WO2020037749A1 - 大蒜定向投种机构及控制方法 - Google Patents

大蒜定向投种机构及控制方法 Download PDF

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Publication number
WO2020037749A1
WO2020037749A1 PCT/CN2018/106372 CN2018106372W WO2020037749A1 WO 2020037749 A1 WO2020037749 A1 WO 2020037749A1 CN 2018106372 W CN2018106372 W CN 2018106372W WO 2020037749 A1 WO2020037749 A1 WO 2020037749A1
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WIPO (PCT)
Prior art keywords
garlic
seeding
seed
base
directional
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PCT/CN2018/106372
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English (en)
French (fr)
Inventor
沈景新
孙宜田
孙永佳
陈刚
李青龙
冯显英
周军
闫鹏
Original Assignee
山东省农业机械科学研究院
山东大学
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Application filed by 山东省农业机械科学研究院, 山东大学 filed Critical 山东省农业机械科学研究院
Priority to US16/629,034 priority Critical patent/US11419259B2/en
Publication of WO2020037749A1 publication Critical patent/WO2020037749A1/zh

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    • 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
    • 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
    • A01C7/16—Seeders with other distributing devices, e.g. brushes, discs, screws or slides
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C9/00—Potato planters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C14/00—Methods or apparatus for planting not provided for in other groups of this subclass
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/04—Single-grain seeders with or without suction devices
    • 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
    • A01C7/10—Devices for adjusting the seed-box ; Regulation of machines for depositing quantities at intervals
    • A01C7/102—Regulating or controlling the seed rate
    • A01C7/105—Seed sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Definitions

  • the invention relates to a garlic seeder component, in particular to a garlic directional seeding mechanism and a control method, and belongs to the technical field of agricultural machinery.
  • the present invention provides a directional garlic seeding mechanism and control method, and designs its results and technical parameters, which can realize the directional seedling of garlic bulbs upwards and replace manual labor by machinery. Laying the foundation for garlic seeding.
  • a garlic directional seeding mechanism includes a base, a rotating device, a vision sensor, a seeding guide plate, a seed tube, and a plurality of scale adjusting devices.
  • the rotating device includes a rotating motor and a turntable.
  • the rotating motor is detachably connected to the base.
  • the output end of the rotating motor is connected to the turntable.
  • the number of scale adjustment devices is evenly fixed on the turntable and symmetrically installed.
  • the scale adjustment device includes a seed bowl and a bulb direction control for driving the seed bowl to rotate 180 °.
  • the upper port of the seed guiding tube is located directly below the scale adjusting device and is set on the base, and the seeding guide plate is set on the turntable so that the garlic seeds in the seeding bowl fall into the seed guiding tube.
  • the scale direction control device includes a cam device and a rotation guide device.
  • the cam device includes a cam, a slide bar, and a roller.
  • the drive end of the slide bar is provided with a roller and abuts on the cam surface.
  • There is a reset device which drives the roller on the slider to the cam.
  • the rotation guide device is provided on the mounting seat to drive the slider to rotate along the curve of the surface of the slider.
  • the seed device is arranged above the reset device and connected to the slider.
  • the scale adjustment device also It includes an electromagnet for moving the cam device.
  • the electromagnet is detachably connected below the bracket, the bracket is fixedly connected to the base, and a reinforcing plate is provided between the bracket and the base.
  • the rotation guide device includes a fixed seat, a vertical rod and a cantilever shaft, the fixed base is detachably connected to the base, the two ends of the vertical rod are respectively connected to the fixed seat and the cantilever shaft, and a bearing is installed at the end of the cantilever shaft. Cooperate with the guide groove on the surface of the slide bar.
  • the resetting device includes a compression spring, a linear bearing and a flange, the linear bearing is connected to the fixed seat, the linear bearing is slidingly connected to the sliding rod, and the flange is provided on the upper end of the sliding rod and is connected with the seed holding device. The bottom is connected.
  • the compression spring passes through the sliding rod. One end of the compression spring is in contact with the flange and the other end is in contact with the linear bearing.
