WO2022141666A1

WO2022141666A1 - Spot spraying-based seed dispensing method and apparatus

Info

Publication number: WO2022141666A1
Application number: PCT/CN2021/071411
Authority: WO
Inventors: 周志艳; 刘威; 邹帅帅; 徐学浪; 罗锡文; 顾庆宇; 何伟灼; 吕子晨; 黄俊浩; 林键沁
Original assignee: 华南农业大学; 广州五山农业服务有限责任公司
Priority date: 2020-12-30
Filing date: 2021-01-13
Publication date: 2022-07-07
Also published as: CN112693614B; CN112693614A

Abstract

The present invention relates to a spot spraying-based seed dispensing method, comprising the following steps: S1, parameter calibration: calibrating and storing spot spraying-based seed dispensing control parameters; S2, vibration-based queued seed discharging: filling a seed into a cone through a seed feed port and controlling the cone to vibrate, such that the seed flows under the action of the vibration, and falls after being discharged from a seed outlet end; S3, friction-based acceleration: causing both sides of the falling seed to generate friction which is the same as that in a preset spraying direction, so that the seed obtain acceleration corresponding to the friction, so as to be discharged at a high speed; and S4, direction adjustment: guiding the seed discharged at a high speed, so that the seed is accurately sprayed to a target position. The method can implement the discharging of seeds at a high speed, reduces the effect of an environmental wind field, can still implement accurate seeding when an unmanned aerial vehicle is kept at a high flight height, and can also prevent blocking caused by seed arching during a seed dispensing process, thus implementing the queued seed discharging at a high speed and improving the seeding efficiency. The method not only can be used for a seeding operation, but also can be used for a single-particle rapid discharging operation of other particulate materials. The present invention also relates to a spot spraying-based seed dispensing apparatus.

Description

Method and device for spot-firing seed metering

technical field

The present invention relates to the technical field of agricultural machinery, and more particularly, to a method and device for spot-firing seed metering.

Background technique

Mechanized sowing is an important means to achieve efficient and standardized operations in crop production. The seed metering device is a key component to control the seeding rate and its accuracy, which is essential to ensure the quality of work and achieve accurate work. Especially in the mechanized sowing of rice seeds, due to the large variety of rice varieties, the physical characteristics and planting agronomic requirements of different varieties of rice seeds are quite different. When designing a planting device, it is necessary to fully consider the adaptability of the device to different varieties of rice to meet the sowing needs of different varieties of rice.

At present, the existing seed metering devices at home and abroad mainly include outer groove wheel type, inner groove wheel type, socket type, grinding disc type, rotary spoon type, pneumatic type and centrifugal type. The features and defects of the prior art are as follows:

In the process of seed metering, both the inner grooved wheel type and the outer grooved wheel type seed metering device have the phenomenon of pulsation in the displacement, and the uniformity is poor, and it is difficult to achieve single-grain and high-speed queuing. In addition, the uniformity of the outer groove wheel type seed metering device is greatly affected by the vibration of the machine, and it is difficult to achieve single seed, continuous and queuing seed.

The important structure of the socket-type seed metering device is the hole, and the holes of different sizes are suitable for seeds of different particle sizes. When the socket-type seed metering device is working, the particles enter the hole under the rotation of the socket-hole wheel and are discharged accordingly. The rotation speed of the socket-hole wheel and the size of the hole are the key factors affecting the performance of the seed-metering device. The hole size of the socket-type seed metering device has higher requirements on the material, and is mainly used for on-demand and hole-seeding.

The working principle of the rotary spoon type seed metering device is similar to that of the outer groove wheel type, and the scoop-out principle is used for seed metering. The displacement can be changed by changing the protruding amount of the spoon and the rotating speed of the disc. The seeding quality of this device is easily disturbed by external vibration, and the uniformity is not good enough. It is difficult to achieve single seed, continuous and queuing seeding.

The main working part of the centrifugal seed metering device is a high-speed rotating cone or disc. After the seeds and other materials enter the cone from the feed port, they are thrown out from the seed discharge port under the action of centrifugal force. The stability of the seed discharge depends on the The rotation speed of the cone or disc usually presents an arc-shaped strip distribution after the material falls to the ground. The stability of the amount per mu and the boundary of the seeding area are difficult to control, and the uniformity is not good enough. tougher.

The main working part of the grinding disc type seed metering device is a disc with grinding grains that rotates horizontally in the material cylinder, which is called grinding disc. There is a gap between the grinding disc and the base of the material drum. When the grinding disc rotates, under the action of centrifugal force and grinding grain thrust, the materials such as seeds move outward from the center, and are forcibly discharged from the seed discharge port on the base of the material cylinder. The device is mainly used for small and smooth seeds and other materials. Different sizes of seeds need to be equipped with different sizes of grinding discs, which increases the complexity of accessories manufacturing, matching, use and storage. It is difficult to achieve single, continuous and queuing seeds. , in addition, the seed breakage rate is higher.

The pneumatic seed metering device uses the large-diameter seed metering wheel at the bottom of the seed box to send the seeds into the air flow pipe. The seeds are conveyed by the air flow to the distributor in the pipe, and then enter the seed trench through the air flow seed conveying pipe. The device discharges the seeds more evenly. , The injury rate is low, but the structure is complex and the manufacturing precision is high.

The above-mentioned prior art needs to realize the displacement control during the seeding process, and most of them use rotating parts, and the rotating parts control the displacement mainly have the following problems: 1) The pulsation phenomenon inevitably occurs in the seeding process, which affects the continuity and uniformity of seeding. ; 2) The overlapping rate of the discharged seed particles is high, and the effect of single seed queuing is not good; 3) When the rotating speed of the rotating parts is too high, it is easy to cause the phenomenon that the seeds cannot be filled, so it is difficult to achieve high-speed seeding; 4) The seeds are In contact with rotating parts, interactions such as rolling and friction are prone to occur, and the seed damage rate is high; 5) The seeds are easily blocked by arches in the seed box or pipeline, resulting in blockage, and the device lacks the function of self-breaking arches; 6) The structure of the device is complex, and the dismantling workload is large when there is a blockage of the arch or cleaning is required after the operation is completed.

