A new intelligent cotton seeding trolley

Abstract

The application relates to an intelligent cotton seeding trolley, which is suitable for cotton planting in Xinjiang. The trolley adopts advanced technology integration, including a binocular vision system, ultrasonic detection, infrared distance detection and the like. The core includes the integrated design of a mechanical structure, electronic technology and an automatic control system to ensure the accurate seed taking and stable seeding of cotton seeds. The trolley is provided with a solar lead storage battery to provide power and has the capability of stable operation under the complex climate and terrain conditions in Xinjiang. The application is committed to promoting the intelligentization and high-efficiency development of cotton planting in Xinjiang by optimizing the seeding radius and improving the seeding quality.

Description

Technical Field

[0001] This invention relates to the field of cotton planting technology, and in particular to a novel intelligent cotton planting trolley. Background Technology

[0002] As a major global cotton-producing region, Xinjiang faces unique and complex challenges in mechanized cotton planting. First, its geographical characteristics necessitate highly adaptable planting equipment. Vast terrain and arid climate increase the operational difficulty of mechanized planting equipment in Xinjiang. The undulating terrain and uneven soil texture further test the adaptability and stability of the equipment, directly impacting planting effectiveness and quality. Second, existing large-scale seeders suffer from problems such as excessive turning radius due to their size, difficulty in turning, and insufficient intelligence. Therefore, more precise and intelligent machinery is needed to adapt to cotton planting in Xinjiang. Finally, Xinjiang's climatic conditions, especially abundant sunshine, high temperatures, and susceptibility to drought and extreme weather, further enhance the stability and durability requirements of planting equipment. This means that planting equipment must maintain stable performance under harsh environmental conditions and possess sufficient durability to withstand long-term use in extreme climates.

[0003] Currently, the semi-precision seeding technology widely used in Xinjiang, my country, mainly relies on semi-precision drum seed metering devices. These devices utilize the shape and size of the seed box openings, combined with principles of centrifugal force and gravity, to fill and collect seeds. Although the structure of this seed metering device is relatively simple, its level of intelligence is insufficient, resulting in unstable seeding performance. This is mainly manifested in uneven seed distribution during the sowing process and poor adaptability to different soil textures. Therefore, to address the specific sowing needs and challenges in Xinjiang, further research and development of mechanical sowing equipment are needed to enhance its intelligence, adaptability, stability, and performance, thereby better meeting the needs of cotton sowing and promoting the healthy development of the cotton industry.

[0004] In view of the above problems, this invention combines mechanical structure, detection technology and electronic technology. It utilizes a feeding mechanism for cotton seed picking and transportation, a microcontroller to control the vibration of a magnetic telescopic rod to ensure the accuracy of seed picking, ultrasonic detection technology to ensure the cotton seed filling rate, an infrared distance sensor to ensure the normal operation of the sowing trolley, driver-eye coordination control technology to provide the data foundation for the trolley's operation, a solar-powered lead-acid battery to provide power, and AT tires to provide the trolley with a high degree of freedom of movement. Furthermore, by utilizing a navigation path planning algorithm combined with human-computer interaction technology, this invention proposes a novel intelligent cotton sowing trolley, which is beneficial to the development of the agricultural field. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing cotton planters, such as low intelligence levels, large turning radii during planting, and excessive waste of land resources. A novel intelligent cotton planter is proposed.

