WO2022247384A1 - 一种气吸滚筒式排种器的连续对穴播种控制系统及方法 - Google Patents

一种气吸滚筒式排种器的连续对穴播种控制系统及方法 Download PDF

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WO2022247384A1
WO2022247384A1 PCT/CN2022/079447 CN2022079447W WO2022247384A1 WO 2022247384 A1 WO2022247384 A1 WO 2022247384A1 CN 2022079447 W CN2022079447 W CN 2022079447W WO 2022247384 A1 WO2022247384 A1 WO 2022247384A1
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drum
hole
seeding
speed
suction
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PCT/CN2022/079447
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English (en)
French (fr)
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赵湛
周悦
周静
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江苏大学
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/002—Dibble seeders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2

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  • the invention belongs to the technical field of agricultural machinery, and in particular relates to a control system and method for continuous pair-hole sowing of an air-suction drum-type seed metering device.
  • the seedling production line is the main equipment for industrial seedling production.
  • the complete assembly line can complete multiple processes such as tray supply, subsoil laying, compaction, seeding, topsoil covering, watering, and tray selection at one time.
  • the seeding part is the core that determines the performance of the seedling production line.
  • air-suction seed meters mainly include needle-suction, disc-suction and drum-type structures. Among them, the sowing position accuracy of needle-suction and disc-suction seed meters is easy to control, but they all belong to intermittent sowing. The overall operating efficiency is low.
  • the air suction drum seed metering device has the advantages of stable internal gas flow field, low power consumption, continuous seeding operation and high production efficiency, and has become the main seeding device used by foreign advanced high-speed seedling raising lines.
  • the inside of the drum is divided into two independent inner cavities through a partition, one is connected with a negative pressure fan to form a negative pressure area for sucking seeds on the upper part of the drum, and the other is connected to a positive pressure fan to form a positive pressure area for seed discharge at the bottom of the drum .
  • the drum rotates around the fixed hollow shaft.
  • the suction hole passes through the seed box, the seeds are adsorbed on the suction hole under the action of the negative pressure difference of the suction hole and rotate with the drum;
  • the cavity is opened, the grains fall under the action of positive pressure and self-weight.
  • the present invention proposes a method for controlling continuous hole-to-hole sowing of an air-suction drum type metering device to realize continuous hole-to-hole center sowing in a high-speed seedling raising line, which has important theoretical research significance and practical value, and no public research reports have been seen so far. .
  • the present invention proposes a continuous paired hole sowing control system and method of an air-suction drum-type seed metering device.
  • the structural optimization design of the drum determines the theoretical seeding angle, calculates the trajectory of the seeding seed and the drop point on the conveyor belt through gas-solid coupling, and determines the theoretical model of the tray conveying position and seeding angle.
  • the rotation speed of the drum and the position of the suction hole are measured by an absolute rotary encoder, and a photoelectric sensor is installed on the conveyor belt of the seedling cultivation line to monitor the conveying position of the tray.
  • the photoelectric sensor detects the time of the tray, calculate the difference between the actual suction hole position and the theoretical seeding angle and the change rate of the difference, and use it as an input parameter to establish a fuzzy controller for the drum speed, that is, through the drum
  • the self-adaptive adjustment and control of the speed keeps the actual seeding angle within a certain range, thereby eliminating the sowing position error caused by the fluctuation of the continuous conveying tray position, and realizing continuous sowing in the center of the hole.
  • the technical solution of the present invention is: a continuous pair-hole sowing control system of an air-suction drum type seed meter, including a hollow shaft, a drum, an absolute encoder, a driving mechanism, a conveyor belt, a photoelectric sensor and a controller;
  • the hollow shaft is installed horizontally on the assembly line frame, and the roller is installed on the hollow shaft.
  • the axes of the roller and the hollow shaft are consistent; arrays of suction holes are processed on the roller; one end of the hollow shaft is connected with the negative pressure fan, and the other end is connected with the positive pressure fan.
  • the pressure fan is connected, the hollow shaft is partitioned in the middle, the positive pressure end of the hollow shaft is provided with a vertical through pipe, and a partition is installed under the vertical through pipe.
  • the negative pressure end of the hollow shaft is processed with multiple through holes to form a negative pressure chamber in the drum;
  • a rotary absolute encoder is installed on the drum, and the absolute encoder is used to measure the rotation state of the drum, that is, the position of each row of suction holes position angle, the driving mechanism is connected with the roller to make the roller rotate around the axis of the hollow shaft;
  • the conveyor belt is located below the roller, and the photoelectric sensor is installed on the conveyor belt to detect the conveying position of the tray on the conveyor belt;
  • the controller is respectively connected with the absolute encoder, the photoelectric sensor and the driving mechanism.
  • the drive mechanism includes a chain, a stepper motor and a stepper motor driver;
  • a sprocket is installed on the drum, the sprocket is driven by a stepping motor and driven by a chain, the stepping motor is connected with a stepping motor driver, and the stepping motor driver is connected with a controller.
  • a display is also included; the display is connected to the controller.
