WO2021208302A1 - Method and device for controlling seeding depth of no-tillage seeder - Google Patents

Abstract

A method and device for controlling the seeding depth of a no-tillage seeder. The device is disposed on the no-tillage seeder. The device for controlling the seeding depth of the no-tillage seeder comprises: an overall control system (1); a detection system, comprising a furrowing depth detecting unit (21), a pressing force sensor (22), a compaction force sensor (23) and a data acquisition unit (24); and a regulating system, comprising a hydraulic controller (31), a hydraulic valve group (32), a pressing oil cylinder (33) and a compacting oil cylinder (34).

Description

No-tillage planter seeding depth control method and device Technical field

The invention relates to an on-line measurement and control device and method for a planter, in particular to a method and device for controlling the seeding depth of a no-tillage planter.

Background technique

Precision seeding technology has become an important feature of modern agricultural production, and it is also one of the important technologies for increasing agricultural yields and reducing food production costs. The sowing depth control technology of the no-tillage planter is an important part of the precision seeding technology. Maintaining a suitable and consistent seeding depth and suppression pressure to ensure good contact between the seed and the soil will increase the capillary action of the soil on the seed furrow, so that the seed It is easy to draw water from the soil, which is conducive to the germination of seeds. At present, on corn planters, mechanical springs and parallel four-bar single profiling technology are generally used to achieve mechanical passive profiling, thereby improving the consistency of seeding depth. However, this mechanical profiling method is affected by ground attachments and soil conditions, and often has insufficient profiling capabilities, which can easily cause problems such as poor seeding depth uniformity.

The control of seeding depth at home and abroad mostly uses different types of sensors such as ultrasonic distance measurement, displacement sensor and angle sensor to indirectly detect the ditch depth, and change the down pressure of the seeding unit by means of hydraulic or air spring to ensure seeding. consistency.

At present, most studies mainly control the sowing depth by controlling the ditch depth, and have not comprehensively considered the ditch depth and the suppression of the overburden. Because the seeding depth is not only affected by the depth of the ditch, but also by the suppression of the soil covering, and the growth of corn is not only affected by the depth of the seeding, but also by the pressure after the sowing. Therefore, comprehensive consideration of the control of trenching depth and suppression pressure is of positive significance for improving the precision level of corn planting.

Summary of the invention

The purpose of the present invention is to provide a seeding depth control method and device for a no-tillage planter, so that the seeding depth can be precisely controlled.

In order to achieve the above objective, the present invention provides a seeding depth control device for a no-tillage planter, which is arranged on a no-tillage planter, the no-tillage planter has a frame, and the seeding depth control device for a no-tillage planter includes:

A master control system is installed inside the no-tillage planter;

A detection system includes a ditch depth detection unit, a lower pressure sensor, a ballast pressure sensor, and a data collector. The data collector is connected to the master control system, the ditch depth detection unit, the lower pressure sensor, and the The ballast pressure sensor is respectively connected to the data collector; the ditching depth detection unit is arranged on the frame and extends toward the ground to detect the ditching depth of the no-tillage planter; the down pressure sensor is arranged on the no-tillage planter The depth-limiting wheel of the planter is used for the lower pressure of the depth-limiting wheel on the ground; the ballast pressure sensor is set on the suppression wheel of the no-tillage planter, and is used to detect a ballast pressure of the suppression wheel to the ground; The data collector collects the data detected by the ditch depth detection unit, the down pressure sensor and the ballast pressure sensor and sends them to the master control system; and

A regulating system includes a hydraulic controller, a hydraulic valve group, a lower pressure oil cylinder, and a suppressing oil cylinder. The master control system is connected to the hydraulic controller, the hydraulic controller is connected to the hydraulic valve group, and the hydraulic valve group is connected to The down-pressing oil cylinder and the suppressing oil cylinder; the down-pressing oil cylinder is arranged on the frame and connected to the depth limiting wheel, the suppressing oil cylinder is installed on the suppressing frame of the no-tillage planter and connected to the pressing wheel; The control system controls the actions of the down pressure cylinder and the suppression cylinder through the hydraulic controller and the hydraulic valve group. The down pressure cylinder and the suppression cylinder change the down pressure and the pressure of the depth-limiting wheel through their own actions. The pressure of the suppression wheel.