[0006] This invention relates to an intelligent cotton seeding trolley based on a linear vibration track seed arrangement, with seed picking, detection, and sensing as its core functions, achieving one seed per hole for cotton seeding. Specifically, the intelligent cotton seeding trolley is equipped with a feeding mechanism, a conveying device, a magnetic telescopic rod, a conveying pipe, an intelligent ultrasonic detector, an infrared distance sensor, a binocular vision system, a fault detection light, a night spotlight, and hand-eye coordination control technology. When the trolley starts working, the seed metering device is lowered, and then the feeding mechanism inside the trolley transports the cotton seeds to the conveying device for arrangement. The arranged seeds are then transported to the lower end of the magnetic telescopic rod, which is intermittently vibrated under the control of a microcontroller, pressing each seed into the conveying pipe. The seeds are then transported from the conveying pipe to the main tray (duckbill) for sowing. The ultrasonic detector is located at the end of the conveying pipe; when no seed is detected, a signal is transmitted to the microcontroller, which controls the magnetic telescopic rod to vibrate, and the internal operation repeats continuously. Infrared distance sensors are located on both sides of the vehicle. When the vehicle is operating normally, these sensors measure the distance between objects and the sensor by sending infrared signals and receiving reflected signals. By analyzing the intensity or time delay of the reflected signals, the distance from obstacles to the vehicle is accurately measured. For smaller obstacles, the vehicle's seeder lifts up to directly cross the obstacle. For larger obstacles, the data from the infrared distance sensors and the binocular vision camera are combined to replan the path and avoid the obstacle. The binocular vision camera is located at the front of the vehicle. It obtains the vehicle's forward field of view through the binocular vision system. The driver-eye coordination control technology is combined with the navigation path planning algorithm to make the vehicle work along the prescribed route. After completing a row of seeding operations, the vehicle can perform lateral movements and turn around in place by controlling the rotation speed and direction of the AT tires to proceed to the next operation.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] Preferably, the feeding mechanism is designed to ensure that the seeds are arranged vertically, so that the magnetic telescopic rod presses down only one seed at a time, achieving accurate sowing of one seed per hole. The device mainly uses a drive shaft to drive the movement of a fan-shaped plate, guiding the seeds to slide smoothly onto the conveyor. The key to this design is ensuring that the seeds are arranged in a standardized manner to ensure that the magnetic telescopic rod can operate normally, thereby improving planting efficiency and accuracy.

[0009] Preferably, the conveying device is used to arrange and orderly transfer seeds to the next mechanism. Its core design includes an upper pressure plate and a lower vertical vibrating track, which can surround the seeds from all directions and ensure stable transport. This design ensures that the seed metering device can operate normally under various soil conditions. This device plays a crucial role in practical applications, providing a stable and reliable seed delivery guarantee for the planting process.

[0010] Preferably, the magnetic telescopic rod is a device for precise seed extraction, the key being a microcontroller-controlled vibration to press the seeds down. The main body of the device is a semi-cylinder; when no signal is received, the semi-cylindrical cross-section hinders seed movement; however, when a signal is received, the magnetic telescopic rod vibrates, pressing the seeds down into the conveying pipe. This design allows for precise control of the seed extraction quantity in practical applications, providing a high degree of controllability and accuracy to the planting process.

[0011] Preferably, the key to the intelligent ultrasonic detector lies in utilizing the properties of ultrasonic waves propagation and reflection within materials. It encompasses three aspects: ultrasonic wave generation, propagation, and reception. In practical applications, this device detects the presence or absence of seeds at the end of the delivery pipe to determine which signal to send to the microcontroller, thereby precisely controlling the vibration of the magnetic telescopic rod. This design ensures accurate seed collection, providing crucial technical support and assurance for agricultural production.

[0012] Preferably, the infrared distance detection sensor is the core component of this device. It measures the distance between an object and the sensor by sending infrared signals and receiving reflected signals. By analyzing the intensity or time delay of the reflected signals, the sensor can determine the distance from the object, thus achieving accurate distance measurement. When an object enters the sensor's detection range, the reflected infrared signal is received by the sensor, thereby stopping the vehicle's movement. This device plays a crucial role in practical applications, primarily by acquiring obstacle information through infrared signal collection for optimal path planning.

[0013] Preferably, the driver-eye coordination control technology is based on an intelligent vehicle motion platform. It utilizes the vehicle's mobility and is equipped with an end effector and a binocular vision system to assist the vehicle in performing precise tasks. The binocular vision system captures path information, while an infrared distance sensor detects obstacles. This information is combined to help the system plan the optimal path, thereby effectively controlling the vehicle to complete the task.