  • the seeding guide plate is welded to the base, and the longitudinal center plane of the seeding guide plate passes the center of the turntable.
  • the above-mentioned preferred solution for garlic directional seeding mechanism further includes a controller, and the controller is respectively connected to a touch display screen, a vision sensor, an electromagnet, a turntable motor, and a speed sensor.
  • a control method of a garlic directional seeding mechanism includes the following steps:
  • the controller reads the speed of the speed sensor, and calculates the rotation speed and time interval of the turntable motor according to the set seed distance;
  • the position sensor detects the position of the scale adjustment mechanism.
  • the turntable motor stops operating.
  • the scale adjustment device for garlic is rotated to the visual sensor.
  • the vision sensor obtains the image information of garlic seeds;
  • the controller analyzes the image information of garlic seeds and judges the direction of garlic bulbs
  • the turntable motor drives the scale adjustment device to rotate
  • the turntable motor drives the scale adjustment device to rotate to the seeding position.
  • the seed bowl is tilted by the seeding guide plate, and the garlic seeds fall into the seed tube under the effect of gravity.
  • the bulbs are kept under the constraint of the seed tube. Slide down to the duckbill-type hole-forming device to complete the directional seeding.
  • the garlic directional seeding mechanism detects through multiple sensors, and the controller adjusts the sequence matching of each component to achieve the garlic directional seeding.
  • the vision sensor obtains the garlic bulb image information, and the controller analyzes and determines the garlic bulb image information. If the garlic bulb direction is consistent with the required direction, it is not adjusted. If the garlic bulb direction is not consistent with the required direction, the electromagnet Action, adjust the direction of garlic bulbs, and then complete the directional planting under the guidance of the guide plate.
  • the scale direction control device can adjust the direction of garlic scales according to needs.
  • the seeding guide plate allows the garlic seeds in the seed bowl to fall into the seed tube. There is no complicated power mechanism.
  • the structure is simple, practical and easy to use. It can be applied to garlic seeding machinery, which can significantly improve the accuracy of the upward scale of the garlic seeding machine, and improve the operation quality of garlic seeding machine.
  • the controller analyzes and processes the image information of garlic seeds collected by the visual sensor, which can accurately distinguish the direction of garlic bulbs, and is accurate and reliable.
  • the vision sensor collects image information of garlic seeds, and can analyze the image to determine the lack of seeds, replay, etc.
  • the operating situation improves the quality of seeding;
  • the controller analyzes the image of garlic seeds, can count the statistics of garlic seeds, monitor the process of seeding operations, and provide a reliable scientific basis for the supervision and analysis of the quality of operations; each component is controlled by the controller Coordinated driving, consistent adjustment of garlic bulbs direction, so that garlic bulbs are planted in the same direction, and improve the quality of garlic mechanical planting; touch screen displays the current operating speed, operating area, seeding number and other operating parameters , And set parameters such as seed distance through the touch screen to achieve human-computer interaction, improve the quality of work and the level of intelligence of the whole machine.
  • FIG. 1 is a front view of the present invention
  • Figure 3 is a top view of the present invention.
  • FIG. 4 is a schematic structural diagram of a control system of the present invention.
  • FIG. 5 is a schematic structural diagram of a scale adjusting device.
  • FIG. 6 is a schematic structural diagram of a rotation guide device.
  • FIG. 7 is a schematic top view of a seed bowl.
  • 1 vision sensor In the picture, 1 vision sensor; 2 scale adjustment mechanism II; 3 turntable; 4 baffle; 5 seed tube; 6 base; 7 electromagnet; 8 bracket; 9 reinforcing plate; 10 turntable motor; 11 seed guide plate; 12 touch display; 13 controller; 14 speed sensor; 15 scale adjustment mechanism III; 16 scale adjustment mechanism V16; 17 scale adjustment mechanism I; 18 position detection sensor bracket; 19 position sensor; 2-1 flange Plate; 2-2 fixed seat; 2-3 guide slot; 2-4 cam; 2-6 compression spring; 2-7 linear bearing; 2-9 slide rod; 2-10 roller; 2-12 vertical rod; 2- 13 cantilever shaft.
