A layered precision fertilization seeder and control method thereof

Abstract

The embodiment of the present invention provides a layered precision fertilizer seeder and a control method thereof. The layered precision fertilizer seeder includes a frame, a rotary tillage device, a fertilizer device and a seeding device; the rotary tillage device is rotatably arranged on the frame; the fertilizer device and the seeding device are both arranged on the frame, the fertilizer device is provided with a deep fertilizer outlet and a shallow fertilizer outlet, and the seeding device is provided with a seed outlet; the shallow fertilizer outlet is located below the seed outlet and above the deep fertilizer outlet, and the deep fertilizer outlet, the shallow fertilizer outlet and the seed outlet are all located behind the rotary tillage device. The soil cut off by the rotary tillage device will be thrown backwards in turn; the fertilizer device and the seeding device discharge deep fertilizer, shallow fertilizer and seeds, and the fertilizer and seeds will be covered by the soil that falls back to the bottom of the rotary tillage furrow. Due to the different spatial positions of the deep fertilizer outlet, the shallow fertilizer outlet and the seed outlet, the machine can achieve the technical effect of layered distribution of deep fertilizer, shallow fertilizer and seeds.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a layered precision fertilization seeder and a control method thereof. Background Art

[0002] Winter wheat is the main food crop in the Huanghuaihai region of my country. Sowing and basal fertilizer application are an important link in the winter wheat production process. The traditional basal fertilizer broadcasting + row sowing agronomic model is currently widely used in the Huanghuaihai region of my country. The basal fertilizer is mainly spread on the surface manually, and then the fertilizer is mixed with the surface soil using a rotary tiller, or the surface fertilizer is buried deep into the bottom of the plow using a moldboard plow.

[0003] Agronomic experts have proposed a management method of planting wheat in wide seedling strips and applying fertilizer in layers. Compared with traditional row sowing technology, it has shown certain advantages in increasing wheat yield per unit area and improving the physiological characteristics of plant groups. At present, there are relatively few machines that can meet the agronomic requirements of wide seedling strip sowing + layered application of base fertilizer for winter wheat. The layered sowing and fertilization operation method is mostly used in wide-row-spacing crops such as corn, beans, potatoes, and cotton. Most layered sowing and fertilization devices are used in conjunction with furrow openers, relying on the time difference between deep loosening / ditching shovels to break the soil and return the soil to complete the layered delivery of fertilizers. This technical solution easily causes granular fertilizers and seeds to leak to the bottom of the furrow, and the layering effect is poor. It is not completely suitable for narrow-row spacing and densely planted crops such as wheat. Wheat has a small row spacing and a large number of rows. This method will increase the operating resistance of the machine. In addition, the low-spacing arrangement of the trenching shovel will also reduce the anti-blocking performance and passability of the machine. Summary of the invention

[0004] The embodiment of the present invention provides a stratified precision fertilization seeder and a control method thereof, which are used to solve the problem that the existing stratified sowing and fertilization method easily causes granular fertilizers and seeds to leak to the bottom of the ditch, has a poor stratification effect, and is not fully applicable to narrow row spacing and dense planting of crops.

[0005] The embodiment of the present invention provides a layered precision fertilization seeder, comprising a frame, a rotary tillage device, a fertilization device and a sowing device;

[0006] The frame has a front end for connecting with a traction mechanism;

[0007] The rotary tillage device is rotatably arranged on the frame, and the rotary tillage device is used to throw soil backward when the traction mechanism pulls the frame forward;

[0008] The fertilizing device and the sowing device are both arranged on the frame, the fertilizing device is provided with a deep fertilizer discharge port and a shallow fertilizer discharge port, and the sowing device is provided with a seed discharge port;

[0009] The shallow fertilizer discharge port is located below the seed discharge port and above the deep fertilizer discharge port. The deep fertilizer discharge port, the shallow fertilizer discharge port and the seed discharge port are all located behind the rotary tillage device and are used to discharge deep fertilizer, shallow fertilizer and seeds when the rotary tillage device throws soil backwards.

[0010] According to a stratified precision fertilization seeder according to an embodiment of the present invention, the shallow fertilizer discharge port is located directly behind the deep fertilizer discharge port and directly in front of the seed discharge port; and / or,

[0011] The rotary tillage device extends in the left-right direction, and a plurality of deep fertilizer discharge ports, shallow fertilizer discharge ports and seed discharge ports are arranged in a one-to-one correspondence, and the plurality of deep fertilizer discharge ports, the plurality of shallow fertilizer discharge ports and the plurality of seed discharge ports are all arranged at intervals in the left-right direction.