[0014] Preferably, the AT tire has a tread pattern distributed at a 45-degree angle, allowing the intelligent vehicle to perform highly free movements such as lateral movement and U-turns by changing the steering and speed of the four wheels. This reduces the turning radius, increases the flexibility of the seeder, reduces wasted land resources due to excessive turning radius, and effectively increases the actual working area.

[0015] Compared with the prior art, the beneficial effects of this invention are as follows:

[0016] This invention enables intelligent sowing: the intelligent cotton sowing trolley, through a highly integrated design of various technologies, combines a series of advanced mechanical devices, electronic devices, and automated control systems, making the cotton seed transport and sowing process highly efficient and seamless, reducing seed transport time and increasing sowing speed. Its feeding mechanism and conveying device can quickly and accurately transport seeds to the sowing position, reducing the time and labor costs required for manual operation. Especially in large cotton-growing areas such as Xinjiang, it can complete large-scale sowing tasks within a limited season, significantly shortening the sowing cycle, reducing labor costs, and achieving fully intelligent unmanned operation, which is of great significance for ensuring the rhythm of agricultural production.

[0017] This invention eliminates the turning radius of the seeding machine: the intelligent cotton seeding trolley is equipped with AT tires, reducing the excessive turning radius at the field end and minimizing land waste. When the trolley needs to turn around during seeding, it first moves laterally, then turns around in place to continue working. When moving to the left, the two AT tires on the right side rotate counterclockwise, and the two AT tires on the left side rotate clockwise, thus achieving lateral movement. To turn around, the AT tires simply rotate in the opposite direction, allowing the trolley to rotate in place. By flexibly controlling the movement of the AT tires, the trolley can achieve precise lateral movement and in-place turning, reducing land waste caused by excessive turning radius and resulting in significant economic benefits.

[0018] This invention improves operational control precision: To achieve precise control and path planning of the seeding trolley's operation, the intelligent cotton seeding trolley employs a driver-eye coordination control technology combined with a binocular vision system and infrared distance detection sensors. This design allows for real-time monitoring of the environment surrounding the seeding trolley and timely detection of obstacles, enabling appropriate path planning to avoid collisions. Automated obstacle avoidance significantly enhances the stability and safety of the seeding process. Furthermore, the automated control system reduces human interference in the seeding process, further improving stability and reliability. This advanced control system ensures the seeding trolley operates along a predetermined route, accurately completing the seeding task and further improving operational precision and efficiency.

[0019] This invention improves sowing quality: the intelligent cotton sowing trolley utilizes advanced technologies such as magnetic telescopic rods and intelligent ultrasonic detectors. The magnetic telescopic rods, as a key component of the sowing mechanism, precisely control the quantity and arrangement of seeds. Combined with the intelligent ultrasonic detector, this ensures accurate sowing of each seed, thereby further improving the sowing rate. The ultrasonic detector accurately detects the seed filling rate, reducing the empty seed hole rate, thus improving sowing quality and uniformity. Good sowing quality is crucial for crop growth and development, effectively improving yield and quality.

[0020] This invention improves durability and adaptability: Regarding the power source, the intelligent cotton planter uses solar-powered lead-acid batteries, which are environmentally friendly and energy-saving. These batteries not only maintain stable performance under harsh climatic conditions but also have a long service life, enhancing the system's durability. Furthermore, the intelligent cotton planter is highly adaptable, capable of operating normally under various extreme weather conditions, meeting planting needs in different environments, and ensuring the system's reliability and continuity.

[0021] To more clearly describe the technical solution of the implementation method of this application, the following detailed description is provided in conjunction with the accompanying drawings and specific implementation methods. Wherein:

[0022] Figure 1 This is a schematic diagram of the front structure of a novel intelligent cotton planting cart proposed in this invention;

[0023] Figure 2 This is a schematic diagram of the rear structure of a novel intelligent cotton planting cart proposed in this invention;

[0024] Figure 3 This is a schematic diagram of the front internal structure of a novel intelligent cotton planting cart proposed in this invention;

[0025] Figure 4 This is a schematic diagram of the upper structure of a novel intelligent cotton planting cart proposed in this invention;