  • a garlic directional seeding mechanism includes a base 6, a rotating device, a vision sensor 1, a seeding guide plate 11, a seeding tube 5 and a plurality of scale adjusting devices.
  • the rotating device includes Rotating motor 10 and turntable 3.
  • Rotating motor 10 is detachably connected to base 6.
  • the output end of rotating motor 10 is connected to turntable 3.
  • the adjustment mechanism II2, the scale adjustment mechanism III15 and the scale adjustment mechanism V16 are evenly fixed on the turntable 3 and symmetrically installed.
  • the scale adjustment device includes a seed bowl and a bulb direction control for driving the seed bowl to rotate 180 ° In the device, the upper port of the seed guide tube 5 is located directly below the scale adjustment device and is provided on the base 6.
  • the seed guide plate 11 is provided on the turntable 3 so that the garlic seeds in the seed bowl fall into the seed guide tube 5.
  • the scale direction control device includes a cam device and a rotation guide device.
  • the cam device includes a cam 2-4, a slider 2-9, and a roller 2-10.
  • a roller 2 is provided at the driving end of the slider 2-9.
  • -10 rests on the curved surface of cam 2-4, and a resetting device that drives the upper roller 2-9 of the sliding rod 2-9 against the cam 2-4 is provided on the mounting base 1, and a rotary guide is provided on the upper sliding rod of the mounting base 1 2-9 surface curve movement drives the slide bar 2-9 to rotate.
  • the seeding device 4 is arranged above the reset device and connected to the slide bar 2-9.
  • the scale adjustment device also includes an electromagnet 7 for moving the cam device.
  • the iron 7 is detachably connected below the bracket 8, the bracket 8 is fixedly connected to the base 6, and a reinforcing plate 9 is provided between the bracket 8 and the base 6.
  • the rotation guide device includes a fixed base 2-2, a vertical rod 2-12, and a cantilever shaft 2-13.
  • the fixed base 2-2 is detachably connected to the base 1.
  • the two ends of the vertical rod 2-12 are respectively connected to the fixed base 2-2 and the cantilever.
  • the shaft 2-13 and the cantilever shaft 2-13 end are provided with a bearing 2-14, and the bearing 2-14 is matched with the guide groove 2-3 on the surface of the slide rod 2-9.
  • the reset device includes a compression spring 2-6, a linear bearing 2-7, and a flange 2-1.
  • the linear bearing 2-7 is connected to the fixed seat 2-2, and the linear bearing 2-7 is slidingly connected to the slide rod 2-9.
  • the blue plate 2-1 is set on the upper end of the slide bar 2-9 and connected to the bottom of the seed holding device 4.
  • the pressure spring 6 passes through the slide bar 2-9. One end of the pressure spring 6 is in contact with the flange plate 2-1 and the other end is in a straight line. Bearings 2-7 are in contact.
  • the seed guide plate 11 is welded to the base 6, and the longitudinal center plane of the seed guide plate 11 passes through the center of the turntable 3.
  • the seed bowl includes front, back, and bottom surfaces.
  • the front and back surfaces are flat, the bottom surface is curved, and the left and right sides are open.
  • the left and right sides of the seed bowl pass through the baffle pins.
  • a baffle 4 is rotatably connected, and a torsion spring is arranged below the seed bowl.
  • this embodiment further includes a controller 13, and the controller 13 is respectively connected to the touch display screen 12, the visual sensor 14, the electromagnet 7, the turntable motor 10 and the speed sensor 14.
  • the touch screen 12 can set the seeding distance of garlic, and display information such as working speed, working area, and number of seeds. It is convenient for the operator to monitor the working process and quality; the speed sensor 14 detects the working speed, and the controller 13 receives the speed information and the seeding distance. The signal automatically calculates and controls the rotation speed and operation time interval of the turntable motor 10 to ensure the consistency of the seed distance at different operating speeds.
  • the controller 13 uses a dsp chip as a control unit for calculation processing.