Wherein, the ditching depth detection unit is installed on the beam of the rack, and includes a detection mechanical structure, an ultrasonic module, and a collection arithmetic module. The detection mechanical structure is installed on the rack and is a parallelogram mechanical structure. A reflecting surface and an imitating ground wheel are matched and installed under the detecting mechanical structure.

The ditching depth detection unit adopts mechanical simulation and ultrasonic distance measurement to realize the detection of ditching depth. When the simulation ground wheel advances with the planter, the parallelogram mechanical mechanism changes with the ditching depth, and the reflecting surface and the The distance of the rack also changes accordingly. The ultrasonic module installed in the rack is used to detect the change in the position of the reflecting surface, and the data is input to the acquisition and calculation module also installed in the rack to calculate the trenching depth. .

Wherein, the down pressure sensor is installed at the connecting shaft of the depth limiting wheel and the frame.

Wherein, the ballast wheel is connected to the frame through a ballast frame, one end of the ballast oil cylinder is connected to the frame, and the other end is connected to the ballast wheel via a spring pull rod, and the ballast pressure sensor is installed on the ballast frame, And one end is connected with the spring of the spring pull rod to measure the ballast pressure.

Among them, the data collector is connected to the master control system through a data bus.

When the no-tillage planter is in normal operation, the data collector obtains the ditch depth of the seeding monomer, the down pressure of the monomer to the ground and the suppression during the operation through the ditch depth detection unit, down pressure sensor and ballast pressure sensor. The ground pressure information of the organization is transmitted to the master control system, such as the vehicle terminal, through the data bus.

Wherein, the hydraulic valve group is installed on the frame, and the control signal of the hydraulic valve group is taken from the hydraulic controller, and the hydraulic valve group is connected to the pressurizing oil cylinder and the suppressing oil cylinder through hydraulic pipelines.

Wherein, the hydraulic valve group includes a pressure cylinder control valve and a lower pressure cylinder control valve. The pressure cylinder control valve is connected to the pressure cylinder through a hydraulic pipeline, and the pressure cylinder control valve is connected to the pressure cylinder through a hydraulic pipeline. .

Wherein, the suppressing oil cylinder is installed between the suppressing frame of the no-tillage planter and the spring pull rod, and the end of the spring pull rod away from the suppressing oil cylinder is connected to the suppressing wheel, and the spring pull rod is adjusted by controlling the action of the suppressing oil cylinder. Position, so as to adjust the extension of the spring of the spring rod, and then adjust the ballast pressure of the ballast wheel.

Wherein, the downward pressure oil cylinder is installed at the end of the single parallel four-bar imitating mechanism of the planter and fixed with the frame.

Among them, the master control system is a vehicle-mounted terminal.

Wherein, the total control system has a built-in seeding depth neural network model, and the ditching depth, the down force and the suppression force obtained by the detection system are substituted into the seeding depth neural network model to obtain a desired down pressure cylinder inlet The pressure information and a desired suppression cylinder displacement information, the desired depression cylinder inlet pressure information and the desired suppression cylinder displacement information are sent to the hydraulic controller, and the hydraulic controller adjusts the hydraulic valve group accordingly, The inlet pressure of the suppressing oil cylinder and the displacement of the lowering oil cylinder are controlled to reach the desired value, thereby making the seeding depth reach the desired value.