[0026] Figure 5 This is a side cross-sectional structural diagram of a novel intelligent cotton planting cart proposed in this invention;

[0027] Figure 6 This is a schematic diagram of the internal structure of a novel intelligent cotton planting cart proposed in this invention;

[0028] Figure 7 This is a schematic diagram of the seed metering device structure of a novel intelligent cotton seeding trolley proposed in this invention;

[0029] In the diagram: 1. AT tire; 2. End cap; 3. Binocular vision camera; 4. Seed metering device; 5. Vehicle body; 6. Antenna; 7. Binocular vision camera bracket; 8. Binocular vision camera main bracket; 9. Solar panel; 10. Feeding cover; 11. Seed metering device bracket; 12. Infrared distance detection sensor; 13. Searchlight; 14. LED fault indicator; 15. Pipe baffle; 16. Pipe spring; 17. Ultrasonic detector; 18. Drive shaft; 19. Fan-shaped plate; 20. Feeding rotating arm; 21. Lead-acid battery; 22. Feeding bracket; 23. Feeding box; 24. Lever; 25. Pressure plate; 26. Magnetic telescopic rod; 27. Conveying pipe; 28. Straight vibration track; 401. Seed metering device belt; 402. Seed metering device main plate; 403. Duckbill spring; 404. Moving duckbill; 405. Fixed duckbill;

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Reference Figures 1-7A novel intelligent cotton planting trolley includes an AT tire 1, an end cap 2, a binocular vision camera 3, a seed metering device 4, a vehicle body 5, an antenna 6, a binocular vision camera bracket 7, a binocular vision camera main bracket 8, a solar panel 9, a feeding cover 10, a seed metering device bracket 11, an infrared distance detection sensor 12, a searchlight 13, an LED fault indicator light 14, a pipe baffle 15, a pipe spring 16, an ultrasonic detector 17, a drive shaft 18, a fan-shaped plate 19, a feeding rotating arm 20, a lead-acid battery 21, a feeding bracket 22, a feeding box 23, a lever 24, a pressing plate 25, a magnetic telescopic rod 26, a conveying pipe 27, a linear vibration track 28, a seed metering device belt 401, a seed metering device main disc 402, a duckbill spring 403, a moving duckbill 404, and a fixed duckbill 405. The trolley body structure 5 is mounted on the top of the AT tire 1. The trolley body 5 is equipped with an end cover 2 on its upper end. A binocular vision camera 3 for capturing path information is installed at the front end of the end cover 2. A feeding cover 10 is installed at the front end of the end cover 2. A solar panel 9 is installed behind the binocular vision camera 3, and an antenna 6 is installed on the right side of the solar panel 9. Infrared distance detection sensors 12 for collecting obstruction information are installed at both ends of the trolley body 5. An LED fault indicator light 14 is installed at the rear end of the trolley body 5. A searchlight 13 is installed at the front end of the trolley body 5, and a seed metering device 4 is installed at the lower end of the searchlight 13. A feeding box 23 is installed at the lower end of the end cap 2. A fan-shaped plate 19 is installed inside the feeding box 23. A lever 24 is installed outside the feeding box 23. A linear vibration track 28 is installed at the front end of the feeding box 23. A drive shaft 18 is installed at the lower end of the feeding box 23. A magnetic telescopic rod 26 is installed at the front end of the linear vibration track 28. A pressure plate 25 is installed at the upper end of the linear vibration track 28. A conveying pipe 27 is installed at the lower end of the magnetic telescopic rod 26. An ultrasonic detector 17 is installed at the front end of the conveying pipe 27. A pipe spring 16 is installed at the end of the conveying pipe 27. A pipe baffle 15 is installed at the lower end of the pipe spring 16. A seed metering device 4 is installed at the lower end of the pipe baffle 15.

[0032] A binocular vision camera 3 is installed on the top of the vehicle body 5. It works in conjunction with the infrared distance detection sensor 12 installed on the outside of the vehicle body 5 to perceive surrounding obstacles, including fixed obstacles such as rocks, as well as moving obstacles such as people. It provides information about the location, distance, shape and size of obstacles. Through algorithms and data analysis, it performs intelligent obstacle avoidance and collision avoidance or emergency stop, and continues to move forward according to the pre-planned path.