  • the touch display screen 12 uses a 232 serial port to connect to the controller.
  • the visual sensor 14 is a CMOS image sensor. How does the supplementary turntable motor 10 connect to the controller 13? .
  • the controller 13 drives the turntable motor 10 to rotate by a PWM signal.
  • a control method of a garlic directional seeding mechanism includes the following steps:
  • the touch screen 12 After pressing the confirmation key, the touch screen 12 displays a working interface
  • the controller 13 reads the speed of the speed sensor 14 and calculates the rotation speed and operation time interval of the turntable motor 10 according to the set seed distance;
  • the position sensor 19 detects the position of the scale adjustment mechanism 16.
  • the turntable motor 10 stops operating. At this time, a scale adjustment device for garlic is received. Rotate to below the visual sensor 14, and the visual sensor 14 obtains garlic image information;
  • the controller 13 analyzes the garlic seed image information to determine the direction of garlic bulbs
  • the turntable motor 10 drives the scale adjustment device to rotate
  • the turntable motor 10 drives the scale adjustment device to rotate to the seeding position.
  • the seed bowl is tilted by the seeding guide plate, and the garlic seeds fall into the seed tube 5 under the effect of gravity and are restrained by the seed tube 5 Keep the scale down and slide down to the duckbill-type hole-forming device to complete the directional seeding.
  • the garlic directional seeding mechanism is installed below the seeding mechanism, and the garlic seeds taken out by the seeding mechanism fall into the scale adjustment mechanism I17.
  • the turntable motor 10 drives the turntable to rotate 45 °, and the visual sensor 1 obtains the garlic seedlings.
