 12 for the position signal of the seed taking spoon passes through the sensor I13 for the position of the seed taking spoon and the sensor II13 for the position of the seed taking spoonv 1. The detection process of whether the main potato seeds to be complemented executed at the seeding detection photoelectric sensor group II and the detection process of whether the secondary potato seeds to be complemented executed at the seeding detection photoelectric sensor group III9 are similar to the process of whether the miss-seeding detection event executed at the seeding detection photoelectric sensor group I9 occurs or not, and the judgment criterion of the core operation processor CPU25-1 is the same.
A seed position detection device is installed on one side of a seed box 1, the seed position detection device comprises seed box seed filling proximity sensors 20 which are respectively arranged on the side surfaces of the seed box 1, in and at the lower three positions, the seed box seed filling proximity sensors 20 are respectively a seed box seed filling proximity sensor III, a seed box seed filling proximity sensor II and a seed box seed filling proximity sensor I, wherein the seed box seed filling proximity sensors III, the seed box seed filling proximity sensors II and the seed box seed filling proximity sensors I are all connected with a system controller 25, any one of the seed box seed filling proximity sensors III, the seed box seed filling proximity sensors II and the seed box seed filling proximity sensors I displays seed for the signal state provided by the system controller 25, and then the system controller 25 considers that the seed box seed filling proximity sensors 20 are located on the corresponding horizontal plane and above. The output result of the seed surface position detection device is output by a seed bit line position information prompt acousto-optic circuit 25-6 connected with a core arithmetic processor CPU 25-1.
The utility model discloses a theoretical calculation:
v 2tractor travel speed, units: m/s;
v 1normal running speed of the seed-metering chain 14, unit: m/s;
v 11the seed metering is detected by the photoelectric sensor group II9, and the speed of the seed metering chain is measured when the main potato seeds to be replenished have the condition that the seed replenishing is carried out: m/s;
v 111and the seed metering detection photoelectric sensor group II9 is used for detecting the speed and the unit of a seed metering chain when the main potato seeds to be replenished do not exist and the seed metering detection photoelectric sensor group III9 is used for detecting the speed and the unit of the seed metering chain when the secondary potato seeds to be replenished exist: m/s;
ω 1the normal angular speed of operation required for the motor 6, in: rad/s;
when a miss-seeding event occurs, the seeding detects the operation angular speed which is required to be reached by the motor 6 when the main potato seeds to be complemented at the photoelectric sensor group II9 are obtained;
when a miss-seeding event occurs, the seeding detection photoelectric sensor group II9 detects that the main potato seeds to be complemented do not exist, and the seeding detection photoelectric sensor group III9 detects the operation angular speed required by the motor 6 when the secondary potato seeds to be complemented exist;
ω 2-seed feed sprocket 10 rotational angular velocity, unit: rad/s;
Rradius of seed feed sprocket 10, unit: m;
L 1distance between seed-taking spoons 11, unit: m;
L setdefault potato planting row spacing in the system controller, unit: m;
Lthe planting distance of the potato seeds is as follows: m;
rseed potato 17 average radius, unit: m;
Nthe reduction gear ratio of the reducer 7;
the core parameter is potato seeding plant spacingLDefault potato planting row spacing in the system controllerL setIf no modification is required, then execution is performedL=L set(ii) a If a modification is required, the system will,L setwill be modified to the required value and then executedL=L set；
(1) Parameter adaptation in normal operation
The parameters in normal operation cooperate with the core operation that the system controller 25 calculates the required speed of the seed discharge chain 14 based on the already defined parametersv 1To determine the required rotational angular speed of the motor 6ω 1Finally, the final calculation obtains the rotation angular speed of the motor 6 controlled by the driver 24 to reach the required operationω 1Corresponding to the control signal required to be given.