The present invention also provides a seeding depth control method for a no-tillage planter, which uses the above-mentioned no-tillage planter seeding depth control device, and the no-tillage planter seeding depth control method includes the following steps:

1) Establish a seeding deep neural network model in the total control system;

2) While the no-tillage planter is operating normally, the ditch depth, the down force and the ballast pressure are collected in real time through the data collector, and sent to the master control system through the data bus;

3) The total control system inputs the obtained ditching depth, the down force and the ballast pressure into the seeding depth neural network model, and obtains a desired down pressure cylinder inlet pressure information and an expectation through the seeding depth neural network model The displacement information of the suppressing oil cylinder, the expected inlet pressure information of the lowering oil cylinder and the expected displacement information of the suppressing oil cylinder are sent to the hydraulic controller via the data bus; and

4) The hydraulic controller drives the hydraulic valve group according to the expected inlet pressure information of the depressurizing cylinder and the expected displacement information of the depressurizing cylinder, and adjusts the inlet pressure of the depressing cylinder and the displacement of the depressing cylinder to make the depressing cylinder The inlet pressure of and the displacement of the suppressing cylinder reach the desired value, so as to obtain the desired seeding depth.

Among them, in step 1), the method for establishing the seeding deep neural network model is: selecting the ditching depth, downforce and suppression force as the input layer nodes of the seeding deep neural network model, and selecting the inlet pressure information and suppression of the downcompression cylinder The cylinder displacement information is used as the output layer node, using a three-layer neural network structure, through the test method, to obtain the trenching depth, down force and ballast pressure, while changing the inlet pressure of the down pressure cylinder and the pressure cylinder displacement, so that the seeding depth reaches the desired value; record the seeding When the depth reaches the desired value, the corresponding ditching depth, downforce and ballast pressure, as well as the corresponding information about the inlet pressure of the depression cylinder and the displacement information of the suppression cylinder, are used as training data; further complete the training of the model to obtain the seeding depth nerve for practical application Network model.

Wherein, before step 1) or after step 1), it also includes establishing a relationship model between the output current value of the hydraulic controller and the inlet pressure value of the down pressure cylinder and the displacement value of the suppression cylinder: setting multiple groups of different hydraulic pressures respectively Controller output port current value, record the inlet pressure value P of the down pressure cylinder and the displacement value L of the suppression cylinder; through multiple sets of tests, get multiple current values and the inlet pressure value P of the down pressure cylinder and the suppression cylinder The relationship between the displacement value L of the hydraulic controller, and the relationship model between the output current value of the hydraulic controller and the inlet pressure value of the downcompression cylinder and the displacement value of the suppression cylinder is established:

Where P is the inlet pressure value of the downward pressure cylinder, Pa;

I _{p is} the current value of the control port of the lower pressure cylinder of the hydraulic controller, A;

L is the displacement value of the suppressing oil cylinder, m;

I _{L is} the current value of the control port of the pressure cylinder of the hydraulic controller, A.

Wherein, in step 4), after the hydraulic controller receives the expected depression cylinder inlet pressure information and the expected suppression cylinder displacement information, it will be based on the established hydraulic controller output current value and the depression cylinder inlet pressure information. The model of the relationship between the pressure value and the displacement value of the suppressing oil cylinder obtains the desired control port output current; the hydraulic controller sets the current of the lowering oil cylinder control port and the suppressing oil cylinder control port accordingly, and drives the hydraulic valve group to make the lower pressure The inlet pressure of the oil cylinder and the displacement of the suppression oil cylinder reach the desired value, so that the seeding depth reaches the desired value.

The present invention provides a method and device for controlling the seeding depth of a no-tillage planter based on the joint adjustment of downcompression and suppression, so as to realize the precise control of the seeding depth of the no-tillage planter and improve the consistency of the seeding depth. Compared with the prior art, the present invention adopts a method based on the joint regulation of downforce and suppression force, which can make the seeding depth reach an ideal value. Even under the condition that it is impossible to directly detect the seeding depth, it can solve the problem of difficult seeding depth control of the no-tillage planter.