With the continuous advancement of UAV technology, the flight route is accurate and the stability is continuously improved, and its application in agricultural production is becoming more and more extensive. Compared with ground machinery, the use of drones for sowing has better passability and can avoid trapping. Moreover, drones are fast in sowing and easy to operate. They are gradually being accepted by farmers and have become a new way of sowing. At present, the seed metering devices for UAV sowing operations can be mainly divided into two types: centrifugal and pneumatic.

Chinese patent CN106612829A discloses an aircraft sowing device, which uses a centrifugal disc type sowing device. The single-chip microcomputer controls the first motor to drive the spinner to rotate, and controls the second motor to adjust the size of the gate of the discharge port. Chinese patent CN208863148U discloses a sowing device mounted on an aircraft. The sowing device includes a material barrel, a material throwing mechanism, a material unloading mechanism and a control unit, as well as a vibration motor, and the vibration motor is arranged on the material barrel. When working, the unloading mechanism discharges the material from the barrel to the material rejection mechanism, and the material is scattered under the action of centrifugal force; the vibration motor drives the side wall of the material barrel to vibrate, so that the material is evenly dispersed, and it is not easy to be blocked by arching. Chinese patent CN110963039A discloses a material spreading device, an unmanned aerial vehicle and a material spreading method. The material spreading device includes a reclaimer, a material receiver, a feeder and a controller; Take out, the material catcher is located under the reclaiming wheel and communicated with the feeder. The material in the reclaiming cavity enters the feeder through the feeder and is spread by the feeder. In the process of material spreading, the controller controls the driving part to drive the reclaiming wheel to rotate at the corresponding speed, so as to realize the control of the amount of material spreading by the drone. Chinese patent CN106714545B discloses a spreader and an agricultural drone. The spreader drives the stirring mechanism and the material spreading mechanism to rotate simultaneously through the deceleration mechanism, and the spreading mechanism uses centrifugal force to spread the material around.

Chinese patent CN209834007U discloses a spreader, a spreading device and plant protection equipment, wherein the spreader includes a reclaiming component, a material receiving component and a feeding component; the reclaiming component discharges materials into the material receiving component, and the feeding component can generate air flow, And send it to the material to mix with it, and use the air to spread the material. Chinese patent CN106416530B discloses a material spreading device mounted on an agricultural unmanned aerial vehicle. A discharge wheel is used under the material box of the device, and the discharge amount is adjusted by adjusting the discharge motor controller, and a fan is installed beside the roller. The material is discharged by air.

The seeding device of the above-mentioned unmanned aerial vehicle sowing operation has the following shortcomings: 1) after the seeds are discharged from the seeding device, due to the interference of the rotor wind, the seeding position is uncontrollable, and the seeding uniformity is not good; 2) the seeds fall on the surface, It is easy to be eaten by birds and rodents or washed by rain, resulting in lack of seedlings; 3) The seed metering device is easy to be blocked by arches; 4) The method of sowing is adopted, the seeds are scattered in a disorderly manner, and the crops cannot be formed into rows and holes, and the crops have poor ventilation and ventilation. , and it is not convenient for field management during the growing period.

In order to solve the problems of poor uniformity and difficulty in forming rows and forming holes, Chinese patent CN109287211B discloses a wheat pneumatic acceleration seeding and sowing device. No-tillage sowing of wheat without straw mulching in wheat rotation area. Chinese patent CN209643328U discloses a seed broadcasting device that can be mounted on unmanned aerial vehicles or ground machinery and can control the opening and closing size and opening and closing frequency of seed openings. The device uses fans to accelerate seeds to reduce the size of unmanned aerial vehicles Wind field effects. The above-mentioned method of accelerating seeds by pneumatic means has limited acceleration capacity, and the seeds are still easily affected by the wind field when they fall, and the seed outlet must be close to the ground (usually within 50cm) during sowing operations to be effective; however, with With the decrease of the flying height, the operational difficulty and accident rate of UAVs increase sharply, and safety accidents such as collisions with the ground are extremely likely to occur.

Chinese patent CN 211123767U discloses a precision seeding drone. By setting the seeding point, when the drone hovers to the point, the seeding angle is adjusted in real time, and the seeds are accelerated by the friction wheel to complete the sowing. The device uses friction wheels to accelerate seeds, which reduces the interference of rotor wind on the falling of seeds, but the device has the following shortcomings: 1) There are many types of crops, and the dimensions of seeds of different varieties of the same crop are different, and the size and shape of seeds of the same variety are different. It is also difficult to achieve the same, and the distance between the friction wheels in the prior art cannot be adjusted adaptively according to the shape of the seeds, so it is easy to cause damage or blockage; 2) The seeds are divided by the method of dialing the seeds, and the sowing speed is affected. The limit is large, and the seeds cannot be queued up to enter the friction wheel, which is prone to the problem of jamming; 3) During the operation, it is necessary to adjust the motor according to the pitch angle, and it is difficult to achieve precise seeding.

SUMMARY OF THE INVENTION

The present invention aims to overcome at least one of the above-mentioned defects (deficiencies) of the prior art, and provides a point-shot seeding method and device, which can adapt to the high-speed seeding of different seed dimensions, and reduce the impact of external wind fields such as rotors on the falling of seeds. Therefore, the drone can maintain a high flying height and still achieve precise planting in rows and holes, and the seeds can have a certain depth of penetration into the mud. Improve seeding efficiency.

The technical scheme adopted by the present invention is,

A point-shot seed metering method, comprising the following steps:

S1 calibration parameters: calibrate and store the control parameters of burst seed metering;

S2 Vibration queuing for seeding: filling the cone with seeds through the seed feeding port to control the vibration of the cone, the seeds flow under the action of vibration, and are discharged from the seeding head;

S3 friction acceleration: make the falling seeds generate the same friction force as the preset injection direction on both sides, so that the seeds can be discharged at high speed with the acceleration corresponding to the friction force;

S4 adjust the direction: guide the seeds discharged at high speed, so that the seeds can be accurately shot to the target position.