[0012] According to a stratified precision fertilization seeder according to an embodiment of the present invention, the fertilization device includes a deep fertilizer box and a deep fertilizer discharge mechanism, the deep fertilizer box is arranged on the frame and is connected to a deep fertilizer pipe, the deep fertilizer pipe is provided with the deep fertilizer discharge port at one end away from the deep fertilizer box, and the deep fertilizer discharge mechanism is arranged on the side of the deep fertilizer box for controlling the deep fertilizer discharge amount;

[0013] The fertilizing device further comprises a shallow fertilizer box and a shallow fertilizer discharge mechanism, wherein the shallow fertilizer box is arranged on the frame and is connected with a shallow fertilizer pipe, and the shallow fertilizer discharge port is arranged at one end of the shallow fertilizer pipe away from the shallow fertilizer box, and the shallow fertilizer discharge mechanism is arranged on the side of the shallow fertilizer box for controlling the shallow fertilizer discharge amount;

[0014] The sowing device comprises a seed box and a seed discharging mechanism, wherein the seed box is arranged on the frame and is connected to a seed discharging pipe, and the seed discharging port is arranged at one end of the seed discharging pipe away from the seed box, and the seed discharging mechanism is arranged on the side of the seed box and is used to control the seed discharging amount;

[0015] The stratified precision fertilization seeder also includes a control device, and the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are all connected to the control device.

[0016] According to a stratified precision fertilization seeder according to an embodiment of the present invention, the deep fertilizer pipe, the shallow fertilizer pipe and the seeding pipe are all arranged to be adjustable forward and backward relative to the rotary tillage device; and / or,

[0017] The deep fertilizer discharge port, the shallow fertilizer discharge port and the seed discharge port can all be adjusted up and down.

[0018] According to a stratified precision fertilization seeder according to one embodiment of the present invention, the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are all hydraulic drive mechanisms, and the control device connects the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism through a hydraulic system valve group.

[0019] According to an embodiment of the present invention, the stratified precision fertilization seeder further comprises a traction mechanism, the front end of the frame is connected to the traction mechanism for traction of the frame forward;

[0020] The control device comprises a control terminal arranged on the traction mechanism, and a controller connected to the control terminal, and the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are all connected to the controller.

[0021] According to the layered precision fertilization seeder according to one embodiment of the present invention, a positioning device is provided on the traction mechanism, and the positioning device is connected to the control terminal.

[0022] According to a stratified precision fertilization seeder according to an embodiment of the present invention, the front end of the frame is connected to the traction mechanism in an upside-down manner, so that the stratified precision fertilization seeder has a standby posture in which the frame is turned over and close to the traction mechanism, and a working posture opposite to the standby posture;

[0023] The frame is provided with a posture sensor connected with the control terminal.

[0024] According to a stratified precision fertilization seeder according to an embodiment of the present invention, a suppression mechanism is provided on the frame, and the suppression mechanism is located behind the deep fertilizer discharge port, the shallow fertilizer discharge port and the seed discharge port; and / or,

[0025] The frame is provided with a stubble-breaking shovel facing forward, and the stubble-breaking shovel protrudes forward from the rotary tillage device; and / or,

[0026] The frame is provided with a depth limiting wheel which can be adjusted up and down.

[0027] The embodiment of the present invention also provides a control method for a layered precision fertilization seeder, comprising:

[0028] After obtaining the initial setting operation information, determine whether the stratified precision fertilization seeder has an operation speed;

[0029] If it is determined that the stratified precision fertilization seeder has an operating speed, then determining the posture of the stratified precision fertilization seeder;

[0030] If it is determined that the stratified precision fertilization seeder is in an operating posture, a target operating speed is calculated according to the initial setting operating information;

[0031] The deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are controlled to operate at the target operating speed.