  • a method according to the continuous hole sowing control system of the air suction drum type metering device comprising the following steps:
  • the seeding angle ⁇ 0 and the contact height h between the partition plate and the drum determine the seeding angle ⁇ 0 and the contact height h between the partition plate and the drum; establish the matching relationship between the rotating speed of the drum and the tray conveying speed; determine the theoretical model of the tray conveying position and the seeding angle ; According to the theoretical model of the tray delivery position and the seeding angle, record the time when the photoelectric sensor detects the tray, measure the actual angle of the corresponding suction hole on the drum by the absolute value encoder, and calculate the seeding angle deviation and deviation of the drum Change rate, seeding angle deviation and deviation change rate are used as input quantities, and the fuzzy controller of the drum speed is established inside the controller, that is, the adjustment control model of the drum speed; the controller is based on the matching relationship between the drum speed and the tray conveying speed, Set the speed of the conveyor belt and the rotation speed of the roller, the controller collects the output signals of the absolute encoder and the photoelectric sensor in real time, and calculates the rotation speed of the roller according to the adjustment control
  • the structural optimization design of the drum includes the following steps:
  • establishing the matching relationship between the rotating speed of the drum and the conveying speed of the tray includes the following steps:
  • the conveying speed of the tray is v
  • the hole center distance of the tray is l
  • the included angle of the suction hole on the roller is ⁇
  • the theoretical model for determining the tray conveying position and the seeding angle includes the following steps:
  • the establishment of the adjustment control model of the drum speed includes the following steps:
  • the beneficial effect of the present invention is: the present invention proposes an optimal design method for the drum structure on the basis of the theoretical calculation of the sowing trajectory of the drum-type seed metering device, aiming at continuously sowing seeds to the center of the hole , establish a theoretical model of the tray conveying position and seeding angle, monitor the conveying position of the tray and the rotation position of the suction hole of the roller in real time on the seedling raising line, and calculate the difference between the actual suction hole position and the theoretical seeding angle and the change of the difference
  • the rate is used as an input parameter, and the fuzzy controller of the roller speed is designed.
  • the actual seeding angle is kept within a certain range, which effectively solves the problem caused by the position fluctuation of the continuous conveying tray.
  • the sowing position error improves the position accuracy of the seed metering device and realizes the continuous sowing of the center of the hole in the seedling raising line, which is beneficial to the rooting, germination and subsequent transplanting and seedling picking operations of the seeds.
  • Fig. 1 is a schematic structural view of an air-suction drum-type seed metering device according to an embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the working principle of hole center sowing according to an embodiment of the present invention.
  • Fig. 3 is a schematic diagram of an electrical circuit according to an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the regulation and control of the rotation speed of the drum according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • Figures 1, 2, and 3 show a preferred embodiment of the continuous hole-to-hole sowing control system of the air-suction drum-type seed metering device.
  • the continuous hole-to-hole sowing control system of the air-suction drum-type seed meter Including hollow shaft 1, roller 4, absolute encoder 8, driving mechanism, conveyor belt 15, photoelectric sensor 17 and controller 22;
  • the hollow shaft 1 is installed horizontally on the assembly line frame to ensure that the axis of the hollow shaft 1 is horizontal.
  • the left and right end faces of the cylindrical drum 4 are fixedly connected to the left end cover 13 and the right end cover 6 respectively, and the left end cover 13 and the right end cover 6 respectively pass through the left bearing 3 and the right bearing 9 are installed on the hollow shaft 1, and ensure that the axes are consistent, and the drum 4 can rotate freely around the hollow shaft 1.
  • Arrayed suction holes 26 are processed on the drum 4; the left sealing ring 14 and the right sealing ring 7 are respectively installed between the hollow shaft 1 and the left end cover 13 and the right end cover 6 to play a sealing role.
  • One end of the hollow shaft 1 is connected to the negative pressure fan, and the other end is connected to the positive pressure fan.
  • the middle of the hollow shaft 1 is cut off by a rubber plug 5.
  • the positive pressure end of the hollow shaft 1 is sealed and welded with a vertical pipe 11 to ensure the integrity of the vertical pipe 11.
  • axis vertically downwards.
  • a partition 10 is installed below the vertical through pipe 11, and the partition 10 is preloaded by a spring 12, so that the partition 10 is closely attached to the inner wall of the drum 4, forming a closed positive pressure chamber 28, and the negative pressure end of the hollow shaft 1 is processed with multiple
  • a through hole 25 forms a negative pressure chamber 27 in the drum 4;
  • a rotary absolute encoder 8 is installed on the right end cover 6 of the drum 4, and the absolute encoder 8 is used to measure the rotation state of the drum 4, that is, the position of each row of suction holes.
  • the position angle at position, the drive mechanism is connected with the drum 4, and the drive mechanism includes a chain 20, a stepper motor 21 and a stepper motor driver 24; a sprocket 2 is installed on the left end cover 13, and the sprocket 2 is driven by a stepper motor 21 Driven with the chain 20 to make the drum 4 rotate around the axis of the hollow shaft 1; the conveyor belt 15 is located below the drum 4, and the photoelectric sensor 17 is installed on the conveyor belt 15 and at the front end below the drum 4 for detecting the tray 16 delivery positions on the conveyor belt 15;
  • the controller 22 is respectively connected with the absolute encoder 8, the photoelectric sensor 17 and the driving mechanism.
  • a display 23 is also included; the display 23 is connected to the controller 22 .
  • a kind of method according to the continuous hole sowing control system of described air-suction drum type metering device comprises the following steps:
  • the speed of the conveyor belt and the rotating speed of the drum are set.
  • the controller 22 collects the output signals of the absolute encoder 8 and the photoelectric sensor 17 in real time, and adjusts the control model according to the rotating speed of the drum.
