Precision seeding system

Abstract

The invention relates to the technical field of seed sowing, in particular to a precision sowing system which comprises a moving mechanism, the moving mechanism comprises a moving chassis, a shell is arranged on the moving chassis, a sowing mechanism is arranged on the shell, a control mechanism is arranged in the shell, and the sowing mechanism comprises a fixing frame connected to the shell. A liftable fixing frame is arranged on one side of the fixing frame, a connecting rod is hinged between the fixing frame and the shell, a mounting frame is connected to one end, away from the shell, of the fixing frame, a plurality of seed-metering plates are mounted on the mounting frame, furrow openers are arranged on the seed-metering plates, and the control mechanism comprises an IMU sensor used for detecting the direction. A laser distance measuring sensor used for measuring the vertical distance between the mounting frame and the ground is arranged on the mounting frame, and a control device is arranged in the shell. Therefore, on the premise that the seeds are protected from being damaged, the number of the used seeds can be reduced, the sowing accuracy can be improved, thinning and filling of seedlings are not needed, the yield of unit area is improved, and the sowing efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of seed sowing, and in particular to a precision sowing system. Background Art

[0002] An agricultural robot is a machine that is used in agricultural production. It is a new generation of unmanned automatic machinery that can be controlled by different software programs to adapt to various operations, can sense and adapt to changes in crop types or environment, and has artificial intelligence such as detection (such as vision) and calculation.

[0003] At present, the existing sowing robot, such as the Chinese patent with publication number CN210124085U, discloses an intelligent sowing robot, including a movable body; ultrasonic IMU sensors are respectively arranged at the left and right positions of the front side of the body, a control panel is arranged at the front position of the top side, and a 3D camera is arranged at the middle position of the top side near the control panel; walking wheels are installed on the left and right sides of the bottom of the body at the front and rear; the walking wheels are driven by a walking wheel driving mechanism arranged in the body; a 3D camera is also arranged at the upper position of the rear side of the body; an embedded control board and a power supply are also arranged in the body; a sowing mechanism is also connected to the rear end of the body; the control panel, the ultrasonic IMU sensor, the walking wheel driving mechanism, the 3D camera, and the sowing mechanism are respectively connected to the embedded control board signal and powered by the power supply, which can automatically plan the sowing path and control the appropriate row spacing until the sowing is completed. During the sowing process, the 3D camera and the ultrasonic IMU sensor on the front side are used to sense the working area environment, and the 3D camera on the rear side is used to capture the sowing mechanism action to assist in completing the sowing. However, the above device is not easy to control the amount and accuracy of sowing, which is easy to cause waste and is inconvenient to use.

[0004] How to save the number of seeds used and improve the accuracy of sowing while protecting the seeds from damage, without the need for thinning or replanting, thereby increasing the yield per unit area and improving sowing efficiency has become a technical problem that needs to be broken through.

[0005] In summary, the prior art obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the invention

[0006] In view of the above-mentioned defects, the object of the present invention is to provide a precision seeding system, which can save the number of seeds used and improve the accuracy of seeding while protecting the seeds from damage, and does not require thinning or reseeding, thereby increasing the yield per unit area and improving the seeding efficiency.

[0007] In order to achieve the above-mentioned purpose, the present invention provides a precision seeding system, including a mobile mechanism, wherein the mobile mechanism includes a movable mobile chassis, a shell is provided on the mobile chassis, a seeding mechanism for seeding is provided on the shell, and a control mechanism for controlling the seeding mechanism and the mobile mechanism is provided inside the shell.

[0008] The sowing mechanism includes a fixed frame connected to the outer shell, a liftable fixed frame is provided on one side of the fixed frame, a plurality of connecting rods are hinged between the fixed frame and the outer shell, an end of the fixed frame away from the outer shell is connected to a mounting frame, a plurality of seed discs are installed on the mounting frame, and a furrow opener is provided on each of the plurality of seed discs.

[0009] The control mechanism includes a warning light arranged on the shell for prompting the operator and an IMU sensor for detecting the direction. The mounting frame is provided with a laser ranging sensor for measuring the vertical distance between the mounting frame and the ground. The shell is provided with a control device inside.

[0010] The laser rangefinder sensor measures the vertical distance between the mounting frame and the ground, and the IMU sensor measures the pitch angle of the outer shell. The data is then processed to obtain the actual depth of the furrow opener into the ground. The processed data is transmitted to the control device, which adjusts the position of the fixed frame to adjust the sowing depth.