  • the image information in the scale adjustment mechanism I17 and upload the image information to the controller 13.
  • the turntable motor 10 rotates 90 ° to drive the scale adjustment mechanism I17 to the position of the scale adjustment mechanism III 15.
  • the electromagnet 7 moves, so that the bulb adjustment mechanism I17 rotates 180 ° to achieve the garlic bulb direction adjustment.
  • the turntable motor 10 rotates 90 °, which drives the bulb adjustment mechanism I17 to rotate to the position of the bulb adjustment mechanism V16. Under the action of the guide plate 11, the upper part of the scale adjustment mechanism I17 is inclined, and the baffle 4 is opened, so that the garlic seed bulbs fall into the seed tube 5 in an upward direction to complete the directional seeding. In the process, the position sensor 19 detects the scales. When the position of the bud adjusting mechanism 16 is detected, the turntable motor 10 stops operating when the bud adjusting mechanism 16 is detected.

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Abstract

一种大蒜定向投种机构及控制方法，投种机构包括底座（6）、转动装置、视觉传感器（1）、投种导向板（11）、导种管（5）和多个鳞芽调整装置，转动装置包括转动电机（10）和转盘（2），转动电机（10）可拆卸连接在底座（6）上，转动电机（10）输出端与转盘（2）连接，鳞芽调整装置为偶数个，均匀固定安装于转盘（2）上，且对称安装，鳞芽调整装置包括盛种碗和用于驱动盛种碗旋转180°的鳞芽方向控制装置，导种管（5）上端口位于鳞芽调整装置的正下方并设在底座（6）上，投种导向板（11）设在转盘（2）上使盛种碗的蒜种落入导种管（5）内。该机构能够实现大蒜鳞芽向上的定向投种，提高作业质量和智能化水平。

Description

大蒜定向投种机构及控制方法 技术领域
本发明涉及一种大蒜播种机零部件，具体涉及一种大蒜定向投种机构及控制方法，属于农业机械技术领域。
背景技术
根据大蒜播种的农艺要求，大蒜播种时需保证鳞芽向上栽种。而国内现有的大蒜播种技术没有全面解决大蒜栽种过程中鳞芽根部向下及投种后鳞芽直立控制技术，导致大蒜播种长期以来只能依靠人工进行栽种，存在劳动强度大、成产效率低、费时费力、生产升本高等问题，严重制约大蒜播种的机械化生产。
发明内容
本发明为了解决现有技术存在的上述不足，提供了一种大蒜定向投种机构及控制方法，并对其结果和技术参数予以设计，能够实现大蒜鳞芽向上的定向投种，为机械替代人工进行大蒜播种奠定基础。
本发明通过以下技术方案实现：
一种大蒜定向投种机构，包括底座、转动装置、视觉传感器、投种导向板、导种管和多个鳞芽调整装置，转动装置包括转动电机和转盘，转动电机可拆卸连接在底座上，转动电机输出端与转盘连接，鳞芽调整装置为偶数个，均匀固定安装于转盘上，且对称安装，鳞芽调整装置包括盛种碗和用于驱动盛种碗旋转180°的鳞芽方向控制装置，导种管上端口位于鳞芽调整装置的正下方并设在底座上，投种导向板设在转盘上使盛种碗的蒜种落入导种管内。