The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments, but it is not intended to limit the present invention.

Description of the drawings

FIG. 1 is a schematic diagram of the detection and control principle of a seeding depth control device of a no-tillage planter according to an embodiment of the present invention;

2 is a schematic diagram of the structure installation of a seeding depth control device for a no-tillage planter according to an embodiment of the present invention;

Among them: reference signs:

1 Master control system

21 Ditching depth detection unit

22 lower pressure sensor

23 ballast pressure sensor

24 data collector

31 hydraulic controller

32 hydraulic valve group

33 downward pressure cylinder

34 suppression cylinder

A limited depth wheel

B suppression wheel

Detailed ways

In order to clarify the technical features of the present invention, so that those skilled in the art can clearly understand the structure, features, use modes and technical effects of the present invention, the following describes the scheme of the present invention through specific implementations and in conjunction with the accompanying drawings. . However, the following description is for illustrative purposes only, and not as a limitation of the present invention.

Please refer to Figure 1 and Figure 2. An embodiment of the present invention provides a seeding depth control device for a no-tillage planter, which is arranged on a no-tillage planter, the no-tillage planter has a frame, and the seeding depth control device for a no-tillage planter includes: a master control system 1. A detection system and an adjustment system.

The total control system 1 is installed inside the no-tillage planter;

The detection system includes a ditch depth detection unit 21, a lower pressure sensor 22, a ballast pressure sensor 23, and a data collector 24. The data collector 24 is connected to the master control system 1, and the ditch depth detection unit 21, The down pressure sensor 22 and the ballast pressure sensor 23 are respectively connected to the data collector 24; the ditch depth detection unit 21 is arranged on the frame and extends toward the ground to detect the ditch depth of the no-tillage planter The down pressure sensor 22 is arranged on the depth-limiting wheel A of the no-tillage planter, and is used for the lower pressure of the depth-limiting wheel A on the ground; the pressure sensor 23 is arranged on the suppression wheel B of the no-tillage planter The upper part is used to detect a ballast pressure of the ballast wheel B on the ground; the data collector 24 collects the data detected by the ditch depth detection unit 21, the lower pressure sensor 22 and the ballast pressure sensor 23 and sends them to the total控系统1.

The regulating system includes a hydraulic controller 31, a hydraulic valve group 32, a lower pressure oil cylinder 33, and a suppressing oil cylinder 34. The master control system 1 is connected to the hydraulic controller 31, and the hydraulic controller 31 is connected to the hydraulic valve group 32. , The hydraulic valve block 32 is connected to the lower pressure oil cylinder 33 and the suppressing oil cylinder 34; the lower pressure oil cylinder 33 is arranged on the frame and connected to the depth limiting wheel A, the suppressing oil cylinder 34 is installed on the no-tillage planter The suppressing frame is connected to the suppressing wheel B; the total control system 1 controls the actions of the lowering cylinder 33 and the suppressing cylinder 34 through the hydraulic controller 31 and the hydraulic valve group 32, the lowering cylinder 33 And the suppressing oil cylinder 34 changes the down force of the depth limiting wheel A and the suppressing force of the suppressing wheel B respectively through its own actions.

The ditching depth detection unit 21 is installed on the beam of the frame and includes a detection mechanism, an ultrasonic module, and a collection and calculation module. The detection mechanism is installed on the frame and is a parallelogram mechanical structure. A reflecting surface and an imitating ground wheel are installed under the detecting mechanism. The ditching depth detection unit 21 adopts mechanical simulation and ultrasonic distance measurement to realize the detection of ditching depth. During the progress of the simulation ground wheel with the planter, the parallelogram mechanical mechanism changes with the ditching depth, and the reflection surface and The distance of the rack also changes accordingly. The ultrasonic module installed in the rack is used to detect the change in the position of the reflecting surface, and the data is input to the acquisition and calculation module also installed in the rack to calculate the trenching. depth.