  • the rotation speed of the drum 4 is calculated, and the controller 22 controls the driving mechanism to adjust the rotation speed of the drum 4, so that the actual seeding angle remains within the set range, so as to realize continuous sowing in the center of the hole.
  • point A is the conversion position from negative pressure to positive pressure.
  • Point A is defined as the seeding position.
  • the corresponding angle ⁇ 0 is the seeding angle; the seeding angle ⁇ 0 will affect the force on the seeds during sowing, thus affecting the stability of the falling trajectory of the seeds; the seeding angle ⁇ 0 mainly depends on the structural parameters of the drum seed metering device , that is, the contact height h between the separator 10 and the drum 4 .
  • the so-called structural optimization of the drum-type seed metering device is to theoretically analyze the stability of the seeding trajectory, and optimize the determination of the seeding angle ⁇ 0 , so that the height h of the drum 4 can be determined under certain parameters of rotational speed, positive pressure difference and negative pressure difference.
  • the structural optimization design of the drum 4 includes the following steps:
  • the structure of the drum-type metering device is optimized, and partitions 10 of different sizes are designed to obtain different seeding angles ⁇ 0 , and a complete three-dimensional structure of the drum-type seed-metering device is established.
  • the model adopts the gas-solid coupling method of DEM ⁇ CFD to theoretically calculate the falling trajectory of the grain under the set speed and positive and negative pressure difference, record the theoretical drop point position as P 0 , and set the speed ⁇ of the drum 4 and the positive pressure difference p + And the negative pressure difference p - fluctuates in the range of ⁇ , ⁇ p + and ⁇ p- , repeatedly calculates the falling trajectory of the grain and the position of the drop point P i , and calculates the deviation ⁇ i of the drop point position P i and P 0 ;
  • the corresponding k is calculated respectively under the seed angle ⁇ 0 , the fitting function of k and ⁇ 0 is established, and the minimum value of k is the goal, and the ideal seeding angle ⁇ 0 and the contact height h of the dividing plate 10 and the cylinder 4 are determined, so that The ideal structural size of the separator 10 is obtained.
  • a photoelectric sensor 17 is fixedly installed on the conveyor belt 15, the position is at the front end below the drum 4, and the distance is L.
  • the sensor 17 When the tray 16 is conveyed by the conveyor belt 15 and passes the photoelectric sensor 17, the sensor 17 outputs a high level, and when the tray 16 is not detected, the sensor 17 outputs a low level.
  • a rotary absolute encoder 8 is installed on the right end cover 6 for measuring the rotation state of the drum 4 . According to the rotation state of the drum 4, the angle of each group of suction holes 26 on the drum 4 can be obtained.
  • the output signals of the absolute encoder 8 and the photoelectric sensor 17 are directly input to the controller 22 .
  • the output signal of the controller 22 is used to control the stepper motor driver 24 to adjust the speed of the stepper motor 21 .
  • the communication output signal of the controller 22 is connected to the display 23 for real-time display of the operation status of the seedling raising assembly line.
  • establishing the matching relationship between the rotating speed of the drum 4 and the conveying speed of the tray 16 includes the following steps:
  • the linear velocity of conveyor belt 15 is v
  • the conveying speed of described hole plate 16 is also v
  • the hole center distance of hole plate 16 is l
  • the theoretical model for determining the tray delivery position and the seeding angle includes the following steps:
  • the establishment of the adjustment control model of the drum speed includes the following steps:
  • the time when the photoelectric sensor 17 detects the tray 16 is t 0
  • the adaptive control method of the drum speed the controller 22 takes PLC or ARM as the core, and the controller 22 internally establishes the adjustment control model of the drum speed, and according to the matching relationship between the tray conveying speed and the drum speed, Set the conveyor belt speed v and the roller speed ⁇ 0 .
  • the controller 22 collects the output signals of the absolute value encoder 8 and the photoelectric sensor 17 in real time, and calculates the output signal of the controller 22 according to the adjustment control model of the drum speed set inside the controller 22 , control the stepper motor driver 24, adjust the rotation of the motor 21 in real time, thereby adjust the rotating speed of the drum 4, and realize continuous sowing to the hole center, and the measurement and control process is displayed in real time by the display 23.
  • the hollow shaft 1 is fixed horizontally on the frame of the seed meter, and the drum 4 is driven by a stepping motor 21 through a chain transmission, and the fixed hollow shaft 1 is wound at a speed of ⁇ 0 Rotation; when the suction hole 26 of the drum 4 passes through the seed box 19, the seeds are adsorbed on the suction hole 26 and rotate with the drum 4 under the action of the negative pressure difference of the suction hole.
  • the grain falls under the action of positive pressure and self-weight.
  • the angular position of the suction hole 26 of the drum 4 is measured by the absolute encoder 8, and input to the controller 22 to calculate the position of the row 4 of the drum.
  • the controller 22 outputs the adjustment value ⁇ of the rotational speed of the drum 4 according to the continuous center control model of the hole, that is, the adjustment control model of the drum speed, and changes the stepping motor 21 through the stepping motor driver 24 Rotating speed, and adjust the rotating speed of the drum 4 through the chain transmission, so that the operation process of the seedling raising line meets the theoretical relationship between the conveying position of the plug tray 16 and the theoretical seeding angle, and ensures that the falling position of the seed 18 is at the center of the plug tray 16, thereby realizing seedling cultivation The process of sowing seeds in the center of the hole in the assembly line.