In this technical solution, in step S1, the seeds of the first operation need to be calibrated with parameters, and the parameters are conditions to ensure the stable operation of the seed metering device; in step S2, the seeds are metered by vibration to make the seeds high-speed It is convenient for the friction wheel to accelerate the seeds. If multiple seeds are discharged to the friction acceleration process at one time, the seeds are prone to jam and damage during the acceleration process, and the friction acceleration device will also be damaged, affecting the acceleration effect and discharge frequency. , thereby reducing the working efficiency; in step S3, pressure and the same speed as the preset ejection direction are respectively applied to both sides of the seeds falling to the acceleration process, so that the same frictional force as the preset ejection direction is generated on both sides of the seeds, thereby So that the seeds can be discharged at a high speed; in step S4, the seeds are discharged after accelerating, and the direction of the seeds shooting is fine-tuned in the initial stage of discharge. In addition to correcting the direction of the seeds shooting, it can also prevent the seeds from being affected by external wind such as rotor wind in the initial stage. The effect of wind field, thereby improving the accuracy of seed placement.

Further, in step S1, according to the size and fluidity of the ready-to-fill seed, a suitable seed filling flow rate, the aperture of the seed head and the vibration excitation force are calibrated, and the control parameters of the vibration queuing seed and the arch-breaking vibration motor are formed, and store; the vibration exciting force is:

F=Ameω ²

Among them, F--vibration exciting force, N; the control parameters are: A-external interference coefficient; m-eccentric block mass, kg; e-eccentricity of eccentric block, m; ω-vibration motor rotational angular velocity, rad/ s.

The vibration exciting force has a magnitude of F, and its direction changes periodically, which drives the buffered seeds in the cone to vibrate.

In this technical solution, the first-time seeds need to be calibrated with parameters, including: seed filling flow, the diameter of the seed head and the vibration excitation force, where the vibration excitation force includes the line out seed excitation force and the vibration arch breaking excitation force. Vibration force; the diameter of the seeding head is determined according to the size of the seeds, and the size of the initial selection is the diameter corresponding to exactly two seeds discharged in parallel. Fine-tuning; in this scheme, the flow rate of the material charged into the cone will be too large, which will cause arching and blockage. The determination method of this interval is: under the action of no vibration of the cone, the maximum flow rate when the material can pass through the cone smoothly is the minimum value of the interval; under the action of vibration of the cone, the maximum flow rate when the material can pass through the cone smoothly is the maximum value of this interval, and the middle value of the interval is preferably used as the seed filling flow; the vibration excitation force is adjusted by the motor speed, and the criterion for judging that the vibration queuing seed excitation force is suitable is: under the action of the seed vibration excitation force , a certain amount of cached seeds persists at the outlet of the cone, and the seeds can be discharged one by one due to vibration and the restriction of the seeding head. The reason for the formation of the seed buffer is: the bottom of the cone is a small diameter, after the seeds enter the cone, under the action of vibration and geometric dimensions, they gather near the exit at the bottom of the cone to form a buffer area, and the seeds in the buffer area vibrate. Grain-by-grain discharge is achieved under the limitation of the size of the seed head and the size of the seed head; the calibration method of the arch-breaking vibration excitation force is: under the action of the vibration excitation force, the seeds blocked by the arch in the cone can be dredged.

Further, step S2 includes the following steps,

S21 generates a vibration excitation force according to the control parameters of the vibration motor determined in step S1 to control the vibration of the cone, so as to realize high-speed queuing and seeding, and the vibration excitation force is: the vibration excitation force generated by more than one vibration motor combination;

S22 Detects the situation of arching blockage to detect whether the seeds in the cone are blocked by arching. If the arching blockage occurs, it is handled according to S23. The criteria for determining the arching blockage are: if the seed pulse is not detected within the specified time, it is determined as the arching blockage; If there is an arch blockage, repeat S21 and S22;

S23 Vibration arch breaking: when the arching blockage detection shows that the arching blockage is blocked, stop seeding, and start the arch breaking vibration motor according to the control parameters of the arch breaking vibration motor determined in step S1; check the arching blockage, and the arching blockage is not cleared, continue Process according to S23; check that the blockage of the arch has been cleared, turn off the arch breaking vibration motor, and repeat S21 and S22.

In the technical solution, the operation is performed according to the parameters calibrated by S1, and the vibration queuing and seeding operation is carried out, and the vibration queuing and seeding step has the functions of detecting arch blocking and arch breaking. When working, continue to carry out arch blocking detection, stop filling seeds when arch blocking is detected, and start the vibration arch breaking program. The vibration excitation force includes the vibration seeding excitation force and the vibration arch breaking excitation force, and each excitation force can be provided by at least one vibration source. When the seeds are vibrated and lined up to produce seeds, the seeds will generate a pulse signal after passing through the arch blocking detection device. By detecting whether there is a pulse signal within a certain period of time, it can be determined whether the seeds in the cone are blocked by arching.

Further, the step S3 is specifically:

S3 friction acceleration: the falling seeds pass through the gap between two friction wheels with opposite running directions. The size of the gap is adaptively adjusted according to the size of the seeds. The friction wheel squeezes the falling seeds on both sides and rotates through the friction of the friction wheel. , so that the same friction force as the preset injection direction is generated between the two sides of the seeds and the friction wheel, so that the seeds can be discharged at high speed with the same acceleration as the direction of the friction force.

In this technical solution, the pressure and the same speed as the preset injection direction are provided to the falling seeds through the two friction wheels with opposite running directions. Due to the friction between the two sides of the seeds and the surface of the friction wheel, the preset injection direction is generated. With the same frictional force, the seeds can be accelerated and discharged at high speed.

The present invention also provides a burst-type seed metering device applicable to the above-mentioned burst-type seed metering method, including:

mounting plate;

A friction wheel acceleration device, located at the lower part of the mounting plate, is used to accelerate the seeds;

A vibrating queuing seed ejecting device is arranged on the upper part of the mounting plate, and the lower opening is opposite to the upper opening of the friction wheel accelerating device, and is used to provide single seeds to the friction wheel accelerating device one by one; and

The guide tube is arranged at the lower part of the mounting plate, which is opposite to the opening below the friction wheel acceleration device, and is used for guiding the accelerated seeds to accurately shoot to the target position.