[0033] The trolley body 5 is equipped with a feeding mechanism. The feeding box 23 is equipped with a fan-shaped plate 19. The feeding box 23 is equipped with a lever 24. The front end of the feeding box 23 is equipped with a vertical vibration track 28. The lower end of the feeding box 23 is equipped with a drive shaft 18. The drive shaft 18 rotates to drive the fan-shaped plate 19 to rotate upward. The fan-shaped plate 19 conveys the seeds to the conveying pipe 27. The lever 24 moves left and right to remove irregularly arranged seeds.

[0034] A pressure plate 25 is installed at the upper end of the linear vibrating track 28, and a magnetic telescopic rod 26 is installed at the front end of the linear vibrating track 28. A conveying pipe 27 is installed at the lower end of the magnetic telescopic rod 26. The linear vibrating track 28 transports the seeds to the lower end of the magnetic telescopic rod 26. The main body of the magnetic telescopic rod 26 is a semi-cylinder. When no signal is received, the semi-cylinder cross section will hinder the movement of the seeds; when a signal is received, the main body of the magnetic telescopic rod 26 will vibrate, pressing the seeds into the conveying pipe 27.

[0035] A pipe spring 16 is installed at the end of the conveying pipe 27, and a pipe baffle 15 is installed at the lower end of the pipe spring 16. An ultrasonic detector 17 is installed at the front end of the conveying pipe 27, and a seed metering device 4 is installed at the lower end of the pipe baffle 15. When a seed falls into the end of the conveying pipe 27, the ultrasonic detector 17 detects it. If no seed is detected, a signal is transmitted to the microcontroller, which controls the magnetic telescopic rod 26 to vibrate, and the internal operation is repeated cyclically. The pipe baffle 15 obstructs the moving duckbill 404 of the seed metering device 4. When the trolley is working normally, the seed metering device 4 rotates, and the pipe baffle 15 and the moving duckbill 404 interact, causing the conveying pipe 27 to open and allowing the seed to fall into the duckbill.

[0036] The LED fault indicator 14 installed at the rear of the vehicle body 5 illuminates green when the vehicle is running normally; it illuminates red when a fault occurs during operation and stops working. The antenna 6 installed on top of the vehicle body 5 feeds back the real-time detection data to the control center. When the vehicle detects an obstacle during operation, the LED fault indicator 14 installed at the rear of the vehicle body 5 illuminates yellow. At the same time, the path is replanned based on the data feedback and the path planning algorithm to ensure normal operation.

[0037] Solar panels 9 are installed on the outside of the car body 5 to charge the car.

[0038] The functional principle of this invention can be explained through the following operational methods:

[0039] When the intelligent cotton seeding trolley of this invention starts working, the seed metering device 4 is first lowered, and then the feeding mechanism inside the trolley body 5 transports the cotton seeds to the conveying device for arrangement. The arranged seeds are transported to the lower end of the magnetic telescopic rod 26. The magnetic telescopic rod 26 is intermittently vibrated under the control of a single-chip microcomputer, pressing the individual seeds into the conveying pipe 27. Due to the action of the pipe baffle 15 and the pipe spring 16, the seeds stop at the end of the conveying pipe 27. When the trolley is working, the seed metering device 4 rotates, and the moving duckbill 403 obstructs the pipe baffle 15 of the conveying pipe 27, causing the duckbill to open, and then the seeds are put into the duckbill from the conveying pipe 27 and ultrasonically detected. The measuring instrument 17 is located at the end of the conveying pipe 27. When no seed is detected, it transmits a signal to the microcontroller. The microcontroller controls the magnetic telescopic rod 26 to vibrate, and the internal working cycle repeats. The infrared distance detection sensor 12 is located on both sides of the vehicle body. When the vehicle is working normally, the infrared distance detection sensor 12 measures the distance between the object and the sensor by sending infrared signals and receiving reflected signals, thereby realizing accurate distance measurement and obstacle avoidance of the vehicle. The binocular vision camera 3 is located at the front of the vehicle body. It obtains the frontal field of view of the vehicle through the binocular vision system. The combination of driver-eye coordination control technology and navigation path planning algorithm enables the vehicle to work according to the prescribed route.