[0032] The rotary tillage device of the stratified precision fertilization and seeder provided in the embodiment of the present invention can complete soil cutting, soil crushing and soil throwing operations, and the soil cut by the rotary tillage device will be thrown backwards in sequence; the fertilization device and the sowing device will continuously discharge deep fertilizer, shallow fertilizer and seeds while moving in a straight line with the rotary tillage device, and the fertilizer and seeds will be covered by the soil that falls back to the bottom of the rotary tillage furrow. Since the spatial positions of the deep fertilizer discharge port, the shallow fertilizer discharge port and the seed discharge port are different, the machine can achieve the technical effect of layered distribution of deep fertilizer, shallow fertilizer and seeds, thereby avoiding the need to use a furrow opener for furrowing operations, reducing the operating resistance of the machine, and making fertilizer stratification more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a structural schematic diagram of a layered precision fertilization seeder provided by an embodiment of the present invention;

[0035] Figure 2 yes Figure 1 The structural diagram of the middle part;

[0036] Figure 3 yes Figure 2 A cross-sectional view of

[0037] Figure 4 The present invention provides a flowchart of a method for controlling a layered precision fertilization seeder.

[0038] Reference numerals:

[0039] 100: Layered precision fertilization seeder; 1: Frame; 11: Posture sensor; 12: Suppression mechanism; 13: Stubble shovel; 14: Depth-limiting wheel; 15: Three-point suspension mechanism; 16: Pedal; 17: Drive shaft; 18: Variable speed transmission box; 2: Rotary tillage device; 3: Fertilizer device; 31: Deep fertilizer box; 32: Deep fertilizer discharge mechanism; 33: Deep fertilizer pipe; 331: Deep fertilizer discharge port; 34: Shallow fertilizer box; 35: Shallow fertilizer discharge mechanism; 36: Shallow fertilizer pipe; 361: Shallow fertilizer discharge port; 37: Fertilizer discharge box; 4: Seeding device; 41: Seed box; 42: Seed discharge mechanism; 43: Seed discharge pipe; 431: Seed discharge port; 44: Seed discharge box; 5: Traction mechanism; 51: Positioning device; 61: Hydraulic system valve group; 62: Control terminal; 63: Controller. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] The embodiment of the present invention provides a layered precision fertilization seeder, such as Figure 1 As shown, the layered precision fertilization seeder 100 (hereinafter referred to as the machine 100 ) includes a frame 1 , a rotary tillage device 2 , a fertilization device 3 and a sowing device 4 .

[0042] like Figure 1 As shown, the frame 1 has a front end for connecting with the traction mechanism 5. Under the dragging action of the traction mechanism 5, the frame 1 can move with the traction mechanism 5. The implement 100 may not include the traction mechanism 5; the implement 100 may also include the traction mechanism 5, and the traction mechanism 5 may generally be a tractor or the like (hereinafter, the traction mechanism 5 is described as a tractor as an example), and the front end of the frame 1 is connected to the rear of the tractor, and the tractor can pull the frame 1 forward.

[0043] like Figure 1 As shown, the rotary tillage device 2 is rotatably disposed on the frame 1, and the rotary tillage device 2 is used to throw soil backward when the traction mechanism 5 pulls the frame 1 forward. The rotary tillage device 2 generally includes a rotary tillage shaft and a rotary tillage blade. The rotary tillage shaft extends in the left and right directions, and both ends of the rotary tillage shaft are rotatably connected to the frame 1. A plurality of rotary tillage blades are arranged on the rotary tillage shaft along the axial direction and at intervals in the circumferential direction. When the tractor pulls and drags the frame 1 forward and the rotary tillage device 2 rotates, the rotary tillage device 2 can complete the operations of cutting, crushing and throwing soil, and the soil cut by the rotary tillage blade of the rotary tillage device 2 will be thrown backward in sequence. Figures 1 to 3As shown, in this embodiment, the machine 100 further includes a transmission shaft 17, one end of which is connected to the tractor, and the other end of which is connected to the rotary tillage shaft of the rotary tillage device 2 through a speed transmission box 18, and the rear power output shaft of the traction mechanism 5 provides power to the rotary tillage device 2. Figure 1 As shown, in this embodiment, a forward stubble shovel 13 is provided on the frame 1, and the stubble shovel 13 protrudes forward from the rotary tillage device 2, and a plurality of stubble shovels 13 can be provided on the frame 1 at intervals on the left and right.