In this technical solution, the spot-type seed metering device utilizes vibration to achieve uniform seeding seed by seed, and the discharged seeds obtain a certain kinetic energy and fall to the friction wheel acceleration device, which utilizes the high-speed rotation of the friction wheel to adjust the The seeds are accelerated, and seeds of different sizes and shapes can be accelerated. The seeds obtained through the friction wheel acceleration device are discharged at a certain speed, enter the guide tube and run for a certain distance before being ejected. The device realizes modular installation, The simple structure makes daily operation, maintenance and cleaning more convenient, the running power is smaller, and it can also realize high-speed seeding, which can be applied to field operations to ensure its timeliness and efficiency.

Further, the friction wheel acceleration device includes:

The acceleration tube is arranged on the mounting plate, and the left and right sides of the acceleration tube are provided with through holes;

a friction wheel, installed on both sides of the acceleration tube, and at least a part of the friction wheel is embedded in the through hole, so that the friction wheel rotates in the acceleration tube;

a driving mechanism, the power output end of which is connected with the friction wheel, for driving the friction wheel to rotate; and

an adaptive adjustment component, arranged on the mounting plate, for adaptively adjusting the distance between the friction wheels on both sides;

The guide groove is arranged on the mounting plate and has an arc shape, which is used to limit the rotation angle of the self-adaptive adjustment component and limit the axial movement of the friction wheel.

In this technical solution, the pelletized seeds are accelerated by the friction wheel, and the distance between the friction wheels is automatically adjusted by the self-adaptive adjustment component for seeds of different sizes. The friction wheels on both sides accelerate the seeds by high-speed friction. According to the size of the accelerated seeds, the self-adaptive adjustment component rotates relative to the mounting plate to adaptively adjust the distance between the friction wheels. The granulated seeds are accelerated to ensure that the acceleration effect of the seeds will not be affected by the too large or too small spacing of the friction wheels, and can effectively avoid the damage of the seeds and the wear of the friction wheels, thereby improving the seeding efficiency and seeding accuracy. The function of limiting the position of the self-adaptive adjustment component ensures the stability of the work. The surface of the friction wheel is made of elastic materials such as rubber, which can increase the friction force and avoid the seeds from being damaged due to excessive extrusion.

Still further, the self-adaptive adjustment component includes:

elastic parts; and

The first adjustment frame and the second adjustment frame are respectively arranged on the mounting plates on both sides of the acceleration tube, and the two are symmetrically arranged relative to the acceleration tube and form a mirror image structure of each other; the first adjustment frame and the second adjustment frame 2. One end of the adjustment frame is provided with a hinge hole, and the other end is provided with a buckle and a slider;

One end of the first adjusting frame and the second adjusting frame is hinged with the mounting plate through the hinge hole, and the other end is connected with the buckle through the elastic member, and the sliding block is matched with the guide groove of the mounting plate;

The driving mechanism includes a first motor and a second motor, the first motor and the second motor are respectively connected with the first adjustment frame and the second adjustment frame, and the first motor and the second adjustment frame are respectively connected. The rotation directions of the motors are opposite, the friction wheels are respectively arranged on the outer rotors of the first motor and the second motor, and the friction wheels do not slide relative to the first motor and the second motor.

The gap of the friction wheel in the prior art is fixed and cannot be adjusted during the working process, so the friction wheel acceleration device can only launch spherical objects with a fixed size, but for the coated seeds, it is difficult to achieve every seed. They are all wrapped in the same size and shape, so the fixed gap will cause damage to the seeds and aggravate the wear of the friction wheel. Therefore, in this technical solution, the elastic components in the adaptive adjustment assembly and the first adjustment frame and the second adjustment frame are used. When the friction wheel is subjected to different pressing forces due to seeds of different sizes during the acceleration process, the friction wheel drives the drive mechanism connected to it and the first adjustment frame and the second adjustment frame to rotate around the hinge axis of the mounting plate, thereby pulling The elastic parts are stretched and retracted to achieve the effect of adaptively adjusting the distance between the friction wheels. The cooperation between the slider and the guide groove limits the gap between the friction wheels, so that the gap between the friction wheels is smaller than the diameter of the seeds, so that the friction wheels can exert pressure on the seeds, so as to ensure that the seeds enter There is enough friction behind the gap, which can not only effectively avoid damage and wear due to excessive seeds, but also ensure the acceleration effect.

Still further, the upper part of the acceleration tube is a square tube, the lower part of the acceleration tube is a circular tube, and the left and right sides of the upper part of the acceleration tube are provided with the through holes; the square tube on the upper part of the acceleration tube is turned into a lower part. The junction of the circular tube is a smooth transition, which is smoothed in the form of a square and a circular inscribed. It can prevent seeds or other impurities from entering the gap between the friction wheel and the inner wall of the acceleration tube.

In this technical solution, the acceleration tube is divided into upper and lower parts, the upper part of the acceleration tube is a square tube, and the lower part is a circular tube, the left and right sides of the acceleration tube are provided with through holes into which the friction wheels can be embedded, and the friction wheels are just embedded in the through holes The inner fan-shaped concave surface constitutes the space required for accelerating seeds, and prevents seeds or other impurities from entering the gap between the two ends of the friction wheel and the inner wall of the accelerating tube; the installation method between the accelerating tube and the mounting plate is detachable installation, and the accelerating tube can be installed according to The size of the object to be accelerated is changed, and the seeds to be accelerated enter from the square nozzle at the upper part of the acceleration tube, are accelerated by the friction wheel at the through hole at the upper part of the acceleration tube, and then are ejected from the circular nozzle at the lower part of the acceleration tube.

Further, the vibrating queuing seeding device includes:

a cone for providing seeds to the friction wheel acceleration device;

A seed head is installed at the bottom of the cone;

A seeding port with an upward opening, and the lower part is connected with the cone;

The vibration motor unit is fixed on the outer wall of the cone, and provides vibration force for the cone, which is used for lining up seeds and vibrating to break the arch;

a fixing seat, which is arranged at the connection between the cone and the seeding port, and the two ends are fixed on the mounting plate for fixing the cone; and

The vibration isolation component is arranged in the fixed seat, and is used for buffering the vibration of the cone cylinder to the vibration of the body.