As can be seen from the parameter relationship:
at this time, the movement of the seed-metering chain 14 can reach a desired speedv 1。
(2) Parameter matching in miss-seeding compensation state
It can be seen from the summary of the working principle of the system that, in the event of miss-seeding, the seed-metering chain 14 must rotate at an increased speed so that the seed potatoes 17 on the following seed-taking spoon 11 can reach the original speed after being subjected to the specific displacementv 1And the same position is reached, so that the position of the seed potatoes 17 is compensated without deviation, and the required operation angular speed of the motor 6 has the following two possibilities:
the seeding detection is that the operation angular speed which is required to be reached by the motor 6 when the main potato seeds to be replenished at the position of the photoelectric sensor group II9 is the rotation angular speed。
Seeding detection photoelectric sensor groupII9 the main potato seeds to be supplemented need to be fed at the speed of 14 times of the original seed feeding chainv 1Span 11 intervals of seed-taking spoonsL 1Over a period of 2 ×L 1So there are:
at this time, the movement of the seed-metering chain 14 can reach a desired speedv 11；
When the main potato seeds to be replenished at the position of the photoelectric sensor group II9 for seeding are detected, and the secondary potato seeds to be replenished at the position of the photoelectric sensor group III9 for seeding are detected, the operation angular speed required by the motor 6 is equal to. The seed to be replenished at the position of the seeding detection photoelectric sensor group III9 needs to be at the speed of 14 times of the original seed feeding chainv 1Span 11 intervals of seed-taking spoonsL 1In time interval of (3) acrossL 1Is due to displacement of
At this time, the movement of the seed-metering chain 14 can reach a desired speedv 111。
As shown in fig. 3, the main program of the system implements system detection, parameter setting, system initialization, system startup, real-time parameter display, manual alarm II release, system shutdown, and system restart.
The utility model is in operation, under normal operation, the parameter plant spacing value required by potato seeding is input by using the cooperation of the keyboard 25-3 and the parameter display 25-5 before operationLTherefore, the core operation processor CPU25-1 reads the tractor running speed acquired by the vehicle speed sensor 25-2 in real timev 2On the basis of the speed of the motor 6, the required rotational speed omega of the motor can be obtained by calculation1So as to send out a control signal of a driver 24 to enable the motor 6 to drive the seed sowing chain 14 to reach the required speedv 1Normally running, simultaneously carrying out natural seeding number statistics and displaying the result in a parameter display 25-5; in operation, if the tractor is runningv 2The value of (2) fluctuates, then the core operation processorUnder the control and coordination of the CPU25-1, the control signal of the driver 24 is changed, so that the motor 6 drives the speed of the seed sowing chain 14v 1And the system also has adaptive change, thereby having the self-synchronizing regulation capability of the system.
As shown in FIG. 1, FIG. 2 and FIG. 3, if the core arithmetic processor CPU25-1 judges that the miss-seeding event occurs at the seeding detection photoelectric sensor group I9, the number of the seeding operations is not limited to the natural number of the seeding operationsN 1Natural miss-seeding numberN 2And number of seeds to be complementedN 3The final miss-seeding numberN 4The statistics and the real-time update display of the results on the parameter display 25-5, and the core operation processor CPU25-1 sends corresponding control signals to the driver 24 according to the detection results of whether the main potato seeds to be complemented at the seeding detection photoelectric sensor group II9 are present and whether the sub potato seeds to be complemented at the seeding detection photoelectric sensor group III9 are present: if the main potato seeds to be replenished are arranged at the position of the seeding detection photoelectric sensor group II9, the CPU25-1 of the core operation processor is used for detecting the real-time movement speed of the seed taking spoon 11v 1The control signal sent to the driver 24 is to make the motor 6 drive the seed-metering chain 14 to reach the speedv 11So that the seed taking spoon 11 at the position of the photoelectric sensor group II for seed metering is subjected to displacement 2L 1After acceleration of (2), can reach the original speed still adoptedv 1And the same position is reached, so that the position deviation-free compensation of the seed potatoes 17 is completed, and then the core arithmetic processor CPU25-1 sends out a control signal to the driver 24 again, so that the motor 6 continuously drives the seed sowing chain 14 to move at the original real-time speedv 1Running and exiting the reseeding state; if the main potato seeds to be complemented at the position of the seeding detection photoelectric sensor group II9 are not available, and the secondary potato seeds to be complemented at the position of the seeding detection photoelectric sensor group III9 are available, the core operation processor CPU25-1 moves at a real-time speed according to