[0011] According to the precision seeding system of the present invention, the first telescopic parts are symmetrically arranged on the fixed frame, the other ends of the first telescopic parts are hinged to the connecting rod, one end of the second telescopic part is hinged to the fixed frame above the connecting rod, and the other end of the second telescopic part is hinged to the fixed frame.

[0012] According to the precision seeding system of the present invention, the data processing comprises the following steps: Firstly, a mathematical model of the telescopic amount of the first telescopic part and the second telescopic part and the distance measured by the laser ranging sensor is established. Then, a mathematical model of the inclination angle of the shell and the distance between the furrow opener and the ground is established. The weighted average method is used to assign corresponding weighted factors to the two according to the deviation from the preset sowing depth, and then the sowing depth at this moment is obtained.

[0013] According to the precision seeding system of the present invention, the seeding disc is a pneumatic seeding disc.

[0014] According to the precision seeding system of the present invention, the fixed frame is symmetrically provided with internally hollow fixed boxes, and the two fixed boxes are arranged in a vertical direction. One end of one of the fixed boxes close to the outer shell is connected to a negative pressure air pipe, and the other end of the fixed box close to the outer shell is connected to a positive pressure air pipe, and the negative pressure air pipe and the positive pressure air pipe are both connected to a ventilator, and one end of the fixed box away from the outer shell is connected to a plurality of exhaust pipes, and the plurality of exhaust pipes are respectively connected to a plurality of seeding plates.

[0015] According to the precision seeding system of the present invention, a negative pressure gauge is provided on one of the fixing boxes.

[0016] According to the precision seeding system of the present invention, a synchronization shaft is passed through the mounting frame, one end of the synchronization shaft passes through the mounting frame and is connected to a driven sprocket, a rotatable driving sprocket is rotatably connected to the mounting frame, a plurality of transmission sprockets are provided on the synchronization shaft, and each seed disc is provided with a seed disc sprocket, and chains are provided between the driving sprocket, the driven sprocket, the transmission sprocket, and the seed disc sprocket.

[0017] According to the precision seeding system of the present invention, the control device includes a NUC industrial computer and a drive-control integrated motor.

[0018] According to the precision seeding system of the present invention, a battery for providing power to the moving mechanism and the seeding mechanism is disposed inside the housing.

[0019] According to the precision seeding system of the present invention, the mobile chassis is a crawler chassis.

[0020] The object of the present invention is to provide a precision seeding system, including a seeding mechanism, using a first telescopic member and a second telescopic member to drive a mounting frame to move, so as to adjust the positions of a plurality of seeding discs and furrow openers, which can save the number of seeds used and improve the accuracy of seeding under the premise of protecting seeds from damage, and there is no need for thinning and reseeding, so as to increase the yield per unit area and improve the seeding efficiency; a mathematical model of the telescopic amount of the first telescopic member and the second telescopic member and the distance measured by the laser ranging sensor is established, and then a mathematical model of the inclination angle of the shell and the distance of the furrow opener from the ground is established, and the weighted average method is used to assign corresponding weighting factors to the two according to the deviation from the preset seeding depth, so as to obtain the seeding depth at this moment, and further improve the seeding accuracy. In summary, the beneficial effects of the present invention are: under the premise of protecting seeds from damage, the number of seeds used can be saved, the accuracy of seeding can be improved, and there is no need for thinning and reseeding, so as to increase the yield per unit area and improve the seeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the present invention; Figure 2 This is a structural diagram of the fan of the present invention; Figure 3 for Figure 1 Enlarged view of part A; Figure 4 for Figure 2Enlarged view of part B in the middle; in the figure: 1-mobile mechanism, 11-housing, 12-mobile chassis, 2-seeding mechanism, 21-fixed frame, 211-first telescopic member, 22-connecting rod, 23-fixed frame, 231-mounting frame, 232-second telescopic member, 24-fixed box, 241-exhaust pipe, 242-negative pressure air pipe, 243-positive pressure air pipe, 244-negative pressure gauge, 245-fan, 25-synchronizing shaft, 251-driven sprocket, 252-transmission sprocket, 26-driving sprocket, 261-driving member, 27-seed disc, 271-seed disc sprocket, 272-ditch opener, 28-chain, 3-control mechanism, 31-GPS differential antenna, 32-warning light, 33-IMU sensor. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", "top / bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] See also Figure 1~Figure 4 The present invention provides a precision seeding system, including a mobile mechanism 1, the mobile mechanism 1 includes a movable mobile chassis 12, the mobile chassis 12 is provided with a shell 11, the shell 11 is provided with a seeding mechanism 2 for seeding, and the shell 11 is provided with a control mechanism 3 for controlling the seeding mechanism 2 and the mobile mechanism 1.