Claims

1. An intelligent cotton seeding cart characterized in that The utility model relates to a kind of automatic seed planting vehicle, including: feeding mechanism, conveying device, magnetic quality telescopic rod, conveying pipeline, intelligent ultrasonic detector, infrared distance detection sensor, binocular vision system, fault detection lamp, night searchlight;The top of AT tire is equipped with trolley body structure, the upper end of the trolley body is equipped with end cap, the front end of the end cap is equipped with binocular vision camera for capturing path information, the front end of the end cap is equipped with feeding cover, the rear of the binocular vision camera is equipped with solar panel, the right side of the solar panel is equipped with antenna, the left and right ends of the trolley body are equipped with infrared distance detection sensor for collecting and obtaining obstruction information, the rear end of the trolley body is equipped with LED fault indicator, the front end of the trolley body is equipped with searchlight, the lower end of the searchlight is equipped with seed metering device, the lower end of the end cap is equipped with feeding box, the inside of the feeding box is equipped with sector plate, the outside of the feeding box is equipped with lever, the front end of the feeding box is equipped with straight vibration track, the lower end of the feeding box is equipped with transmission shaft, the front end of the straight vibration track is equipped with magnetic quality telescopic rod, the main body of the magnetic quality telescopic rod is semicylindrical, when no signal is received, semicylindrical section will hinder seed movement, when signal is received, magnetic quality telescopic rod main body vibrates and presses seed to make it fall into conveying pipeline, the upper end of the straight vibration track is equipped with pressure plate, the lower end of the magnetic quality telescopic rod is equipped with conveying pipeline, the front end of the conveying pipeline is equipped with ultrasonic detector, the end of the conveying pipeline is equipped with pipeline spring, the lower end of the pipeline spring is equipped with pipeline baffle, the lower end of the pipeline baffle is equipped with seed metering device, the binocular vision system obtains the field of view in front of trolley, and the driver's eye coordination control technology is combined with navigation path planning algorithm, so that the trolley works according to the specified route. The feeding mechanism includes transmission shaft and sector plate, and the transmission shaft drives the sector plate to move, so as to convey the seeds to the conveying device and ensure the longitudinal arrangement of the seeds.

2. The intelligent cotton seeding trolley according to claim 1, characterized in that, The conveying device includes upper end pressure plate and lower end straight vibration track, and the seeds are fully surrounded and transported by the upper end pressure plate and the lower end straight vibration track, so as to ensure the normal operation of the seed metering device under various soil conditions.

3. The intelligent cotton seeding trolley according to claim 1, characterized in that, The intelligent ultrasonic detector relies on the propagation and reflection characteristics of ultrasonic waves in materials, including ultrasonic wave generation, propagation and reception, for real-time monitoring of the presence of seeds, and through ultrasonic detection of the presence or absence of seeds at the end of the conveying pipeline, a certain signal is sent to the single-chip microcomputer to control the vibration of the magnetic quality telescopic rod.

4. The intelligent cotton seeding cart of claim 1, wherein, The infrared distance detection sensor can measure the distance between the object and the sensor by sending infrared signals and receiving reflected signals, and by analyzing the intensity or time delay of the reflected signals, the sensor can determine the distance of the object to the sensor, when the object enters the detection range of the sensor, the reflected infrared signal will be received by the sensor, so as to stop the trolley.

5. The intelligent cotton seeding cart of claim 1, wherein, ​ 6. The intelligent cotton seeding cart of claim 1, wherein, The driver-eye coordination control technology relies on an intelligent vehicle motion platform, adopts an end effector and a binocular vision system to assist the dolly in precise operation, and is implemented by using the intelligent vehicle motion platform to realize rapid movement, acquiring path information through the binocular vision system, and combining the detection result of an infrared distance detection sensor to perform optimal path planning and thus complete operation control.

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