  • the present invention mainly establishes the theoretical model of the tray conveying position and the seeding angle through the gas-solid coupling calculation, monitors the conveying position of the tray and the position of the suction hole 26 of the drum in real time on the assembly line; calculates the actual suction hole according to the established theoretical model
  • the difference between the position and the theoretical seeding angle and the change rate of the difference are used as input parameters to design a fuzzy controller for the drum speed.
  • the position fluctuation caused by the continuous conveying tray is eliminated. Sowing position error, realize continuous sowing to the center of the hole.

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Abstract

提供一种气吸滚筒式排种器的连续对穴播种控制系统的控制方法，其中控制系统包括空心轴(1)、滚筒(4)、绝对值编码器(8)、驱动机构、传送带(15)、光电传感器(17)和控制器(22)。通过对滚筒结构的优化设计，以籽粒能够连续播种到穴孔中心为目标，建立穴盘输送位置与排种角度的理论模型，在育苗流水线上实时监测穴盘的输送位置和滚筒吸孔的转动位置，计算实际吸孔位置与理论排种角度的差值以及差值变化率，并将其作为输入参数，设计滚筒转速的模糊控制器，通过滚筒转速的自适应调节控制，有效解决了由于连续输送穴盘的位置波动造成的播种位置误差，提高了排种器播种的位置精度，实现了育苗流水线的连续对穴中心播种。

Description

一种气吸滚筒式排种器的连续对穴播种控制系统及方法 技术领域
本发明属于农业机械技术领域，尤其涉及一种气吸滚筒式排种器的连续对穴播种控制系统及方法。
背景技术
育苗流水线是工厂化育苗生产的主要装备，完备的流水线可以一次性完成穴盘供给、铺底土、压实、播种、覆表土、淋洒水、取穴盘等多个工序。播种部件是决定育苗流水线作业性能的核心。目前，气吸式排种器主要包括针吸式、盘吸式和滚筒式三种结构，其中针吸式和盘吸式排种器的播种位置精度易于控制，但它们均属于间歇式播种，总体作业效率较低。气吸滚筒式排种器具有内部气体流场稳定、功耗低、能够实现连续播种作业、生产效率高的优点，成为国外先进高速育秧流水线主要采用的播种装置。滚筒内部通过隔板分为两个独立的内腔，一个与负压风机相连，在滚筒上部形成吸种的负压区域，另一个与正压风机相连，在滚筒底部形成排种的正压区域。工作过程中，滚筒绕固定空心轴转动，当吸孔经过种箱时，籽粒在吸孔负压差的作用下被吸附在吸孔上随滚筒一起转动；当吸附籽粒的吸孔转至正压腔时，籽粒在正压和自重的作用下落。
与撒播和条播不同，穴盘育秧对排种器播种的位置精度要求更高，要求籽粒能够准确播入每穴的中心，从而有利于籽粒生根、发芽和后续移栽取苗作业。目前的流水线播种作业过程中，传送带通常以恒定速度输送穴盘，滚筒也以恒定转速转动。当出现输送带速度波动、穴盘在输送带上产生一定的滑动、连续供盘中的穴盘与穴盘衔接间隙变化等现象时，就会造成籽粒下落到穴孔位置的变化，籽粒不能落入对应穴孔的中心区域，甚至导致空穴漏播，这是制约高速气吸滚筒式育苗流水线作业性能提升的关键问题。因此，本发明提出一种气吸滚筒式排种器的连续对穴播种控制方法，以实现高速育苗流水线的连续对穴中心播种，具有重要的理论研究意义和实用价值，目前未见公开研究报道。
发明内容
针对上述技术问题，本发明提出了一种气吸滚筒式排种器的连续对穴播种控制系统及方法，本发明主要用于高速育苗流水线气吸滚筒式排种器的连续对穴播种，通过滚筒的结构优化设计，确定理论排种角度，通过气固耦合计算出排种的籽粒运动轨迹和在输送带上的落点，确定穴盘输送位置与排种角度的理论模型。通过绝对旋转编码器测量滚筒的转速和吸孔的位 置，在育苗流水线传送带上安装光电传感器来监测穴盘的输送位置。播种作业中，当光电传感器监测到穴盘时刻，计算实际吸孔位置与理论排种角度的差值以及差值变化率，并将其作为输入参数，建立滚筒转速的模糊控制器，即通过滚筒转速的自适应调节控制，使得实际排种角保持在一定范围内，从而消除由于连续输送穴盘位置的波动造成的播种位置误差，实现连续对穴中心播种。