The down pressure sensor 22 is installed at the connecting shaft between the depth limiting wheel A and the frame.

The ballast pressure sensor 23 is installed in a ballast frame, the ballast wheel B is connected to the frame through the ballast frame, one end of the ballast cylinder 34 is connected to the frame, and the other end is connected to the ballast roller B via a spring rod One end of the ballast pressure sensor 23 is connected with the spring of the spring rod to measure the ballast pressure.

The data collector 24 is connected to the master control system 1 through a data bus. When the no-tillage planter is in normal operation, the data collector 24 obtains the ditch depth of the seeding monomer and the distance of the monomer to the ground during the operation through the ditch depth detection unit 21, the down pressure sensor 22 and the ballast pressure sensor 23. The down force and the ground pressure information of the suppression mechanism are transmitted to the master control system 1, such as a vehicle-mounted terminal, through the data bus.

The hydraulic valve block 32 is installed on the frame, and the control signal of the hydraulic valve block 32 is taken from the hydraulic controller 31, and the hydraulic valve block 32 is connected to the pressurizing cylinder 33 and the suppressing cylinder through hydraulic pipelines. 34. The hydraulic valve set 32 includes a pressure cylinder control valve and a lower pressure cylinder control valve. The pressure cylinder control valve is connected to the pressure cylinder 34 through a hydraulic pipeline, and the pressure cylinder control valve is connected to the pressure cylinder through a hydraulic pipeline. 33.

The downward pressure oil cylinder 33 is installed at the end of the single parallel four-bar imitating mechanism of the planter and fixed to the frame.

The suppressing cylinder 34 is installed between the suppressing frame of the no-tillage planter and the spring pull rod. The end of the spring pull rod away from the suppressing cylinder 34 is connected to the suppressing wheel B, and the spring is adjusted by controlling the action of the suppressing cylinder 34 The position of the pull rod adjusts the elongation of the spring of the spring pull rod, thereby adjusting the ballast pressure of the ballast wheel B.

The master control system 1 is a vehicle-mounted terminal. The total control system 1 has a built-in seeding depth neural network model, and the ditching depth, the down force and the suppression pressure obtained by the detection system are substituted into the seeding depth neural network model to obtain a desired down pressure cylinder inlet pressure Information and a desired suppression cylinder displacement information, the desired depression cylinder inlet pressure information and the desired suppression cylinder displacement information are sent to the hydraulic controller 31, and the hydraulic controller 31 performs the control on the hydraulic valve group 32 accordingly. Adjust and control the inlet pressure of the suppressing oil cylinder 34 and the displacement of the lowering oil cylinder 33 to reach the desired value, thereby making the seeding depth reach the desired value.

An embodiment of the present invention also provides a seeding depth control method for a no-tillage planter, which uses the above-mentioned no-tillage planter seeding depth control device, and the seeding depth control method for a no-tillage planter includes the following steps:

1) In the master control system, establish a seeding deep neural network model; the method for establishing the seeding deep neural network model is: select the ditching depth, downforce and suppression force as the input layer nodes of the seeding deep neural network model, Select the inlet pressure information of the downcompression cylinder and the displacement information of the suppression cylinder as the output layer nodes, adopt a three-layer neural network structure, and obtain the ditch depth, downforce and suppression pressure through the test method, and change the inlet pressure of the downcompression cylinder and the suppression cylinder displacement at the same time , To make the seeding depth reach the desired value; record the corresponding ditching depth, downforce and ballast pressure when the seeding depth reaches the desired value, as well as the corresponding depression cylinder inlet pressure information and suppression cylinder displacement information, as training data; further complete the model training, Obtain a seeded deep neural network model that can be used in practical applications.

2) While the no-tillage planter is operating normally, the ditch depth, the down force and the ballast pressure are collected in real time through the data collector, and sent to the master control system through the data bus.