上述大蒜定向投种机构优选方案，鳞芽方向控制装置包括凸轮装置和旋转导向装置，凸轮装置包括凸轮、滑杆和滚轮，滑杆驱动端设有滚轮并抵在凸轮曲面上，安装座上设置有驱使滑杆上滚轮抵向凸轮的复位装置，旋转导向装置设置安装座上沿滑杆表面曲线运动驱动滑杆旋转，盛种装置设在复位装置上方并与滑杆相连，鳞芽调整装置还包括用于使凸轮装置动作的电磁铁，电磁铁可拆卸连接在支架下方，支架固定连接在底座上，且支架与底座之间设有加强板。
上述大蒜定向投种机构优选方案，旋转导向装置包括固定座、立杆和悬臂轴，固定座与底座可拆卸连接，立杆两端分别连接固定座和悬臂轴，悬臂轴末端安装有轴承，轴承与滑杆表面的导槽相配合。
上述大蒜定向投种机构优选方案，复位装置包括压簧、直线轴承和法兰盘，直线轴 承与固定座连接，直线轴承与滑杆滑动连接，法兰盘设在滑杆上端并与盛种装置底部连接，压簧穿过滑杆，压簧一端与法兰盘接触，另一端与直线轴承接触。
上述大蒜定向投种机构优选方案，投种导向板与底座焊接链接，且投种导向板的纵向中心面经过转盘的圆心。
上述大蒜定向投种机构优选方案，其还包括控制器，控制器分别与触控显示屏、视觉传感器、电磁铁、转盘电机和速度传感器连接。
一种所述的大蒜定向投种机构的控制方法，包括以下步骤：
(1)通过触控显示屏输入大蒜播种的种距；
(2)按下确认键后触控显示屏显示工作界面；
(3)控制器读取速度传感器的速度，同时根据设定的种距，计算转盘电机的旋转速度及动作时间间隔；
(4)在转盘电机旋转过程中，位置传感器检测鳞芽调整机构的位置，当检测到鳞芽调整机构时，转盘电机停止动作，此时，盛接蒜种的鳞芽调整装置旋转至视觉传感器下方，视觉传感器获取蒜种图像信息；
(5)控制器分析蒜种图像信息，判断大蒜鳞芽方向；
(6)转盘电机带动鳞芽调整装置旋转；
(7)当大蒜鳞芽方向与需要方向一致时，电磁铁不动作，当大蒜鳞芽方向与需要方向相反时，控制器控制电磁铁动作，使得鳞芽调整装置自转180°，完成鳞芽方向调整；
(8)转盘电机带动鳞芽调整装置旋转至投种位置，盛种碗在投种导向板的作用下倾斜，蒜种在重力作用下滑落到导种管内，在导种管约束下保持鳞芽方向向上滑落至鸭嘴式成穴器，完成定向投种。
本发明的工作原理：
大蒜定向投种机构通过多个传感器检测，通过控制器调节各个部件顺序匹配工作来实现大蒜定向投种。视觉传感器获取大蒜鳞芽图像信息，控制器对大蒜鳞芽图像信息进行分析判断，如果大蒜鳞芽方向与所需方向一致，则不调整，如果大蒜鳞芽方向与所需方向不一致，则电磁铁动作，调整大蒜鳞芽方向，然后在导向板的引导下完成定向投种。
本发明的优点在于：
1、鳞芽方向控制装置可以根据需要对大蒜鳞芽方向调整，投种导向板使盛种碗的蒜种落入导种管内，没有复杂的动力机构结构简单、实用性强，使用方便可靠，可应用于大蒜播种机械，显著提高大蒜机械播种时鳞芽向上的准确率，提高大蒜播种机械的作业质量。
2、控制器对视觉传感器采集蒜种图像信息进行分析处理，能够准确分辨大蒜鳞芽方向，识别精准可靠；视觉传感器采集蒜种图像信息，并可通过对图像的分析，判断缺种、重播等作业情况，提高播种质量；控制器对蒜种图像进行分析，可以对蒜种进行计数统计，对播种作业过程进行监控，对作业质量的监管和分析提供可靠的科学依据；通过控制器对各个部件进行协调驱动，对蒜种鳞芽方向进行一致性调整，实现大蒜鳞芽方向一致的播种作业，提高大蒜机械播种的作业质量；触控显示屏显示当前作业速度、作业面积、播种数等作业参数，并通过触控显示屏设置种距等参数，实现人机交互，提高作业质量和整机的智能化水平。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。
图1为本发明主视图；
图2为本发明左视图；
图3为本发明俯视图；
图4为本发明控制系统的结构示意图。
图5为鳞芽调整装置的结构示意图。
图6为旋转导向装置的结构示意图。
图7为盛种碗俯视示意图。
图中，1视觉传感器；2鳞芽调整机构II；3转盘；4挡板；5导种管；6底座；7电磁铁；8支架；9加强板；10转盘电机；11投种导向板；12触控显示屏；13控制器；14速度传感器；15鳞芽调整机构III；16鳞芽调整机构Ⅴ16；17鳞芽调整机构I；18位置检测传感器支架；19位置传感器；2-1法兰盘；2-2固定座；2-3导槽；2-4凸轮；2-6压簧；2-7直线轴承；2-9滑杆；2-10滚轮；2-12立杆；2-13悬臂轴。