[0044] like Figures 1 to 3 As shown, the fertilizing device 3 and the sowing device 4 are both arranged on the frame 1, the fertilizing device 3 is provided with a deep fertilizer discharge port 331 and a shallow fertilizer discharge port 361, and the sowing device 4 is provided with a seed discharge port 431. The shallow fertilizer discharge port 361 is located below the seed discharge port 431 and above the deep fertilizer discharge port 331, and the deep fertilizer discharge port 331, the shallow fertilizer discharge port 361 and the seed discharge port 431 are all located behind the rotary tillage device 2, and are used to discharge deep fertilizer, shallow fertilizer and seeds when the rotary tillage device 2 throws soil backwards. While the fertilizing device 3 and the sowing device 4 move linearly with the rotary tillage device 2, they will continuously discharge deep fertilizer, shallow fertilizer and seeds, and the fertilizer and seeds will be covered by the soil that falls back to the bottom of the rotary tillage furrow. Due to the different spatial positions of the deep fertilizer outlet 331, the shallow fertilizer outlet 361 and the seed outlet 431, the machine 100 will achieve the technical effect of stacking deep fertilizer, shallow fertilizer and seeds, and can complete the wide-range sowing of crops and the precise positioning and delivery of base fertilizer in layers at one time, so as to achieve precise layered fertilization directly below the crop seeds. Among them, Figure 1 and Figure 3 As shown, the shallow fertilizer discharge port 361 is usually located directly behind the deep fertilizer discharge port 331 and directly in front of the seed discharge port 431. In addition, the deep fertilizer discharge port 331, the shallow fertilizer discharge port 361 and the seed discharge port 431 are all arranged downward.

[0045] The rotary tillage device 2 of the machine 100 provided in the embodiment of the present invention can complete soil cutting, soil crushing and soil throwing operations. The soil cut by the rotary tillage device 2 will be thrown backwards in sequence; the fertilization device 3 and the sowing device 4 will continuously discharge deep fertilizer, shallow fertilizer and seeds while moving in a straight line with the rotary tillage device 2. The fertilizer and seeds will be covered by the soil that falls back to the bottom of the rotary tillage furrow. Since the spatial positions of the deep fertilizer discharge port 331, the shallow fertilizer discharge port 361 and the seed discharge port 431 are different, the machine can achieve the technical effect of layered distribution of deep fertilizer, shallow fertilizer and seeds, thereby avoiding the need to use a furrow opener for furrowing operations, reducing the operating resistance of the machine, and making the fertilizer layering more accurate.

[0046] The sowing device 4 is provided with a seed discharge port 431, specifically, as Figure 2 and Figure 3As shown, in this embodiment, the sowing device 4 includes a seed box 41 and a seeding mechanism 42. The seed box 41 is arranged on the frame 1 and is connected to a seeding tube 43. The end of the seeding tube 43 away from the seed box 41 is provided with a seed discharge port 431. The seeding mechanism 42 is arranged on the side of the seed box 41 to control the seed discharge amount. The seeding mechanism 42 can be a hydraulic drive mechanism. The seeding mechanism 42 can be driven by a hydraulic motor. By controlling the speed of the hydraulic motor, the seed discharge amount can be controlled. And, as Figure 3 As shown, one end of the seeding tube 43 is connected to the seed box 41 through the seeding box 44, and the seeding box 44 is retracted in the direction away from the seed box 41, which is conducive to the seeds in the seed box 41 entering the seeding tube 43.

[0047] like Figure 2 and Figure 3 As shown, the sowing device 4 usually has seed discharge openings 431 spaced apart from each other on the left and right sides. Correspondingly, the seed box 41 can be extended in the left and right directions and connected with a plurality of seed discharge pipes 43. The plurality of seed discharge pipes 43 are spaced apart from each other on the left and right sides to form a plurality of seed discharge openings 431.

[0048] The fertilizing device 3 is provided with a deep fertilizer outlet 331 and a shallow fertilizer outlet 361. Specifically, Figure 2 and Figure 3 As shown, in this embodiment, the fertilizing device 3 includes a deep fertilizer box 31 and a deep fertilizer discharge mechanism 32, the deep fertilizer box 31 is arranged on the frame 1 and is connected to a deep fertilizer pipe 33, the deep fertilizer pipe 33 is provided with a deep fertilizer discharge port 331 at one end away from the deep fertilizer box 31, and the deep fertilizer discharge mechanism 32 is arranged on the side of the deep fertilizer box 31 for controlling the deep fertilizer discharge amount; the fertilizing device 3 also includes a shallow fertilizer box 34 and a shallow fertilizer discharge mechanism 35, the shallow fertilizer box 34 is arranged on the frame 1 and is connected to a shallow fertilizer pipe 36, the shallow fertilizer pipe 36 is provided with a shallow fertilizer discharge port 361 at one end away from the shallow fertilizer box 34, and the shallow fertilizer discharge mechanism 35 is arranged on the side of the shallow fertilizer box 34 for controlling the shallow fertilizer discharge amount. The deep fertilizer discharging mechanism 32 and the shallow fertilizer discharging mechanism 35 can both be hydraulic drive mechanisms. The deep fertilizer discharging mechanism 32 and the shallow fertilizer discharging mechanism 35 can be driven by two hydraulic motors respectively. By controlling the rotation speed of the two hydraulic motors, the displacement of the deep fertilizer and the shallow fertilizer can be controlled. Figure 3 As shown, one end of the deep fertilizer pipe 33 is connected to the deep fertilizer box 31 through a fertilizer discharge box 37, and the fertilizer discharge box 37 is retracted in the direction away from the deep fertilizer box 31, which is conducive to the deep fertilizer in the deep fertilizer box 31 entering the deep fertilizer pipe 33; similarly, one end of the shallow fertilizer pipe 36 is connected to the shallow fertilizer box 34 through a fertilizer discharge box 37, and the fertilizer discharge box 37 is retracted in the direction away from the shallow fertilizer box 34, which is conducive to the shallow fertilizer in the shallow fertilizer box 34 entering the shallow fertilizer pipe 36.