本发明的技术方案是：一种气吸滚筒式排种器的连续对穴播种控制系统，包括空心轴、滚筒、绝对值编码器、驱动机构、传送带、光电传感器和控制器；
所述空心轴水平安装在流水线机架上，滚筒安装于空心轴，滚筒和空心轴的轴线一致；所述滚筒上加工列阵吸孔；空心轴的一端与负压风机相连，另一端与正压风机相连，空心轴中间隔断，空心轴的正压端设有垂直通管，垂直通管下方安装隔板，隔板通过弹簧预压，使隔板紧密贴合滚筒的内壁，构成密闭的正压腔，空心轴的负压端加工多个通孔，在滚筒内形成负压腔；在滚筒上安装旋转绝对值编码器，绝对值编码器用于测量滚筒的旋转状态，即每排吸孔所处的位置角，驱动机构与滚筒连接，使滚筒绕空心轴的轴线转动；所述传送带位于滚筒的下方，所述光电传感器安装在传送带上，用于检测穴盘在传送带上的输送位置；
所述控制器分别与绝对值编码器、光电传感器和驱动机构连接。
上述方案中，所述驱动机构包括链条、步进电机和步进电机驱动器；
所述滚筒上安装链轮，链轮通过步进电机驱动和链条传动，步进电机和步进电机驱动器连接，步进电机驱动器和控制器连接。
上述方案中，还包括显示器；所述显示器与控制器连接。
一种根据所述气吸滚筒式排种器的连续对穴播种控制系统的方法，包括以下步骤：
通过对所述滚筒的结构优化设计，确定排种角θ 0和隔板与滚筒的接触高度h；建立滚筒转速和穴盘输送速度的匹配关系；确定穴盘输送位置与排种角度的理论模型；根据所述穴盘输送位置与排种角度的理论模型，记录光电传感器检测到穴盘的时间，通过绝对值编码器测量滚筒上相应的吸孔实际角度，计算滚筒的排种角偏差和偏差变化率，排种角偏差和偏差变化率作为输入量，控制器内部建立滚筒转速的模糊控制器，即滚筒转速的调节控制模型；所述控制器根据滚筒转速和穴盘输送速度的匹配关系，设定输送带速度和滚筒转速，控制器实时采集绝对值编码器和光电传感器的输出信号，并根据滚筒转速的调节控制模型计算滚筒的转速，控制器控制驱动机构调节滚筒的转速，使得实际排种角保持在设定范围内。
上述方案中，所述滚筒的结构优化设计包括以下步骤：
设计不同尺寸的隔板，以获得不同的排种角θ 0，分别建立完整的滚筒式排种器三维结构模型，采用DEM\CFD的气固耦合方法，理论计算设定转速和正、负压差下的籽粒下落轨迹， 记理论落点位置为P 0，设定滚筒的转速ω、正压差p +和负压差p -在Δω，Δp +和Δp -范围内波动，重复计算籽粒下落轨迹和落点位置P i，计算落点位置P i和P 0的偏差δ i；
拟合建立播种位置偏差δ i与滚筒的转速ω、正压差p +和负压差p -的数学模型，记为δ i＝f(ω,p +,p -)，进行偏导数计算
Figure PCTCN2022079447-appb-000001
其中a 1、a 2和a 3为设定的权重系数，在不同的排种角θ 0下分别计算所对应的k，建立k与θ 0的拟合函数，以k值最小为目标，确定排种角θ 0和隔板与滚筒的接触高度h。
上述方案中，建立滚筒转速和穴盘输送速度的匹配关系包括以下步骤：
设所述穴盘的输送速度为v，穴盘的穴孔中心距为l，滚筒上吸孔的夹角为α，则滚筒的转速应满足ω 0＝α·v/l，即穴盘输送速度v与滚筒转速ω 0的匹配关系。
上述方案中，确定穴盘输送位置与排种角度的理论模型包括以下步骤：
在所述穴盘输送速度与滚筒转速的匹配关系ω 0＝α·v/l和优化确定的排种角θ 0条件下，理论计算得到籽粒从排种位置A下落到穴孔水平位置的所需时间为Δt，籽粒落到穴孔中心的条件为Δt＝(L+l/2)/v，即穴盘输送位置与排种角度θ 0的理论模型，式中，l为穴盘的穴孔中心距，L为光电传感器安装位置与滚筒轴线的水平距离。
上述方案中，滚筒转速的调节控制模型的建立包括以下步骤：
记所述光电传感器检测到穴盘的时间为t 0，通过绝对值编码器测量滚筒上相应的吸孔实际角度θ t，根据穴盘输送位置与排种角度的理论模型，计算滚筒排种角偏差e＝Δθ＝θ t-θ 0和偏差变化率e c＝de/dt，将e和e c作为输入量，建立单变量二维模糊控制算法，输出滚筒转速的调整值Δω，即滚筒转速的调节控制模型。
与现有技术相比，本发明的有益效果是：本发明在对滚筒式排种器播种轨迹理论计算的基础上，提出滚筒结构的优化设计方法，以籽粒能够连续播种到穴孔中心为目标，建立穴盘输送位置与排种角度的理论模型，在育苗流水线上实时监测穴盘的输送位置和滚筒吸孔的转动位置，计算实际吸孔位置与理论排种角度的差值以及差值变化率，并将其作为输入参数，设计滚筒转速的模糊控制器，通过滚筒转速的自适应调节控制，使得实际排种角保持在一定范围内，有效解决了由于连续输送穴盘的位置波动造成的播种位置误差，提高排种器播种的位置精度，实现育苗流水线的连续对穴中心播种，有利于籽粒生根、发芽和后续移栽取苗作业。
附图说明
图1是本发明一实施方式的气吸滚筒式排种器结构示意图。
图2是本发明一实施方式的对穴中心播种工作原理图。
图3是本发明一实施方式的电气线路原理图。
图4是本发明一实施方式的滚筒转速的调节控制原理图。