In this technical solution, the seed filling port makes seed filling more convenient, the seeds filled through the seed feeding port are placed in the cone, and the vibration motor unit determines the required vibration excitation force according to the size and fluidity of the seeds. The size is controlled by changing the motor speed. Moreover, since the vibrating queuing and seeding device needs to vibrate continuously during operation, in order to avoid the vibration of the vibrating queuing and seeding device from affecting other components during the working process, a vibration isolation component is installed to weaken the impact of vibration on the rest of the device and the overall body. The seat is used to fasten the vibration isolation components to enhance the fixing effect.

Still further, the top of the cone is a large diameter, the bottom is a small diameter, and the inner wall is a smooth spiral pattern for guiding the seeds to move toward the seed head along the spiral pattern;

The seeding head is detachably installed at the bottom of the cone, the method can be buckled or screwed, and can be quickly replaced according to the size of the seed, and the diameter of the seeding head is consistent with the diameter of the seeding head calibrated in S1;

The lower part of the seeding head is provided with an arch blocking detection system, and when the seeds pass through the central area of the arch blocking detection system, a seeding pulse is generated, which is used to detect the queuing of the seeds for seeding;

The vibration motor unit includes more than one vibration motor, and according to the function, it is set to line up the seed vibration motor unit and the arch breaking vibration motor unit.

In this technical solution, the top cross-sectional area of the cone is larger, so that the seeds can freely pass through and fall into it, which reduces the difficulty of seed filling and facilitates operation, and the bottom cross-sectional area is smaller, so that the cone is an inverted cone. The inner wall is provided with a smooth spiral pattern. When vibration is applied to the cone, the seeds charged into the cone can move along the spiral pattern to the seed outlet and form a buffer area. The seeds in this area are discharged by vibration. Single-seed high-speed seeding can be achieved; the seeding head is detachable, and different seeding heads can be selected according to the shape and size of the seeds. The accessories are small, which simplifies the operation and reduces the cost of manufacturing and storage of accessories. The head parameter selects a suitable seed head; the arch blockage detection system is located at the lower part of the seed head and the upper end of the acceleration tube, which can be a through-beam infrared sensor or other sensors that can detect the falling of seeds; the vibration motor components are: Arranged in line to produce a vibration motor unit and an arch breaking vibration motor unit, each of which contains at least one vibration motor.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The method provided by the present invention adopts vibration queuing for seeding, which can better solve the problems of pulsation, high-speed seeding difficulty and seed damage existing in traditional wheel-type rotating parts, and can be lined up at high speed for seeding, improving sowing efficiency and ensuring Real-time and efficient operation, and improve the continuity and uniformity of seeding.

(2) The method provided by the present invention adopts the friction wheel acceleration device with self-adjusting spacing to accelerate the seeds, the accelerated seeds are less affected by external wind such as rotor wind field, the landing point is controllable, and the unmanned aerial vehicle remains relatively high The flying height can still achieve precise seeding, with good row formation, improving the quality of sowing, and good ventilation of crops, thereby reducing the breeding of diseases and insect pests; at the same time, the seeds can be immersed in the mud to a certain depth, preventing the seeds from falling on the surface and being attacked by birds. , Rodent feeding or rain erosion caused the lack of seedlings.

(3) In agricultural production, there are many kinds of crops, there are differences in the external dimensions of seeds of different varieties of the same crop, and it is difficult to achieve the same size and shape of seeds of the same variety. When the size of the seed is larger than the gap between the friction wheels on both sides of the accelerating tube, the seeds will expand the gap between the friction wheels during the acceleration process. After the accelerated injection, the gap between the friction wheels will return to its original state under the action of the elastic components, so as to achieve the effect of adaptively adjusting the distance between the friction wheels. , which can better solve the problems of seed jam, seed damage and easy wear of friction wheels due to different seed sizes, and improve sowing efficiency and sowing accuracy.

(4) The point-shot seed metering device provided by the present invention includes an arch blocking detection system and an arch breaking vibration motor unit, so that the device has the functions of arch blocking monitoring and self-breaking arch, which can better solve the problem of seeds in the seed box or pipe. The problem of road jams.

(5) The method provided by the present invention has simple steps, modular structure, small disassembly and maintenance workload, and can be used not only for sowing operations, but also for other granular materials such as fertilizers, herbicidal granules, snail-killing granules, and insecticidal granules. The single-grain fast discharge operation.

Description of drawings

FIG. 1 is a schematic structural diagram of a spot-type seed metering device of the present invention.

FIG. 2 is a schematic structural diagram of a mounting plate and an accelerating tube of a spot-type seed metering device according to the present invention.

FIG. 3 is a partial cutaway schematic diagram of a point-shot seed metering device according to the present invention.

FIG. 4 is a schematic diagram of an adjustment frame of a point-shot seed metering device of the present invention.

FIG. 5 is a schematic structural diagram of a vibrating queuing seed ejecting device of a point-shooting seed metering device of the present invention.

FIG. 6 is a schematic diagram of the connection structure between the friction wheel and the driving mechanism of a point-shot seed metering device of the present invention.

FIG. 7 is a schematic view of the spiral pattern on the inner wall of the cone of a point-shot seed metering device of the present invention.

FIG. 8 is a schematic flow chart of a point-shot seed metering method according to the present invention.

The drawings are marked as: mounting plate 100; hinge shaft 110; guide groove 120; vibrating queuing seeding device 200; cone 210; seeding port 211; vibration isolation component mounting groove 212; 214; vibration motor 220; fixing seat 230; vibration isolation component 240; arching blockage detection system 250; friction wheel acceleration device 300; friction wheel 310; The second adjusting frame 350; the hinge hole 341; the drive mechanism mounting seat 342; the buckle 343; the slider 344; the first motor 351; the second motor 352;

Detailed ways

The accompanying drawings of the present invention are only used for exemplary illustration, and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, which do not represent the size of the actual product; for those skilled in the art, some well-known structures and their descriptions in the drawings may be omitted. understandable.