[0049] like Figure 2 and Figure 3 As shown, a plurality of deep fertilizer outlets 331, shallow fertilizer outlets 361 and seed outlets 431 are provided one by one, and the plurality of deep fertilizer outlets 331, the plurality of shallow fertilizer outlets 361 and the plurality of seed outlets 431 are all arranged at intervals along the left and right sides. Correspondingly, the deep fertilizer box 31 can be extended along the left and right directions, and connected with a plurality of deep fertilizer pipes 33, and the plurality of deep fertilizer pipes 33 are arranged at intervals along the left and right sides to form a plurality of deep fertilizer outlets 331; similarly, the shallow fertilizer box 34 can be extended along the left and right directions, and connected with a plurality of shallow fertilizer pipes 36, and the plurality of shallow fertilizer pipes 36 are arranged at intervals along the left and right sides to form a plurality of shallow fertilizer outlets 361.

[0050] like Figure 2 and Figure 3 As shown, in this embodiment, the deep fertilizer pipe 33, the shallow fertilizer pipe 36, and the seed pipe 43 are arranged in a stepped manner in the front-to-back direction, the deep fertilizer pipe 33 is close to the rotary tillage device 2, the fertilizer outlet of the deep fertilizer pipe 33 (i.e., the deep fertilizer outlet 331) is closest to the ground, the shallow fertilizer pipe 36 is in the middle of the deep fertilizer pipe 33 and the seed pipe 43, the fertilizer outlet of the shallow fertilizer pipe 36 (i.e., the shallow fertilizer outlet 361) is higher than the fertilizer outlet of the deep fertilizer pipe 33, and lower than the outlet of the seed pipe 43 (i.e., the seed outlet 431), the seed pipe 43 is behind the shallow fertilizer pipe 36, and the outlet of the seed pipe 43 is the highest. In addition, in this embodiment, the deep fertilizer pipe 33, the shallow fertilizer pipe 36, and the seed pipe 43 are all arranged to be adjustable forward and backward relative to the rotary tillage device 2; and / or, the deep fertilizer outlet 331, the shallow fertilizer outlet 361, and the seed outlet 431 are all arranged to be adjustable up and down. In this way, the depth of deep fertilizer, shallow fertilizer and seeds in the soil can be achieved by adjusting the center distance between the deep fertilizer pipe 33, the shallow fertilizer pipe 36, the seed discharge pipe 43 and the rotary tillage device 2, and the distance between the deep fertilizer discharge port 331, the shallow fertilizer discharge port 361 and the seed discharge port 431 and the ground.