图中：1空心轴，2链轮，3左轴承，4滚筒，5橡胶塞，6右端盖，7右密封圈，8绝对值编码器，9右轴承，10隔板，11垂直通管，12弹簧，13左端盖，14左密封圈，15传送带，16穴盘，17光电传感器，18籽粒，19种箱，20链条，21步进电机，22控制器，23显示器，24步进电机驱动器，25通孔，26吸孔，27负压腔、28、正压腔。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“轴向”、“径向”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
图1、2、3所示为所述气吸滚筒式排种器的连续对穴播种控制系统的一种较佳实施方式，所述气吸滚筒式排种器的连续对穴播种控制系统，包括空心轴1、滚筒4、绝对值编码器8、驱动机构、传送带15、光电传感器17和控制器22；
所述空心轴1水平安装在流水线机架上，保证空心轴1的轴线水平，圆柱形滚筒4的左右端面分别固定连接左端盖13和右端盖6，左端盖13和右端盖6分别通过左轴承3和右轴承9安装于空心轴1，并保证轴线一致，滚筒4可以绕空心轴1自由转动。所述滚筒4上加工列阵吸孔26；左密封圈14和右密封圈7分别安装于空心轴1和左端盖13、右端盖6之间，起到密封作用。空心轴1的一端与负压风机相连，另一端与正压风机相连，空心轴1中间由橡胶塞5隔断，空心轴1的正压端密封焊接有垂直通管11，保证垂直通管11的轴线垂直向 下。垂直通管11下方安装隔板10，隔板10通过弹簧12预压，使隔板10紧密贴合滚筒4的内壁，构成一个密闭的正压腔28，空心轴1的负压端加工多个通孔25，在滚筒4内形成负压腔27；在滚筒4的右端盖6上安装旋转绝对值编码器8，绝对值编码器8用于测量滚筒4的旋转状态，即每排吸孔所处的位置角，驱动机构与滚筒4连接，所述驱动机构包括链条20、步进电机21和步进电机驱动器24；在左端盖13上安装链轮2，链轮2通过步进电机21驱动和链条20传动，使滚筒4绕空心轴1的轴线转动；所述传送带15位于滚筒4的下方，所述光电传感器17安装在传送带15上、且位于滚筒4下方的前端，用于检测穴盘16在传送带15上的输送位置；
所述控制器22分别与绝对值编码器8、光电传感器17和驱动机构连接。
根据本实施例优选的，还包括显示器23；所述显示器23与控制器22连接。
如图4所示，一种根据所述气吸滚筒式排种器的连续对穴播种控制系统的方法，包括以下步骤：
通过对所述滚筒4的结构优化设计，确定排种角θ 0和隔板10与滚筒4的接触高度h；建立滚筒4转速和穴盘16输送速度的匹配关系；确定穴盘输送位置与排种角度的理论模型；根据所述穴盘输送位置与排种角度的理论模型，记录光电传感器17检测到穴盘16的时间，通过绝对值编码器8测量滚筒4上相应的吸孔26实际角度，计算滚筒4的排种角偏差和偏差变化率，排种角偏差和偏差变化率作为输入量，控制器22内部建立滚筒转速的模糊控制器，即滚筒转速的调节控制模型；所述控制器22根据滚筒4转速和穴盘16输送速度的匹配关系，设定输送带速度和滚筒转速，控制器22实时采集绝对值编码器8和光电传感器17的输出信号，并根据滚筒转速的调节控制模型计算滚筒4的转速，控制器22控制驱动机构调节滚筒4的转速，使得实际排种角保持在设定范围内，实现连续对穴中心播种。
当滚筒4逆时针旋转时，A点为负压到正压的转换位置，当籽粒随滚筒4转动到A点时，在重力和正压作用下进行下落播种，定义A点为排种位置，所对应的角度θ 0为排种角；排种角θ 0会影响播种时籽粒的受力，从而影响籽粒下落轨迹的稳定性；排种角θ 0主要取决于滚筒式排种器的结构参数，即隔板10与滚筒4的接触高度h。所谓滚筒式排种器结构优化就是理论分析播种轨迹的稳定性，优化确定排种角θ 0，从而滚筒4在一定的转速、正压差和负压差参数下，确定高度h。
根据本实施例优选的，所述滚筒4的结构优化设计包括以下步骤：
通过播种籽粒运动轨迹稳定性的理论分析，进行滚筒式排种器结构的优化，设计不同尺寸的隔板10，以获得不同的排种角θ 0，分别建立完整的滚筒式排种器三维结构模型，采用DEM\CFD的气固耦合方法，理论计算设定转速和正、负压差下的籽粒下落轨迹，记理论落 点位置为P 0，设定滚筒4的转速ω、正压差p +和负压差p -在Δω，Δp +和Δp -范围内波动，重复计算籽粒下落轨迹和落点位置P i，计算落点位置P i和P 0的偏差δ i；
根据理论计算结果，拟合建立播种位置偏差δ i与滚筒4的转速ω、正压差p +和负压差p -的数学模型，记为δ i＝f(ω,p +,p -)，求偏导计算转速ω、正压差p +和负压差p -对落点位置偏差δ i的灵敏度，分别为
Figure PCTCN2022079447-appb-000002
和
Figure PCTCN2022079447-appb-000003
进行偏导数计算
Figure PCTCN2022079447-appb-000004
其中a 1、a 2和a 3为设定的权重系数，权重系数范围0-1，通常可以选择a 1＝a 2＝a 3，也可以根据需要在0-1范围调整，在不同的排种角θ 0下分别计算所对应的k，建立k与θ 0的拟合函数，以k值最小为目标，确定理想的排种角θ 0和隔板10与滚筒4的接触高度h，从而获得理想的隔板10结构尺寸。