[0026] See also Figure 1~Figure 4 Preferably, the mobile chassis 12 is a crawler chassis, which broadens the application scenarios of the present invention and can easily cope with complex terrains.

[0027] See also Figure 1~Figure 4 The sowing mechanism 2 includes a fixed frame 21 connected to the housing 11, the fixed frame 21 is composed of a plurality of beams and columns, one end of a connecting rod 22 is symmetrically hinged on the housing 11 below the fixed frame 21, and the other end of the connecting rod 22 is hinged to a fixed frame 23, and a first telescopic member 211 is symmetrically provided on the fixed frame 21, and the other end of the first telescopic member 211 is hinged to the connecting rod 22 (one first telescopic member 211 corresponds to one connecting rod 22, and the first telescopic member 211 can be telescoped), and a second telescopic member 211 is hinged on the fixed frame 23 above the connecting rod 22. The second telescopic member 232 is hinged to the fixing frame 21, and the other end of the second telescopic member 232 is hinged to the fixing frame 21. The end of the fixing frame 23 away from the housing 11 is connected to the mounting frame 231. A plurality of seeding discs 27 are mounted on the mounting frame 231 (the seeding discs 27 are pneumatic seeding discs). A plurality of seeding discs 27 are provided with furrow openers 272. The fixing frame 23 is symmetrically provided with fixing boxes 24. The two fixing boxes 24 are arranged in a vertical direction, and the interior of the fixing boxes 24 is hollow. One of the fixing boxes 24 (the fixing box located at the top) is connected to the fixing frame 231. The end of the fixed box 24) near the housing 11 is connected to the negative pressure air pipe 242, and the end of the other fixed box 24 (the fixed box 24 located at the bottom) near the housing 11 is connected to the positive pressure air pipe 243, and the negative pressure air pipe 242 and the positive pressure air pipe 243 are both connected to the fan 245, and the fan 245 is fixed on the housing 11. The end of the fixed box 24 away from the housing 11 is connected to a plurality of exhaust pipes 241, and the plurality of exhaust pipes 241 are respectively connected to a plurality of seeding discs 27 (each seeding disc 27 is respectively connected to one of the exhaust pipes 24 on the two fixed boxes 24 1); By adjusting the first telescopic member 211 and the second telescopic member 232, the mounting frame 231 can be driven to move, thereby adjusting the positions of the plurality of seeding discs 27 and the furrow opener 272, so that sowing can be performed more accurately; turning on the fan 245, the fan 245 can transmit power to the seeding disc 27 through the connected positive pressure air pipe 243, the negative pressure air pipe 242, the fixing box 24 and the exhaust pipe 241 (the use of pneumatic seeding discs is a mature prior art in this field, and its specific structure and working principle will not be repeated here).

[0028] See also Figure 1~Figure 4 Preferably, a negative pressure gauge 244 is provided on one of the fixing boxes 24 (the fixing box 24 located at the top) to facilitate the operator to monitor the pressure inside the fixing box 24 in real time.

[0029] See also Figure 1~Figure 4The mounting frame 231 is provided with a synchronous shaft 25, which is rotatably connected to the mounting frame 231. One end of the synchronous shaft 25 passes through the mounting frame 231 and is connected to a driven sprocket 251. The driven sprocket 251 can drive the synchronous shaft 25 to rotate. The mounting frame 231 is rotatably connected with a driving sprocket 26. The driving sprocket 26 is connected to a driving member 261. The driving member 261 can drive the driving sprocket 26 to rotate. The driving member 261 is connected to the mounting frame 231. The synchronous shaft 25 is provided with a plurality of transmission sprockets 252 (the transmission sprockets 252 correspond to the seeding disc 27 one by one). The transmission sprockets 252 can rotate with the synchronous shaft 25. The seeding disc 27 is provided with a seeding disc sprocket 271, which is connected to the rotating shaft inside the seeding disc 27. The seeding disc sprocket 271 can drive the rotating shaft to rotate, thereby driving the seeds inside the seeding disc 27 to rotate. A chain 28 is provided between the active sprocket 26 and the driven sprocket 251 and between the transmission sprocket 252 and the seeding disc sprocket 271; the driving member 261 is turned on, the driving member 261 drives the active sprocket 26 to rotate, and the active sprocket 26 drives the synchronous shaft 25 to rotate, and the driven sprocket 251, the seeding disc sprocket 271 and the chain 28 are driven to provide power for a plurality of seeding discs 27.

[0030] See also Figure 1~Figure 4 Furthermore, the first telescopic member 211 and the second telescopic member 232 are both electric cylinders, and the driving member 261 is a rotary motor to provide power for the device.