Example 1

A shot-type seed metering method in this embodiment, as shown in FIG. 8 , includes the following steps:

In step S1, according to the size and fluidity of the seed to be filled, the appropriate seed filling flow rate, the aperture of the seed head and the vibration excitation force are calibrated, and the control parameters of the vibration queuing seed and the arch breaking vibration motor are formed, and stored; The vibration exciting force is:

F=Ameω ²

The specific method for calibrating the parameters described in this embodiment is:

The diameter of the seeding head is determined according to the size of the seeds, and the size of the primary selection is the diameter corresponding to when exactly two seeds can be discharged in parallel. After calibrating the seed filling flow and the vibration exciting force, fine-tuning is carried out according to the effect of queuing the seeds. ; In this scheme, the flow rate of filling the seeds into the cone is too large, which will cause the blockage of the arch, and the flow rate is too small, which will reduce the work efficiency, so there is an optimal interval for the flow rate of filling the seeds. The determination method of this interval is as follows: under the action of no vibration of the cone, the maximum flow rate when the seeds can pass through the cone smoothly is the minimum value of the interval; under the action of vibration of the cone, the maximum flow rate when the seeds can pass through the cone smoothly is the maximum value of this interval, and the middle value of the interval is preferably used as the seed filling flow; the vibration excitation force is adjusted by the motor speed, and the criterion for judging that the vibration queuing seed excitation force is suitable is: under the action of the seed vibration excitation force , a certain amount of cached seeds persists at the outlet of the cone, and the seeds can be discharged one by one due to vibration and the restriction of the seeding head. The reason for the formation of the seed buffer is: the bottom of the cone is a small diameter, after the seeds enter the cone, under the action of vibration and geometric dimensions, they gather near the exit at the bottom of the cone to form a buffer area, and the seeds in the buffer area vibrate. Grain-by-grain discharge is achieved under the limitation of the size of the seed head and the size of the seed head; the calibration method of the arch-breaking vibration excitation force is: under the action of the vibration excitation force, the seeds blocked by the arch in the cone can be dredged.

The step S2 is specifically:

S21 controls the vibration of the cone according to the control parameters of the vibration motor determined in step S1, so as to realize high-speed queuing and seeding;

S22 Detects the blocking of the arch, and if the blocking of the arch occurs, it is handled according to S23; if there is no blocking of the arch, repeat S21 and S22;

The vibration excitation force is the combination of vibration excitation forces generated by more than one vibration motor; the arching blockage detection is used to detect whether the seeds in the cone are blocked by arching, and the criteria for determining the arching blockage are: a specified time If no seeding pulse is detected, it is determined that the arch is blocked.

The step S3 is specifically as follows: the falling seeds pass through the gap between two friction wheels with opposite running directions, the size of the gap is adaptively adjusted according to the size of the seeds, the friction wheel and the falling seeds are squeezed on both sides, and the friction wheel passes through the gap between the falling seeds. The frictional rotation of the radiator causes the frictional force between the two sides of the seeds and the friction wheel to be the same as the preset injection direction, so that the seeds can be discharged at high speed with the acceleration in the same direction as the frictional force.

In this embodiment, the gap between the friction wheels is smaller than the diameter of the seeds, and the size of the gap between the friction wheels is adaptively adjusted according to the size of the accelerated seeds during the acceleration process. The pressure and the same speed as the preset injection direction are provided to the falling seeds through two friction wheels with opposite running directions. Due to the friction between the two sides of the seeds and the surface of the friction wheel, the same friction force as the preset injection direction is generated. Acceleration can be obtained, resulting in high-speed discharge. The seeding speed is adjusted by the rotational speed of the friction wheel, and the optimal linear speed range of the friction wheel is 14-18m/s.

The method of this embodiment can discharge seeds at a high speed, the accelerated seeds are less affected by external wind forces such as rotor wind fields, and the landing point is controllable, and the drone can still achieve precise seeding while maintaining a high flying height, and has good cavitation in rows. , improve the quality of sowing, and the crops have good ventilation and ventilation, thereby reducing the breeding of diseases and insect pests; at the same time, the seeds can be immersed in the mud to a certain depth, so as to prevent the seeds from falling on the surface and being eaten by birds, rodents or rainwater, resulting in lack of seedlings; The gap of the friction wheel can be automatically adjusted according to the size and shape of the seeds, which can better solve the problems of jamming, seed damage and easy wear of the friction wheel due to different seed sizes, and improve the seeding efficiency and seeding accuracy.

As shown in FIG. 1 and FIG. 2 , the present embodiment also includes a spot-shooting seed metering device, which is suitable for the spot-shooting seed metering method described in this embodiment, and includes a mounting plate 100 , a friction wheel acceleration device 300 , a vibration Line up the seed ejection device 200 and the guide tube 400 .

The friction wheel acceleration device 300 is provided at the lower part of the mounting plate 100 for accelerating the seeds, and includes: a friction wheel 310 , an acceleration tube 330 , a driving mechanism and an adaptive adjustment component. The acceleration tube 330 is set on the mounting plate 100, and through holes 331 are provided on the left and right sides of the acceleration tube 330. As shown in the figure, the upper part of the acceleration tube 330 is a square tube, and the cross section and the mouth of the tube are square. At the central axis of the plate 100, and on the left and right sides of the upper part, there are through holes 331 into which the friction wheels 310 can be embedded. The process that the seeds to be accelerated go through in the acceleration tube 330 are: enter from the square nozzle at the upper part of the acceleration tube 330, and after being accelerated by the friction wheel 310 at the through hole 331 at the upper part of the acceleration tube 330, they are ejected from the circular nozzle at the lower part of the acceleration tube 330. , and the acceleration tube 330 can be adaptively replaced according to the size of the seeds to be accelerated, so that the nozzle of the acceleration tube 330 is adapted to the seeds to be accelerated, and the ejection effect of the seeds is optimized;