在所述传送带15上固定安装光电传感器17，位置在滚筒4下方的前端，距离为L。当穴盘16经传送带15输送经过光电传感器17时，传感器17输出高电平，未监测到穴盘16时，传感器17输出低电平。在右端盖6上安装旋转绝对值编码器8，用于测量滚筒4的旋转状态。根据滚筒4的旋转状态，可以得到在滚筒4上每组吸孔26所处的角度。绝对值编码器8和光电传感器17的输出信号直接输入控制器22。控制器22输出信号用于控制步进电机驱动器24，以调节步进电机21转速。控制器22通讯输出信号接入显示器23，用于实时显示育苗流水线作业状态。
育苗流水线上，滚筒4转动和穴盘16输送都是连续的过程，要保证籽粒18能够连续落入穴盘16上穴孔的中心区域，需要建立滚筒4转速和穴盘16输送速度的匹配关系。根据本实施例优选的，建立滚筒4转速和穴盘16输送速度的匹配关系包括以下步骤：
设设传送带15的线速度为v，在无滑动等干扰因素的影响下，所述穴盘16的输送速度也为v，穴盘16的穴孔中心距为l，滚筒4上吸孔26的夹角为α，则滚筒4的转速应满足ω 0＝α·v/l，即穴盘16输送速度v与滚筒4转速ω 0的匹配关系。
根据本实施例优选的，确定穴盘输送位置与排种角度的理论模型包括以下步骤：
在所述穴盘16输送速度与滚筒4转速的匹配关系ω 0＝α·v/l和优化确定的排种角θ 0条件下，理论计算得到籽粒18从排种位置A(即排种角θ 0)下落到穴孔水平位置的所需时间为Δt，籽粒18落到穴孔中心的条件为Δt＝(L+l/2)/v，即穴盘16输送位置与排种角度θ 0的理论模型，式中，l为穴盘16的穴孔中心距，L为光电传感器17安装位置与滚筒4轴线的水平距离。
根据本实施例优选的，滚筒转速的调节控制模型的建立包括以下步骤：
记所述光电传感器17检测到穴盘16的时间为t 0，通过绝对值编码器8测量滚筒4上相应的吸孔26实际角度θ t，根据穴盘输送位置与排种角度的理论模型，计算滚筒排种角偏差e＝Δθ＝θ t-θ 0和偏差变化率e c＝de/dt，将e和e c作为输入量，建立单变量二维模糊控制算法， 输出滚筒转速的调整值Δω，即滚筒转速的调节控制模型。
如图4所示，滚筒转速的自适应控制方法：控制器22以PLC或ARM为核心，控制器22内部建立所述滚筒转速的调节控制模型，根据穴盘输送速度与滚筒转速的匹配关系，设定输送带速度v和滚筒转速ω 0。育苗流水线连续播种作业过程中，控制器22实时采集绝对值编码器8和光电传感器17的输出信号，并根据控制器22内部设定的滚筒转速的调节控制模型计算，得到控制器22的输出信号，控制步进电机驱动器24，实时调节电机21转动，从而调节滚筒4的转速，实现连续对穴中心播种，测量与控制过程通过显示器23实时显示。
下面结合实例做进一步的阐述：
在气吸滚筒式精密育苗流水线的连续对穴播种作业中，空心轴1水平固定在排种器机架上，滚筒4通过链传动由步进电机21驱动，以转速ω 0绕固定空心轴1转动；当滚筒4的吸孔26经过种箱19时，籽粒在吸孔负压差的作用下被吸附在吸孔26上随滚筒4一起转动，当吸附籽粒的吸孔26转至正负压转换位置A时，籽粒在正压和自重的作用下落。
传送带15以速度v输送穴盘16过程中，当光电传感器17检测到穴盘16时，通过绝对值编码器8测量滚筒4的吸孔26的角度位置，输入控制器22，计算得到滚筒4排种角偏差e和偏差变化率e c，控制器22根据连续对穴中心控制模型，即滚筒转速的调节控制模型，输出滚筒4转速的调整值Δω，通过步进电机驱动器24改变步进电机21转速，并通过链传动调整滚筒4的转速，以使育苗流水线作业过程满足穴盘16输送位置与理论排种角度的理论关系，保证籽粒18的落点位置在穴盘16的中心，从而实现育苗流水线的对穴中心播种的过程。
本发明主要通过气固耦合计算，建立穴盘输送位置与排种角度的理论模型，在流水线上实时监测穴盘的输送位置和滚筒吸孔26的位置；依据建立的理论模型，计算实际吸孔位置与理论排种角度的差值以及差值变化率，并将其作为输入参数，设计滚筒转速的模糊控制器，通过滚筒转速的自适应调节控制，消除由于连续输送穴盘的位置波动造成的播种位置误差，实现连续对穴中心播种。
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施例的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施例或变更均应包含在本发明的保护范围之内。

Claims (7)