[0031] See also Figure 1~Figure 4 The control mechanism 3 includes a GPS differential antenna 31 for receiving signals, a warning light 32 for prompting operators, and an IMU sensor 33 for detecting direction, which is provided with a camera on the IMU sensor 33. The mounting frame 231 is provided with a laser distance sensor for measuring the vertical distance between the mounting frame 231 and the ground. The housing 11 is provided with a control device (NUC industrial computer, drive-control integrated motor) and a battery for providing power to the mobile mechanism 1 and the sowing mechanism 2. The vertical distance between the mounting frame 231 and the ground is measured by the laser distance sensor, and the pitch angle of the housing 11 is measured by the IMU sensor. The two data are used together to accurately calculate the actual depth of the furrow opener 272 into the ground. The fused data is transmitted to the NUC industrial computer, and the ROS node running inside the NUC is responsible for processing the data. The optimized fuzzy PID controller calculates the control instructions according to the real-time data received by the detection system, thereby controlling the first telescopic member 211 and the second telescopic member 232 to perform telescopic adjustment, thereby driving the furrow opener 272 to move up and down accurately to adjust the sowing depth.

[0032] See also Figure 1~Figure 4The first telescopic member 211 and the second telescopic member 232 are used to drive the mounting frame 231 to move, thereby adjusting the positions of the seeding discs 27 and the furrow openers 272, and turning on the driving member 261 and the fan 245 to perform precise sowing.

[0033] In order to further improve the accuracy of sowing, the present invention processes the data collected by the laser ranging sensor and the IMU sensor 33 and fuses the data of the two, including the following steps: First, the relationship between the expansion and contraction amount of the first telescopic member 211 and the second telescopic member 232 and the distance measured by the laser ranging sensor is calibrated. During the expansion and contraction process of the first telescopic member 211 and the second telescopic member 232, the sensor output result is recorded every 5 mm. The experiment is repeated to obtain the average value. These data are applied to linear fitting to establish a mathematical model of the expansion and contraction amount of the first telescopic member 211 and the second telescopic member 232 and the distance measured by the laser ranging sensor, and the following calculation formula is obtained: ; Where: The distance between the laser ranging sensor and the ground, in "mm"; It is the sum of the expansion and contraction amounts of the first expansion member 211 and the second expansion member 232, in "mm".

[0034] The laser rangefinder sensor can directly measure the distance from the trench opener 272 to the ground, but in the actual working process, facing the complex working environment, the accuracy is prone to errors. The housing 11 constantly produces a forward or backward body posture when working. In order to improve the detection accuracy and reduce the impact of the environment on the system, the IMU sensor 33 of the present invention mainly measures the pitch angle of the machine by combining the data of the accelerometer and the gyroscope. The accelerometer measures the acceleration along different axes, including the gravity acceleration, and the gyroscope measures the angular velocity, that is, the rotation rate of the device around its axis. By analyzing these data, the IMU sensor can calculate the pitch angle of the housing 11 relative to the direction of gravity, thereby providing the current pitch state of the housing 11. The distance from the trench opener 272 to the ground can be indirectly obtained through the pitch angle. The forward tilt of the housing 11 is taken as positive and the backward tilt is taken as negative. The mathematical relationship between the tilt angle of the housing 11 and the distance from the trench opener 272 to the ground within the range of ±4° is obtained as follows: ; In the formula, is the distance from the furrow opener 272 to the ground, in "mm"; is the tilt angle of the housing 11, in degrees.

[0035] Finally, a weighted average algorithm is used to perform sensor data fusion processing. In the sowing operation on the same plot, in order to ensure the uniformity of sowing and the consistency of crop growth, the sowing depth must remain unchanged, that is, the sowing depth needs to be preset in advance before the operation. First, the data collected by the laser ranging sensor and the IMU sensor 33 are preprocessed to obtain the processed sowing depth data. ( Assign different weighting factors to the laser range sensor and the IMU sensor 33 The data is summed up, where 1 and 2 represent the deviation between the laser rangefinder sensor and the IMU sensor 33) and the set sowing depth. , and the following calculation formula is obtained: ; The weighting factors of the laser range sensor and the IMU sensor 33 are set by calculating the sum of squared deviations ,Right now: ; ; Where 1 and 2 represent the laser ranging sensor and IMU sensor 33 respectively.

[0036] this The seeding depth data fusion value at the moment is: ; By looping the above formula, the fusion data of the laser ranging sensor and the IMU sensor 33 at each moment can be obtained.