As shown in the figure, in this embodiment, the number of friction wheels 310 is two, which are annular structures and are installed on both sides of the acceleration tube 330, and at least a part of the friction wheels 310 is embedded in the through hole 331, The friction wheel 310 is rotated in the acceleration tube 330. The surface of the friction wheel 310 is soft and elastic, and can be made of materials such as rubber, which can provide greater friction and protect the object to be accelerated from damage and friction. The acceleration process of the object by the wheel 310 is: after the object to be accelerated enters the acceleration tube 330, it is rubbed by the friction wheels 310 rotating at high speed at the through holes 331 on the left and right sides of the acceleration tube 330 to obtain the initial speed and then ejected from the nozzle below the acceleration tube 330;

3 and 6 , the driving mechanism includes a first motor 351 and a second motor 352, which rotate in opposite directions, and the friction wheel 310 is sleeved on the outer rotors of the first motor 351 and the second motor 352, and works During the process, the friction wheel 310 does not slide relative to the first motor 351 and the second motor 352, and its power output end is connected to the friction wheel 310 for driving the friction wheel 310 to rotate. The first motor 351 and the second motor 351 The motor 352 is respectively fixed and installed on the first adjusting frame 340 and the second adjusting frame 350 on both sides of the acceleration tube 330 by bolts, and the driving mechanism drives the friction wheel 310 to rotate as follows: the friction wheel 310 is fixed on the first motor 351 and the first motor 351 and On the outer rotor of the second motor 352, and there is no relative sliding tendency between the friction wheel 310 and the first motor 351, and between the friction wheel 310 and the second motor 352, when the first motor 351 and the second motor 352 are driven, the acceleration tube 330 The rotation directions of the friction wheels 310 on the left and right sides are opposite, and the seeds are frictionally accelerated.

As shown in FIGS. 2 , 3 and 4 , the self-adaptive adjustment assembly of this embodiment includes a first adjustment frame 340 and a second adjustment frame 350 , which are symmetrically arranged relative to the acceleration tube and are mirror images of each other, which are installed separately. The mounting plates 100 on the left and right sides of the acceleration tube 330 are used to adjust the distance between the friction wheels 310 on both sides. The drive mechanism mounting seat 342, the buckles 343 and the sliders 344 arranged on both sides of the adjusting frame, the center of the adjusting frame is provided with a driving mechanism mounting seat 342 for installing the first motor 351 or the second motor 352, and the driving mechanism mounting seat 342 is provided with mounting holes matching the first motor 351 and the second motor 352, the first adjusting frame 340 is hinged on the mounting plate 100 through the hinge hole 341, and the buckle 343 of the first adjusting frame 340 passes through The elastic member 320 is connected with the snap connection of the second adjusting frame 350; the sliding block 344 of the first adjusting frame 340 is installed on the guide groove 120 of the mounting plate 100; the second adjusting frame 350 is connected to the The first adjusting frame 340 is installed in the same manner.

The elastic member 320 is specifically a tension spring, the two ends of the tension spring are respectively connected to the first adjusting frame 340 and the second adjusting frame 350 on both sides of the acceleration tube 330 , and the two adjusting frames are subjected to equal and opposite directions of the elastic force of the tension spring.

The working process of the adaptive adjustment assembly is as follows: the seeds to be accelerated enter from the acceleration tube 330 and are squeezed by friction between the two friction wheels 310. After the two friction wheels 310 receive the relative extrusion force of the seeds to be accelerated, the first adjustment frame is driven. The frame 340 and the second adjustment 350 rotate around the hinge shaft, thereby driving the tension spring to expand and contract, so as to achieve the function of adaptively adjusting the distance between the friction wheels 310 .

The guide tube 400 is arranged at the lower part of the mounting plate 100 . The guide tube 400 can be a hollow straight tube with a smooth inner wall. Removable butt, or fixed connection with the outlet below the acceleration tube 330 through bolts, is used to guide the movement direction of the accelerated seeds.

As shown in FIGS. 1 , 3 and 5 , the vibrating seeding device 200 is installed on the upper part of the mounting plate 100 , and the lower opening thereof is opposite to the upper opening of the friction wheel accelerating device 300 , and is opposite to the accelerating tube 330 . There are gaps between them for successively providing single seeds to the friction wheel acceleration device 300, which includes: a cone 210, a seed feeding port 211 with an upward opening, a vibration isolation component installation slot 212, a vibration motor installation hole 213, The seeding head 214 , the vibration motor unit 220 , the fixed seat 230 , the vibration isolation member 240 and the arching blockage detection system 250 .

As shown in FIG. 7 , the cone 210 is an inverted cone, and its top cross-sectional area is larger than its bottom cross-sectional area, which is used to provide seeds to the friction wheel acceleration device 300 , and the inner wall of the cone 210 is smooth Spiral pattern, so that the seeds can move along the spiral pattern in the cone 210 to the seed head 214. The seed head 214 is detachably installed on the bottom of the cone 210, and the opening above the cone 210 is set upward. The seed feeding port 211, the vibration motor group 220 is fixed on the outer wall of the cone cylinder 210 through the two vibration motor mounting holes 213 provided at the side waist of the cone cylinder 210, and the vibration motor group 220 includes queuing up seeds. The vibration motor and the arch-breaking vibration motor respectively complete the functions of vibrating queuing and arch-breaking; the vibration isolation member 240 is fixed in the vibration isolation member installation groove 212, and the fixed seat 230 cooperates with the vibration isolation member 240 to connect the cone. It is fixed on the mounting plate 100 to buffer the impact of the vibration of the cone 210 on the body.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

A point-shot seed metering method, characterized in that it comprises the following steps:

S1 calibration parameters: calibrate and store the control parameters of burst seed metering;

S2 Vibration queuing for seeding: filling the cone with seeds through the seed feeding port to control the vibration of the cone, the seeds flow under the action of vibration, and are discharged from the seeding head;

S3 friction acceleration: make the falling seeds generate the same friction force as the preset injection direction on both sides, so that the seeds can be discharged at high speed with the acceleration corresponding to the friction force;

S4 adjust the direction: guide the seeds discharged at high speed, so that the seeds can be accurately shot to the target position.
A point-shot seed metering method according to claim 1, characterized in that, in step S1, according to the size and fluidity of the seeds to be filled, the appropriate seed filling flow rate, the diameter of the seed head and the vibration excitation are calibrated force to form the control parameters of the vibration queuing and arch-breaking vibration motor, and store them; the vibration exciting force is:

F=Ameω 2

Among them, F--vibration exciting force, N; the control parameters are: A-external interference coefficient; m-eccentric block mass, kg; e-eccentricity of eccentric block, m; ω-vibration motor rotational angular velocity, rad/ s.