3) The total control system inputs the obtained ditching depth, the down force and the ballast pressure into the seeding depth neural network model, and obtains a desired down pressure cylinder inlet pressure information and an expectation through the seeding depth neural network model The displacement information of the suppressing cylinder is sent to the hydraulic controller via the data bus through the desired inlet pressure information of the lowering cylinder and the expected displacement of the suppressing cylinder.

4) The hydraulic controller drives the hydraulic valve group according to the expected inlet pressure information of the depressurizing cylinder and the expected displacement information of the depressurizing cylinder, and adjusts the inlet pressure of the depressing cylinder and the displacement of the depressing cylinder to make the depressing cylinder The inlet pressure of and the displacement of the suppressing cylinder reach the desired value, so as to obtain the desired seeding depth.

Before step 1) or after step 1), it also includes establishing the relationship model between the output current value of the hydraulic controller and the inlet pressure value of the downcompression cylinder and the displacement value of the suppression cylinder: setting multiple groups of different hydraulic controllers respectively Output port current value, record the inlet pressure value P of the downcompression cylinder and the displacement value L of the suppression cylinder; through multiple sets of tests, get multiple current values and the inlet pressure value P of the downcompression cylinder and the displacement value of the suppression cylinder The relationship between the value L and the relationship model between the output current value of the hydraulic controller and the inlet pressure value of the down-compression cylinder and the displacement value of the suppression cylinder is established:

Where P is the inlet pressure value of the downward pressure cylinder, Pa;

I _{p is} the current value of the control port of the lower pressure cylinder of the hydraulic controller, A;

L is the displacement value of the suppressing oil cylinder, m;

I _{L is} the current value of the control port of the pressure cylinder of the hydraulic controller, A.

In step 4), after the hydraulic controller receives the expected depression cylinder inlet pressure information and the expected suppression cylinder displacement information, it will be based on the established hydraulic controller output current value and the depression cylinder inlet pressure value The relationship model with the displacement value of the suppressing cylinder is obtained to obtain the desired output current of the control port; the hydraulic controller sets the current of the control port of the suppressing cylinder and the control port of the suppressing cylinder accordingly, and drives the hydraulic valve group to make the inlet of the lowering cylinder The pressure and the displacement of the suppressing cylinder reach the desired value, so that the seeding depth reaches the desired value.

The present invention provides a method and device for controlling the seeding depth of a no-tillage planter based on the joint adjustment of downcompression and suppression, so as to realize the precise control of the seeding depth of the no-tillage planter and improve the consistency of the seeding depth. Compared with the prior art, the present invention adopts a method based on the joint regulation of downforce and suppression force, which can make the seeding depth reach an ideal value. Even under the condition that it is impossible to directly detect the seeding depth, it can solve the problem of difficult seeding depth control of the no-tillage planter.

Of course, the present invention can also have various other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes Both the deformation and the deformation shall belong to the protection scope of the claims of the present invention.

Claims (15)

1. A seeding depth control device of a no-tillage planter is arranged on a no-tillage planter, the no-tillage planter has a frame, and is characterized in that the seeding depth control device of the no-tillage planter includes:

   A master control system is installed inside the no-tillage planter;

   A detection system includes a ditch depth detection unit, a lower pressure sensor, a ballast pressure sensor, and a data collector. The data collector is connected to the master control system, the ditch depth detection unit, the lower pressure sensor, and the The ballast pressure sensor is respectively connected to the data collector; the ditching depth detection unit is arranged on the frame and extends toward the ground to detect the ditching depth of the no-tillage planter; the down pressure sensor is arranged on the no-tillage planter The depth-limiting wheel of the planter is used for the lower pressure of the depth-limiting wheel on the ground; the ballast pressure sensor is set on the suppression wheel of the no-tillage planter, and is used to detect a ballast pressure of the suppression wheel to the ground; The data collector collects the data detected by the ditch depth detection unit, the down pressure sensor and the ballast pressure sensor and sends them to the master control system; and