具体实施方式
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
参考图1、图2及图3，一种大蒜定向投种机构，包括底座6、转动装置、视觉传感器1、投种导向板11、导种管5和多个鳞芽调整装置，转动装置包括转动电机10和转盘3，转动电机10可拆卸连接在底座6上，转动电机10输出端与转盘3连接，鳞芽调整装置鳞芽调整装置为四个，分别为鳞芽调整机构I17、鳞芽调整机构II2、鳞芽调整机构III15和 鳞芽调整机构Ⅴ16均匀固定安装于转盘3上，且对称安装，鳞芽调整装置包括盛种碗和用于驱动盛种碗旋转180°的鳞芽方向控制装置，导种管5上端口位于鳞芽调整装置的正下方并设在底座6上，投种导向板11设在转盘3上使盛种碗的蒜种落入导种管5内。
参考图5及图6，鳞芽方向控制装置包括凸轮装置和旋转导向装置，凸轮装置包括凸轮2-4、滑杆2-9和滚轮2-10，滑杆2-9驱动端设有滚轮2-10并抵在凸轮2-4曲面上，安装座1上设置有驱使滑杆2-9上滚轮2-10抵向凸轮2-4的复位装置，旋转导向装置设置安装座1上沿滑杆2-9表面曲线运动驱动滑杆2-9旋转，盛种装置4设在复位装置上方并与滑杆2-9相连，鳞芽调整装置还包括用于使凸轮装置动作的电磁铁7，电磁铁7可拆卸连接在支架8下方，支架8固定连接在底座6上，且支架8与底座6之间设有加强板9。旋转导向装置包括固定座2-2、立杆2-12和悬臂轴2-13，固定座2-2与底座1可拆卸连接，立杆2-12两端分别连接固定座2-2和悬臂轴2-13，悬臂轴2-13末端安装有轴承2-14，轴承2-14与滑杆2-9表面的导槽2-3相配合。复位装置包括压簧2-6、直线轴承2-7和法兰盘2-1，直线轴承2-7与固定座2-2连接，直线轴承2-7与滑杆2-9滑动连接，法兰盘2-1设在滑杆2-9上端并与盛种装置4底部连接，压簧6穿过滑杆2-9，压簧6一端与法兰盘2-1接触，另一端与直线轴承2-7接触。
本实施例中，投种导向板11与底座6焊接链接，且投种导向板11的纵向中心面经过转盘3的圆心。
参考图1、图2及图7，盛种碗包括前面、后面和底面，前面及后面为平面、底面为弧形、左右两侧为敞口结构，盛种碗左右两侧通过挡板销轴转动连接有挡板4,盛种碗下方设有扭簧。
参考图4，本实施例还包括控制器13，控制器13分别与触控显示屏12、视觉传感器14、电磁铁7、转盘电机10和速度传感器14连接。触控显示屏12可以设置大蒜播种的种距，显示作业速度、作业面积、播种数等信息，方便操作人员监控作业过程和质量；速度传感器14检测作业速度，控制器13接受速度信息、种距信号，自动计算并控制转盘电机10的旋转速度和动作时间间隔，保证不同作业速度下种距一致性。控制器13采用dsp芯片作为控制单元，进行运算处理，触控显示屏12的采用232串口与控制器连接，视觉传感器14为CMOS图像传感器，补充转盘电机10如何和控制器13连接？。
控制器13通过PWM信号驱动转盘电机10旋转。
一种大蒜定向投种机构的控制方法，包括以下步骤：
(1)通过触控显示屏12输入大蒜播种的种距；
(2)按下确认键后触控显示屏12显示工作界面；
(3)控制器13读取速度传感器14的速度，同时根据设定的种距，计算转盘电机10的旋转速度及动作时间间隔；
(4)在转盘电机旋转过程中，位置传感器19检测鳞芽调整机构16的位置，当检测到鳞芽调整机构16时，转盘电机10停止动作，此时，盛接蒜种的鳞芽调整装置旋转至视觉传感器14下方，视觉传感器14获取蒜种图像信息；
(5)控制器13分析蒜种图像信息，判断大蒜鳞芽方向；
(6)转盘电机10带动鳞芽调整装置旋转；
(7)当大蒜鳞芽方向与需要方向一致时，电磁铁不动作，当大蒜鳞芽方向与需要方向相反时，控制器控制电磁铁7动作，使得鳞芽调整装置自转180°，完成鳞芽方向调整；
(8)转盘电机10带动鳞芽调整装置旋转至投种位置，盛种碗在投种导向板的作用下倾斜，蒜种在重力作用下滑落到导种管5内，在导种管5约束下保持鳞芽方向向上滑落至鸭嘴式成穴器，完成定向投种。