the seed taking spoon 11v 1The control signal sent to the driver 24 is to make the motor 6 drive the seed-metering chain 14 to reach the speedv 111So that the seed taking spoon 11 at the position of the photoelectric sensor group III9 for seed metering passes through the displacement 3L 1After acceleration of (2), can reach the original speed still adoptedv 1And then the same position is reached, so that the non-deviation compensation of the positions of the seed potatoes 17 can be completed, and then the core arithmetic processor CPU25-1 sends out a control signal to the driver 24 again, so that the motor 6 continuously drives the seed sowing chain 14 to move at the original real-time speedv 1And (5) running and exiting the reseeding state. If the main potato seeds to be compensated at the seeding detection photoelectric sensor group II9 and the secondary potato seeds to be compensated at the seeding detection photoelectric sensor group III9 are not provided, the core operation processor CPU25-1 immediately starts the miss-seeding alarm acousto-optic circuit 25-7 to work at a low frequency, and the motor 6 continues to enable the speed of the seeding chain 14 to reach the speed of the seeding chain 14v 111The state of the seed metering detection photoelectric sensor group III9 is operated, then whether the seed to be complemented exists after the seed taking spoon 11 at the next position entering the seed metering detection photoelectric sensor group III9 is backed is waited to be detected, if the seed to be complemented exists, the seed metering detection photoelectric sensor group II9 is executed according to the condition that the main seed to be complemented does not exist and the seed to be complemented exists at the position of the seed metering detection photoelectric sensor group III9, the final miss-seeding event occurs once after the seed taking spoon 11 at the position of the original seed metering detection photoelectric sensor group I9 is backed, and the final miss-seeding number is required to be updatedN 4And the real-time display is carried out on the parameter display 25-5, the CPU25-1 of the core arithmetic processor sends out a control signal to the driver 24 again, so that the motor 6 continues to drive the seed sowing chain 14 to move at the original real-time speedv 1When the system is in operation, the reseeding state is quitted, the broadcasting-missing alarm acousto-optic circuit 25-7 quits operation, and the system operates normally; otherwise, under the condition, the potato seeds to be complemented still do not exist after the next potato seeds to be detected enter the back of the seed taking spoon 11 at the position of the seeding detection photoelectric sensor group III9, the core operation processor CPU25-1 immediately starts the miss-seeding alarm sound-light circuit 25-7 to work at high frequency, meanwhile, the core operation processor CPU25-1 sends a control signal to the driver 24 to stop the operation of the motor 6, and an operator needs to manually check, find out reasons and take corresponding measures.
Based on fig. 1 and fig. 2, since the miss-broadcast judgment needs to obtain the result quickly and reliably, an interruption measure needs to be adopted, and a block diagram of a system miss-broadcast judgment and interruption compensation subroutine is shown in fig. 4. Each time a seed pick-up spoon position signal carrier 12 carried by the side of a seed pick 11 reaches the position of the seed pick position sensor 13, an associated interruption is triggered, which are linked to each other, so that the priority order between them must be specified, the order of interruption priority being from high to low: the detection result marks of corresponding interrupt work subprogram are respectively FLAGII, FLAGIII and FLAGI. The seed metering detection photoelectric sensor group II9 induces interruption detection results FLAGII =0 which represent that the main potato seeds to be complemented are possessed (default state), and FLAGII =1 which represents that the main potato seeds to be complemented are not possessed; the seed metering detection photoelectric sensor group III9 induces interruption detection results FLAGIII =0 which represent that the potato seeds to be supplemented are in a default state, and FLAGIII =1 which represents that the potato seeds to be supplemented are not in a default state; the miss detection result FLAGI =0 induced at the seeding detection photosensor group I9 indicates seed (default state), while FLAGI =1 indicates no seed (i.e., a miss event has occurred at the seeding detection photosensor group I9), and before the interrupt finally exits, FLAGI, FLAGII, and FLAGIII are all cleared (the interrupt induced at the seeding detection photosensor group I9 is the interrupt with the lowest priority, and the result flag in which the detection of the interrupt at the seeding detection photosensor group II9 is to be called or the detection of the interrupt at the seeding detection photosensor group III9 is continuously called is the latest exit among the three interrupts).
Timer interrupts are also referred to herein. The priority of the timer interrupt is higher than that of the interrupt induced by the seeding photoelectric sensor group 9, and further the priority of the timer T1 is higher than that of the timer T2, and the CPU timer and interrupt subroutine block diagram of the core arithmetic processor is shown in FIG. 5.