   A regulating system includes a hydraulic controller, a hydraulic valve group, a lower pressure oil cylinder, and a suppressing oil cylinder. The master control system is connected to the hydraulic controller, the hydraulic controller is connected to the hydraulic valve group, and the hydraulic valve group is connected to The down-pressing oil cylinder and the suppressing oil cylinder; the down-pressing oil cylinder is arranged on the frame and connected to the depth limiting wheel, the suppressing oil cylinder is installed on the suppressing frame of the no-tillage planter and connected to the pressing wheel; The control system controls the actions of the down pressure cylinder and the suppression cylinder through the hydraulic controller and the hydraulic valve group. The down pressure cylinder and the suppression cylinder change the down pressure and the pressure of the depth-limiting wheel through their own actions. The pressure of the suppression wheel.
2. The seeding depth control device of a no-tillage planter according to claim 1, wherein the ditching depth detection unit is installed on the beam of the frame and includes a detection mechanism, an ultrasonic module, and a collection and calculation module, The detection mechanical structure is installed on the frame and is a parallelogram-shaped mechanical structure, and a reflecting surface and an imitation ground wheel are matched and installed under the detection mechanical structure.
3. The seeding depth control device of a no-tillage planter according to claim 1, wherein the down pressure sensor is installed at the connecting shaft between the depth limiting wheel and the frame.
4. The seeding depth control device of a no-tillage planter according to claim 1, wherein the pressing wheel is connected to the frame through a pressing frame, one end of the pressing oil cylinder is connected to the frame, and the other end is connected to the frame through a spring rod And connected to the ballast wheel, the ballast pressure sensor is installed on the ballast frame, and one end is connected with the spring of the spring pull rod to measure the ballast pressure.
5. The seeding depth control device of a no-tillage planter according to claim 1, wherein the data collector is connected to the master control system through a data bus.
6. The seeding depth control device of a no-tillage planter according to claim 1, wherein the hydraulic valve set is installed on the frame, and the control signal of the hydraulic valve set is taken from the hydraulic controller, and the hydraulic valve The group is connected to the down-pressing oil cylinder and the suppressing oil cylinder through hydraulic pipelines.
7. The seeding depth control device of a no-tillage planter according to claim 1, wherein the hydraulic valve group includes a pressure suppression cylinder control valve and a lower pressure cylinder control valve, and the suppression cylinder control valve is connected to the suppression cylinder through a hydraulic pipeline. An oil cylinder, the lower pressure oil cylinder control valve is connected to the lower pressure oil cylinder through a hydraulic pipeline.
8. The seeding depth control device of a no-tillage planter according to claim 1, wherein the pressure oil cylinder is installed between the pressure frame of the no-tillage planter and the spring rod, and one end of the spring rod away from the pressure oil cylinder is connected On the suppression wheel, the position of the spring rod is adjusted by controlling the action of the suppression oil cylinder, so as to adjust the extension of the spring of the spring rod, and thereby the suppression pressure of the suppression wheel.
9. The planting depth control device of a no-tillage planter according to claim 1, wherein the lower pressure oil cylinder is installed at the end of the single parallel four-bar imitating mechanism of the planter and fixed to the frame.
10. The planting depth control device of a no-tillage planter according to claim 1, wherein the total control system is a vehicle-mounted terminal.
11. The seeding depth control device of a no-tillage planter according to claim 1, wherein the total control system has a built-in seeding depth neural network model, and the detection system detects the ditch depth, the down force and the Substitute the ballast pressure into the seeded deep neural network model to obtain a desired depression cylinder inlet pressure information and a desired depression cylinder displacement information, and send the desired depression cylinder inlet pressure information and the desired depression cylinder displacement information to the A hydraulic controller, which adjusts the hydraulic valve group accordingly, controls the inlet pressure of the suppressing oil cylinder and the displacement of the lowering oil cylinder to reach the desired value, thereby making the seeding depth reach the desired value.
12. A seeding depth control method for a no-tillage planter using the seeding depth control device for a no-tillage planter according to any one of claims 1-11, characterized in that the seeding depth control method for a no-tillage planter comprises the following steps:

    1) Establish a seeding deep neural network model in the total control system;

    2) While the no-tillage planter is operating normally, the ditch depth, the down force and the ballast pressure are collected in real time through the data collector, and sent to the master control system through the data bus;

    3) The total control system inputs the obtained ditching depth, the down force and the ballast pressure into the seeding depth neural network model, and obtains a desired down pressure cylinder inlet pressure information and an expectation through the seeding depth neural network model The displacement information of the suppressing oil cylinder, the expected inlet pressure information of the lowering oil cylinder and the expected displacement information of the suppressing oil cylinder are sent to the hydraulic controller via the data bus; and

    4) The hydraulic controller drives the hydraulic valve group according to the expected inlet pressure information of the depressurizing cylinder and the expected displacement information of the depressurizing cylinder, and adjusts the inlet pressure of the depressing cylinder and the displacement of the depressing cylinder to make the depressing cylinder The inlet pressure of and the displacement of the suppressing cylinder reach the desired value, so as to obtain the desired seeding depth.
13. The seeding depth control method of a no-tillage planter according to claim 12, wherein:

    In step 1), the method of establishing the seeding depth neural network model is: selecting the ditching depth, downforce and suppression pressure as the input layer nodes of the seeding depth neural network model, and selecting the inlet pressure information of the depression cylinder and the displacement of the suppression cylinder The information is used as the output layer node, and the three-layer neural network structure is used to obtain the ditching depth, downforce and ballast pressure through experimental methods, while changing the inlet pressure of the down pressure cylinder and the displacement of the suppressing cylinder to make the seeding depth reach the desired value; record the seeding depth to reach the desired value The corresponding ditching depth, downforce and ballast pressure at the expected value, as well as the corresponding inlet pressure information of the downcompression cylinder and the displacement information of the suppression cylinder, are used as training data; further complete the training of the model to obtain a seeding depth neural network model that can be used in practical applications .
14. The seeding depth control method of a no-tillage planter according to claim 12, wherein:

    Before step 1) or after step 1), it also includes establishing the relationship model between the output current value of the hydraulic controller and the inlet pressure value of the downcompression cylinder and the displacement value of the suppression cylinder: setting multiple groups of different hydraulic controllers respectively Output port current value, record the inlet pressure value P of the downcompression cylinder and the displacement value L of the suppression cylinder; through multiple sets of tests, get multiple current values and the inlet pressure value P of the downcompression cylinder and the displacement value of the suppression cylinder The relationship between the value L and the relationship model between the output current value of the hydraulic controller and the inlet pressure value of the down-compression cylinder and the displacement value of the suppression cylinder is established:

    

    Where P is the inlet pressure value of the downward pressure cylinder, Pa;

    I _{p is} the current value of the control port of the lower pressure cylinder of the hydraulic controller, A;

    L is the displacement value of the suppressing oil cylinder, m;

    I _{L is} the current value of the control port of the pressure cylinder of the hydraulic controller, A.
15. The seeding depth control method of a no-tillage planter according to claim 14, characterized in that:

    In step 4), after the hydraulic controller receives the expected depression cylinder inlet pressure information and the expected suppression cylinder displacement information, it will be based on the established hydraulic controller output current value and the depression cylinder inlet pressure value The relationship model with the displacement value of the suppressing cylinder is obtained to obtain the desired output current of the control port; the hydraulic controller sets the current of the control port of the suppressing cylinder and the control port of the suppressing cylinder accordingly, and drives the hydraulic valve group to make the inlet of the lowering cylinder The pressure and the displacement of the suppressing cylinder reach the desired value, so that the seeding depth reaches the desired value.

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