The vibration exciting force has a magnitude of F, and its direction changes periodically, which drives the buffered seeds in the cone to vibrate.
The method of claim 1, wherein step S2 comprises the following steps:

S21 generates a vibration excitation force according to the control parameters of the vibration motor determined in step S1 to control the vibration of the cone, so as to realize high-speed queuing and seeding, and the vibration excitation force is: the vibration excitation force generated by more than one vibration motor combination;

S22 Detects the situation of arching blockage to detect whether the seeds in the cone are blocked by arching. If the arching blockage occurs, it is handled according to S23. The criteria for determining the arching blockage are: if the seed pulse is not detected within the specified time, it is determined as the arching blockage; If there is an arch blockage, repeat S21 and S22;

S23 Vibration arch breaking: when the arching blockage detection shows that the arching blockage is blocked, stop seeding, and start the arch breaking vibration motor according to the control parameters of the arch breaking vibration motor determined in step S1; check the arching blockage, and the arching blockage is not cleared, continue Process according to S23; check that the blockage of the arch has been cleared, turn off the arch breaking vibration motor, and repeat S21 and S22.
The method of claim 1, wherein the step S3 is specifically:

S3 friction acceleration: the falling seeds pass through the gap between the two friction wheels with opposite running directions. The size of the gap is adaptively adjusted according to the size of the seeds. The friction wheel squeezes the falling seeds on both sides and rotates through the friction of the friction wheel. , so that the same friction force as the preset injection direction is generated between the two sides of the seeds and the friction wheel, so that the seeds can be discharged at high speed with the same acceleration as the direction of the friction force.
A burst-type seed metering device suitable for the burst-type seed metering method according to any one of claims 1 to 4, characterized in that, comprising:

mounting plate;

A friction wheel acceleration device, located at the lower part of the mounting plate, is used to accelerate the seeds;

A vibrating queuing seed ejecting device is arranged on the upper part of the mounting plate, and the lower seed ejecting head is opposite to the upper opening of the friction wheel accelerating device, and is used to provide single seeds to the friction wheel accelerating device one by one; and

The guide tube is arranged at the lower part of the mounting plate, which is opposite to the opening below the friction wheel acceleration device, and is used for guiding the accelerated seeds to accurately shoot to the target position.
A point-shot seed metering device according to claim 5, characterized in that:

The friction wheel acceleration device includes:

The acceleration tube is arranged on the mounting plate, and the left and right sides of the acceleration tube are provided with through holes;

a friction wheel, installed on both sides of the acceleration tube, and at least a part of the friction wheel is embedded in the through hole, so that the friction wheel rotates in the acceleration tube;

a driving mechanism, the power output end of which is connected with the friction wheel, and is used for driving the friction wheel to rotate;

an adaptive adjustment component, arranged on the mounting plate, for adaptively adjusting the distance between the friction wheels on both sides; and

The guide groove is arranged on the mounting plate and has an arc shape, which is used to limit the rotation angle of the self-adaptive adjustment component and limit the axial movement of the friction wheel.
A point-shot seed metering device according to claim 6, characterized in that:

The self-adaptive adjustment component includes:

elastic parts; and

The first adjustment frame and the second adjustment frame are respectively arranged on the mounting plates on both sides of the acceleration tube, and they are arranged symmetrically with respect to the acceleration tube; the first adjustment frame and the second adjustment frame are arranged at one end of the There is a hinge hole, and the other end is provided with a buckle and a slider;

One end of the first adjusting frame and the second adjusting frame is hinged with the mounting plate through the hinge hole, and the other end is connected with the buckle through the elastic member, and the sliding block is matched with the guide groove of the mounting plate;

The drive mechanism includes a first motor and a second motor, the first motor and the second motor are respectively connected with the first adjustment frame and the second adjustment frame, the first motor and the second motor The rotation directions of the motors are opposite, the friction wheels are respectively arranged on the outer rotors of the first motor and the second motor, and the friction wheels have no relative sliding with the first motor and the second motor.
The spot-type seed metering device according to claim 6, wherein the upper part of the acceleration tube is a square tube, the lower part of the acceleration tube is a circular tube, and the left and right sides of the upper part of the acceleration tube are provided with The through hole; the junction of the square tube on the upper part of the acceleration tube and the circular tube on the lower part is a smooth transition; Clearance fit.
A point-shot seed metering device according to claim 5, characterized in that:

The vibrating queuing seeding device includes:

a cone for providing single seeds to the friction wheel acceleration device;

A seed head is installed at the bottom of the cone;

A seeding port with an upward opening, the lower part is connected with the cone;

The vibration motor unit is fixed on the outer wall of the cone to provide excitation force for the cone, which is used to line up seeds and vibrate to break the arch;

a fixing seat, which is arranged at the connection between the cone and the seeding port, and the two ends are fixed on the mounting plate for fixing the cone; and

The vibration isolation component is arranged in the fixed seat, and is used for buffering the vibration of the cone to the body.
A point-shot seed metering device according to claim 9, characterized in that:

The top of the cone is a large diameter, the bottom is a small diameter, and the inner wall is a smooth spiral pattern, which is used to guide the seeds to move toward the seeding head along the spiral pattern;

The seeding head is detachably fastened to the bottom of the cone, and the diameter of the seeding head is consistent with the diameter of the seeding head calibrated in S1;

The lower part of the seeding head is provided with an arch blocking detection system, and when the seeds pass through the central area of the arch blocking detection system, a seeding pulse is generated, which is used to detect the queuing of the seeds for seeding;

The vibration motor unit includes more than one vibration motor, and according to the function, it is set to line up the seed vibration motor unit and the arch breaking vibration motor unit.