  1. 一种气吸滚筒式排种器的连续对穴播种控制方法，其特征在于，包括气吸滚筒式排种器的连续对穴播种控制系统，所述气吸滚筒式排种器的连续对穴播种控制系统包括空心轴(1)、滚筒(4)、绝对值编码器(8)、驱动机构、传送带(15)、光电传感器(17)和控制器(22)；所述空心轴(1)水平安装在流水线机架上，滚筒(4)安装于空心轴(1)，滚筒(4)和空心轴(1)的轴线一致；所述滚筒(4)上加工列阵吸孔；空心轴(1)的一端与负压风机相连，另一端与正压风机相连，空心轴(1)中间隔断，空心轴(1)的正压端设有垂直通管(11)，垂直通管(11)下方安装隔板(10)，隔板(10)通过弹簧(12)预压，使隔板(10)紧密贴合滚筒(4)的内壁，构成密闭的正压腔，空心轴(1)的负压端加工多个通孔，在滚筒(4)内形成负压腔；在滚筒(4)上安装旋转绝对值编码器(8)，绝对值编码器(8)用于测量滚筒(4)的旋转状态，即每排吸孔所处的位置角，驱动机构与滚筒(4)连接，使滚筒(4)绕空心轴(1)的轴线转动；所述传送带(15)位于滚筒(4)的下方，所述光电传感器(17)安装在传送带(15)上，用于检测穴盘(16)在传送带(15)上的输送位置；所述控制器(22)分别与绝对值编码器(8)、光电传感器(17)和驱动机构连接；
    该方法包括以下步骤：
    通过对所述滚筒(4)的结构优化设计，确定排种角θ 0和隔板(10)与滚筒(4)的接触高度h；建立滚筒(4)转速和穴盘(16)输送速度的匹配关系；确定穴盘输送位置与排种角度的理论模型；根据所述穴盘输送位置与排种角度的理论模型，记录光电传感器(17)检测到穴盘(16)的时间，通过绝对值编码器(8)测量滚筒(4)上相应的吸孔实际角度，计算滚筒(4)的排种角偏差和偏差变化率，排种角偏差和偏差变化率作为输入量，控制器(22)内部建立滚筒转速的模糊控制器，即滚筒转速的调节控制模型；所述控制器(22)根据滚筒(4)转速和穴盘(16)输送速度的匹配关系，设定输送带速度和滚筒转速，控制器(22)实时采集绝对值编码器(8)和光电传感器(17)的输出信号，并根据滚筒转速的调节控制模型计算滚筒(4)的转速，控制器(22)控制驱动机构调节滚筒(4)的转速，使得实际排种角保持在设定范围内。
  2. 根据权利要求1所述的气吸滚筒式排种器的连续对穴播种控制方法，其特征在于，所述滚筒(4)的结构优化设计包括以下步骤：
    设计不同尺寸的隔板(10)，以获得不同的排种角θ 0，分别建立完整的滚筒式排种器三维结构模型，采用DEM\CFD的气固耦合方法，理论计算设定转速和正、负压差下的籽粒下落轨迹，记理论落点位置为P 0，设定滚筒(4)的转速ω、正压差p +和负压差p -在Δω，Δp +和Δp -范围内波动，重复计算籽粒下落轨迹和落点位置P i，计算落点位置P i和P 0的偏差δ i；
    拟合建立播种位置偏差δ i与滚筒(4)的转速ω、正压差p +和负压差p -的数学模型，记为 δ i＝f(ω,p +,p -)，进行偏导数计算
    Figure PCTCN2022079447-appb-100001
    其中a 1、a 2和a 3为设定的权重系数，在不同的排种角θ 0下分别计算所对应的k，建立k与θ 0的拟合函数，以k值最小为目标，确定排种角θ 0和隔板(10)与滚筒(4)的接触高度h。
  3. 根据权利要求2所述的气吸滚筒式排种器的连续对穴播种控制方法，其特征在于，建立滚筒(4)转速和穴盘(16)输送速度的匹配关系包括以下步骤：
    设所述穴盘(16)的输送速度为v，穴盘(16)的穴孔中心距为l，滚筒(4)上吸孔的夹角为α，则滚筒(4)的转速应满足ω 0＝α·v/l，即穴盘(16)输送速度v与滚筒(4)转速ω 0的匹配关系。
  4. 根据权利要求3所述的气吸滚筒式排种器的连续对穴播种控制方法，其特征在于，确定穴盘输送位置与排种角度的理论模型包括以下步骤：
    在所述穴盘(16)输送速度与滚筒(4)转速的匹配关系ω 0＝α·v/l和优化确定的排种角θ 0条件下，理论计算得到籽粒(18)从排种位置A下落到穴孔水平位置的所需时间为Δt，籽粒(18)落到穴孔中心的条件为Δt＝(L+l/2)/v，即穴盘(16)输送位置与排种角度θ 0的理论模型，式中，l为穴盘(16)的穴孔中心距，L为光电传感器(17)安装位置与滚筒(4)轴线的水平距离。
  5. 根据权利要求4所述的气吸滚筒式排种器的连续对穴播种控制方法，其特征在于，滚筒转速的调节控制模型的建立包括以下步骤：
    记所述光电传感器(17)检测到穴盘(16)的时间为t 0，通过绝对值编码器(8)测量滚筒(4)上相应的吸孔实际角度θ t，根据穴盘输送位置与排种角度的理论模型，计算滚筒排种角偏差e＝Δθ＝θ t-θ 0和偏差变化率e c＝de/dt，将e和e c作为输入量，建立单变量二维模糊控制算法，输出滚筒转速的调整值Δω，即滚筒转速的调节控制模型。
  6. 根据权利要求1所述的气吸滚筒式排种器的连续对穴播种控制方法，其特征在于，所述驱动机构包括链条(20)、步进电机(21)和步进电机驱动器(24)；
    所述滚筒(4)上安装链轮(2)，链轮(2)通过步进电机(21)驱动和链条(20)传动，步进电机(21)和步进电机驱动器(24)连接，步进电机驱动器(24)和控制器(22)连接。
  7. 根据权利要求1所述的气吸滚筒式排种器的连续对穴播种控制方法，其特征在于，还包括显示器(23)；所述显示器(23)与控制器(22)连接。
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