[0037] The present invention provides a precision seeding system, including a seeding mechanism, using a first telescopic member and a second telescopic member to drive a mounting frame to move, so as to adjust the positions of a plurality of seeding discs and furrow openers, which can save the number of seeds used and improve the accuracy of seeding under the premise of protecting seeds from damage, and there is no need for thinning and reseeding, thereby increasing the yield per unit area and improving the seeding efficiency; a mathematical model of the telescopic amount of the first telescopic member and the second telescopic member and the distance measured by a laser ranging sensor is established, and then a mathematical model of the inclination angle of the shell and the distance of the furrow opener from the ground is established, and the weighted average method is used to assign corresponding weighting factors to the two according to the deviation from the preset seeding depth, so as to obtain the seeding depth at this moment, and further improve the seeding accuracy. In summary, the beneficial effects of the present invention are: under the premise of protecting seeds from damage, the number of seeds used can be saved and the accuracy of seeding can be improved, and there is no need for thinning and reseeding, thereby increasing the yield per unit area and improving the seeding efficiency.

[0038] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A precision seeding system, characterized in that: The mobile mechanism comprises a movable mobile chassis, the mobile chassis is provided with a shell, the shell is provided with a sowing mechanism for sowing, and the shell is provided with a control mechanism for controlling the sowing mechanism and the mobile mechanism; The sowing mechanism comprises a fixing frame connected to the outer shell, a lifting fixing frame is provided on one side of the fixing frame, a plurality of connecting rods are hinged between the fixing frame and the outer shell, an end of the fixing frame away from the outer shell is connected to a mounting frame, a plurality of seeding discs are installed on the mounting frame, and a plurality of seeding discs are provided with furrow openers; The control mechanism includes a warning light for prompting an operator and an IMU sensor for detecting direction, which are arranged on the housing. A laser distance sensor for measuring the vertical distance between the mounting frame and the ground is arranged on the mounting frame. A control device is arranged inside the housing. The laser rangefinder sensor measures the vertical distance between the mounting frame and the ground, and the IMU sensor measures the pitch angle of the outer shell. The data is then processed to obtain the actual depth of the furrow opener into the ground. The processed data is transmitted to the control device, which adjusts the position of the fixed frame to adjust the sowing depth.

2. The precision seeding system according to claim 1, characterized in that: The fixing frame is symmetrically provided with first telescopic members, the other ends of which are hinged to connecting rods, one end of a second telescopic member is hinged to a fixing frame above the connecting rod, and the other end of the second telescopic member is hinged to the fixing frame.

3. The precision seeding system according to claim 2, characterized in that: The data processing comprises the following steps: Firstly, a mathematical model of the telescopic amount of the first telescopic part and the second telescopic part and the distance measured by the laser ranging sensor is established. Then, a mathematical model of the inclination angle of the shell and the distance between the furrow opener and the ground is established. The weighted average method is used to assign corresponding weighted factors to the two according to the deviation from the preset sowing depth, and then the sowing depth at this moment is obtained.

4. The precision seeding system according to claim 1, characterized in that: The seeding disc is a pneumatic seeding disc.

5. The precision seeding system according to claim 4, characterized in that: The fixed frame is symmetrically provided with internally hollow fixed boxes, and the two fixed boxes are arranged in a vertical direction. One end of one of the fixed boxes close to the outer shell is connected to a negative pressure air pipe, and the other end of the fixed box close to the outer shell is connected to a positive pressure air pipe. Both the negative pressure air pipe and the positive pressure air pipe are connected to a ventilator, and one end of the fixed box away from the outer shell is connected to a plurality of exhaust pipes, and the plurality of exhaust pipes are respectively connected to a plurality of seeding plates.

6. The precision seeding system according to claim 5, characterized in that: A negative pressure gauge is provided on one of the fixed boxes.

7. The precision seeding system according to claim 4, characterized in that: A synchronous shaft is passed through the mounting frame, one end of the synchronous shaft passes through the mounting frame and is connected to a driven sprocket, a rotatable driving sprocket is rotatably connected to the mounting frame, a plurality of transmission sprockets are provided on the synchronous shaft, and each seed disc is provided with a seed disc sprocket, and chains are provided between the driving sprocket, the driven sprocket, the transmission sprocket, and the seed disc sprocket.

8. The precision seeding system according to claim 1, characterized in that: The control device includes a NUC industrial computer and a drive-control integrated motor.

9. The precision seeding system according to claim 1, characterized in that: A battery for providing power to the moving mechanism and the sowing mechanism is arranged inside the shell.

10. The precision seeding system according to claim 1, characterized in that: The mobile chassis is a crawler chassis.

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