工作时，将大蒜定向投种机构安装于取种机构下方，且使得取种机构取出的蒜种落入鳞芽调整机构I17中，转盘电机10带动转盘旋转45°，视觉传感器1获取蒜种在鳞芽调整机构I17中的图像信息，并将图像信息上传至控制器13，同时，转盘电机10旋转90°，带动鳞芽调整机构I17旋转至鳞芽调整机构三15的位置，当需要调整鳞芽方向时，电磁铁7动作，使得鳞芽调整机构I17自转180°实现蒜种鳞芽方向调整，转盘电机10旋转90°，带动鳞芽调整机构I17旋转至鳞芽调整机构Ⅴ16的位置，在导向板11的作用下，鳞芽调整机构I17上部倾斜，挡板4打开，使得蒜种鳞芽以向上方向落入导种管5中，完成定向投种，在此过程中，位置传感器19检测鳞芽调整机构16的位置，当检测到鳞芽调整机构16时，转盘电机10停止动作。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (7)

  1. 一种大蒜定向投种机构，其特征在于：包括底座(6)、转动装置、视觉传感器(1)、投种导向板(11)、导种管(5)和多个鳞芽调整装置，转动装置包括转动电机(10)和转盘(2)，转动电机(10)可拆卸连接在底座(6)上，转动电机(10)输出端与转盘(2)连接，鳞芽调整装置为偶数个，均匀固定安装于转盘(2)上，且对称安装，鳞芽调整装置包括盛种碗和用于驱动盛种碗旋转180°的鳞芽方向控制装置，导种管(5)上端口位于鳞芽调整装置的正下方并设在底座(6)上，投种导向板(11)设在转盘(2)上使盛种碗的蒜种落入导种管(5)内。
  2. 如权利要求1所述大蒜定向投种机构，其特征在于：鳞芽方向控制装置包括凸轮装置和旋转导向装置，凸轮装置包括凸轮(14)、滑杆(9)和滚轮(10)，滑杆(9)驱动端设有滚轮(10)并抵在凸轮(14)曲面上，安装座(1)上设置有驱使滑杆(9)上滚轮(10)抵向凸轮(14)的复位装置，旋转导向装置设置安装座(1)上沿滑杆(9)表面曲线运动驱动滑杆(10)旋转，盛种装置(4)设在复位装置上方并与滑杆(9)相连，鳞芽调整装置还包括用于使凸轮装置动作的电磁铁(7)，电磁铁(7)可拆卸连接在支架(8)下方，支架(8)固定连接在底座(6)上，且支架(8)与底座(6)之间设有加强板(9)。
  3. 如权利要求2所述大蒜定向投种机构，其特征在于：旋转导向装置包括固定座(23)、立杆(22)和悬臂轴(22)，固定座(23)与底座(1)可拆卸连接，立杆(22)两端分别连接固定座(23)和悬臂轴(22)，悬臂轴(22)末端安装有轴承(20)，轴承(20)与滑杆(9)表面的导槽相配合。
  4. 如权利要求2所述大蒜定向投种机构，其特征在于：复位装置包括压簧(6)、直线轴承(7)和法兰盘(30)，直线轴承(7)与固定座(23)连接，直线轴承(7)与滑杆(9)滑动连接，法兰盘(30)设在滑杆(9)上端并与盛种装置(4)底部连接，压簧(6)穿过滑杆(9)，压簧(6)一端与法兰盘(30)接触，另一端与直线轴承(7)接触。
  5. 如权利要求1至4任一项所述的大蒜定向投种机构，其特征在于：投种导向板(11)与底座(6)焊接链接，且投种导向板(11)的纵向中心面经过转盘(3)的圆心。
  6. 如权利要求2至4任一项所述的大蒜定向投种机构，其特征在于：其还包括控制器(13)，控制器(13)分别与触控显示屏(12)、视觉传感器(14)、电磁铁(7)、转盘电机(10)和速度传感器(14)连接。
  7. 一种权利要求6所述的大蒜定向投种机构的控制方法，其特征在于，包括以下步骤：
    (1)通过触控显示屏(12)输入大蒜播种的种距；
    (2)按下确认键后触控显示屏(12)显示工作界面；
    (3)控制器(13)读取速度传感器(14)的速度，同时根据设定的种距，计算转盘电机(10)的旋转速度及动作时间间隔；
    (4)当盛接蒜种的鳞芽调整装置旋转至视觉传感器(14)下方时，视觉传感器(14)获取蒜种图像信息；
    (5)控制器(13)分析蒜种图像信息，判断大蒜鳞芽方向；
    (6)转盘电机(10)带动鳞芽调整装置旋转；
    (7)当大蒜鳞芽方向与需要方向一致时，电磁铁不动作，当大蒜鳞芽方向与需要方向相反时，控制器控制电磁铁(7)动作，使得鳞芽调整装置自转180°，完成鳞芽方向调整；
    (8)转盘电机(10)带动鳞芽调整装置旋转至投种位置，盛种碗在投种导向板的作用下倾斜，蒜种在重力作用下滑落到导种管(5)内，在导种管(5)约束下保持鳞芽方向向上滑落至鸭嘴式成穴器，完成定向投种。
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