The real-time performance of seed box position monitoring and displaying is general and does not need to be very fast, therefore, the seed box position monitoring and displaying can be realized by calling a subprogram in a main program, and a seed box position monitoring and displaying alarm subprogram block diagram is shown in fig. 6.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (5)
1. The utility model provides a full electric drive seed metering potato precision planter seed metering system, erects roof beam, sprocket bearing, seed metering groove, land wheel including seed case, the frame that sets up on potato planter organism, the frame is erected the roof beam and is set up the seed metering groove, the seed metering inslot sets up seed metering chain, its characterized in that: seed metering chain (14) and motor (6), reduction gear (7), power transmission gear train (8) linkage, evenly set up a plurality of spoons of getting seeds (11) on seed metering chain (14), every spoon of getting seeds (11) installation spoon position signal carrier (12) on same position sets up respectively spoon position sensor III of getting seeds, spoon position sensor II of getting seeds and spoon position sensor I of getting seeds on seed metering groove (4) of corresponding spoon position signal carrier (12) one side of installing from the top down three position, and is adjacent distance between spoon position sensor (13) of getting seedsL 1Equal to the distance between adjacent seed-taking spoons (11), the average radius of the seed potatoes (17) on the seed-taking spoon position sensor III, the seed-taking spoon position sensor II and the seed-taking spoon position sensor IrA seed discharging detection photoelectric sensor group III, a seed discharging detection photoelectric sensor group II and a seed discharging detection photoelectric sensor group I are respectively and correspondingly arranged at the positions, wherein the distance from a seed taking spoon position sensor I to a starting point line of free falling body movement of a seed potato (17) entering position-adjustable furrow opener (21) is also the same as the distance between adjacent seed taking spoons (11), the seed discharging detection photoelectric sensor group (9) and the seed taking spoon position sensor (13) are respectively connected with a system controller (25), and the system controller (25) is arranged on a potato seeder body; the potato planter is characterized in that the system controller (25) is connected with the driver (24), the driver (24) is connected with the motor (6), the system controller (25) and the driver (24) are respectively connected with the vehicle-mounted storage battery (19), and the vehicle-mounted storage battery (19) is arranged on the potato planter body.
2. An all-electric drive seed precision planter seed metering system as claimed in claim 1 wherein: the system controller (25) is arranged on a potato seeder body outside the seed box (1), the system controller (25) comprises a core operation processor CPU (25-1) and a vehicle speed sensor (25-2), wherein the core operation processor CPU (25-1) has timing and interrupt functions, the core operation processor CPU (25-1) is respectively connected with the seed metering detection photoelectric sensor group (9), the seed taking spoon position sensor (13) and the vehicle speed sensor (25-2), and the system controller (25) further comprises a keyboard (25-3), a reset key (25-4), a parameter display (25-5) and an alarm sound-light circuit (25-7) for miss-seeding.
3. An all-electric drive seed precision planter seed metering system as claimed in claim 1 or 2 wherein: the seeding detection photoelectric sensor groups (9) are respectively and symmetrically arranged on two sides of the seeding groove (4).
4. An all-electric drive seed precision planter seed metering system as claimed in claim 3 wherein: the seed box (1) is provided with a seed surface position detection device.
5. An all-electric drive seed precision planter seed metering system as claimed in claim 4 wherein: the seed surface position detection device comprises a seed box seed filling proximity sensor (20) and a seed bit line position information prompting acousto-optic circuit (25-6) which are arranged at the upper, middle and lower positions of the side surface of a seed box (1), wherein the upper part is a seed box seed filling proximity sensor III, the middle part is a seed box seed filling proximity sensor II, and the lower part is a seed box seed filling proximity sensor I; the seed-filling proximity sensor III, the seed-filling proximity sensor II and the seed-filling proximity sensor I of the seed box are connected with the system controller (25), the seed-filling proximity sensor (20) of the seed box provides signals for the system controller (25), the signal state provided by any one of the seed-filling proximity sensor III, the seed-filling proximity sensor II of the seed box and the seed-filling proximity sensor I of the seed box for the system controller (25) displays seeds, the system controller (25) considers that the seed-filling proximity sensor (20) of the seed box is located at a corresponding level and above the level, and the position information of the seed line prompts the acousto-optic circuit (25-6) to be controlled by the system controller (25).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920181833.0U CN209845704U (en) | 2019-02-01 | 2019-02-01 | Seed metering system of all-electric drive seed metering potato precision planter |
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| CN201920181833.0U CN209845704U (en) | 2019-02-01 | 2019-02-01 | Seed metering system of all-electric drive seed metering potato precision planter |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109566019A (en) * | 2019-02-01 | 2019-04-05 | 甘肃农业大学 | A kind of full electric drive seeding potato precision drill metering system |
| CN114837400A (en) * | 2022-05-06 | 2022-08-02 | 杨晚霞 | Maintenance equipment after construction suitable for building chrysanthemum disc scaffold |
-
2019
- 2019-02-01 CN CN201920181833.0U patent/CN209845704U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109566019A (en) * | 2019-02-01 | 2019-04-05 | 甘肃农业大学 | A kind of full electric drive seeding potato precision drill metering system |
| CN109566019B (en) * | 2019-02-01 | 2023-11-21 | 甘肃农业大学 | Seed metering system of all-electric-drive seed metering potato precision planter |
| CN114837400A (en) * | 2022-05-06 | 2022-08-02 | 杨晚霞 | Maintenance equipment after construction suitable for building chrysanthemum disc scaffold |
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