[0051] Typically, the machine 100 also includes a control device, and the deep fertilizer discharging mechanism 32, the shallow fertilizer discharging mechanism 35, and the seed discharging mechanism 42 are all connected to the control device. For example, in this embodiment, the deep fertilizer discharging mechanism 32, the shallow fertilizer discharging mechanism 35, and the seed discharging mechanism 42 are all hydraulic drive mechanisms, and the control device connects the deep fertilizer discharging mechanism 32, the shallow fertilizer discharging mechanism 35, and the seed discharging mechanism 42 through the hydraulic system valve group 61. Specifically, Figure 1 As shown, in this embodiment, the control device includes a control terminal 62 arranged on the tractor, and a controller 63 connected to the control terminal 62, and the deep fertilizer discharge mechanism 32, the shallow fertilizer discharge mechanism 35 and the seed discharge mechanism 42 are all connected to the controller 63. The control terminal 62 can be installed in the cab of the tractor, and the control terminal 62 is connected to the controller 63 through a cable. The controller 63 can be installed in the cab of the tractor, the frame 1, the fertilizing device 3 or the sowing device 4, for example, Figure 2As shown, in this embodiment, the controller 63 is installed on the left outer wall of the deep fertilizer box 31 and the left outer wall of the shallow fertilizer box 34, respectively, so that it is convenient to connect. The deep fertilizer discharge mechanism 32, the shallow fertilizer discharge mechanism 35, and the seed discharge mechanism 42 are all driven by hydraulic motors, and the deep fertilizer discharge mechanism 32, the shallow fertilizer discharge mechanism 35, and the seed discharge mechanism 42 are all connected to the hydraulic system valve group 61 by hydraulic pipes, and the hydraulic system valve group 61 is connected to the rear hydraulic output device of the tractor through the hydraulic pipe, and the tractor is used to provide hydraulic power.

[0052] like Figure 1 As shown, in this embodiment, a positioning device 51 is provided on the tractor, and the positioning device 51 is connected to the control terminal 62. The positioning device 51 can be a satellite positioning antenna, etc. The satellite positioning antenna is usually installed at the top center of the tractor, and the control terminal 62 can obtain the position and operating speed of the machine 100 through the positioning device 51.

[0053] like Figures 1 to 3 As shown, in this embodiment, the front end of the frame 1 is connected to the tractor in an upside-down manner, so that the implement 100 has a standby posture in which the frame 1 is turned toward the tractor, and a working posture opposite to the standby posture; a posture sensor 11 connected to the control terminal 62 is provided on the frame 1. The posture sensor 11 can be an angle sensor, etc. Figure 1 As shown, the frame 1 is connected to the tractor through a three-point suspension mechanism 15, and the posture sensor 11 is installed on the lower pull rod of the three-point suspension mechanism 15. The posture sensor 11 is used to monitor the operating status of the implement 100. The precision control implement 100 based on the electro-hydraulic control technology performs seeding and fertilizer discharge operations, which changes the problem that the seeding amount and fertilizer discharge amount of the traditional ground wheel drive are difficult to adjust and the accuracy is poor. The operating status of the implement 100 is judged based on the posture sensor 11, which reduces the interference of the operator's misoperation on the control device, thereby improving the degree of automatic control of sowing and fertilization of the entire implement 100. The target seeding and fertilizer discharge rates are set by the control terminal 62, and the three hydraulic motors independently control the discharge rates of the deep fertilizer box 31, the shallow fertilizer box 34 and the seed box 41. A fertilization control method is adopted in which the tractor driving speed is matched with the hydraulic motor speed in real time. The tractor travel speed is calculated using satellite positioning data, and the attitude sensor 11 is used to sense the tractor working state. According to the operating speed, the seeding and fertilizer discharge rates are controlled in real time to achieve the requirement of accurately controlling the discharge rates of deep fertilizers, shallow fertilizers and wheat seeds.

[0054] like Figure 1 and Figure 2 As shown, in this embodiment, a depth limiting wheel 14 which can be adjusted up and down is provided on the frame 1, and a plurality of depth limiting wheels 14 are usually provided on the front end of the frame 1 at intervals on the left and right, and the rotary tillage depth can be adjusted by the depth limiting wheel 14.

[0055] like Figure 1 and Figure 2 As shown, in this embodiment, a pressing mechanism 12 is provided on the frame 1, and the pressing mechanism 12 is located behind the deep fertilizer discharge port 331, the shallow fertilizer discharge port 361 and the seed discharge port 431. The pressing mechanism 12 generally includes a pressing wheel drum extending in the left and right directions and capable of rotating, and a proper amount of spikes are installed on the pressing wheel drum.

[0056] The embodiment of the present invention provides a control method for a stratified precision fertilization seeder, and the control method for the stratified precision fertilization seeder may include the following steps:

[0057] Step S110, when the initial setting operation information is obtained, it is determined whether the stratified precision fertilization seeder has an operation speed.

[0058] Specifically, the initial setting operation information may include the configuration parameters of the machine, the target application amount of deep fertilizer, the target application amount of shallow fertilizer, the target sowing amount of crops, etc., wherein the configuration parameters of the machine mainly include the working width of the machine, the number of sowing and fertilization rows, etc. After the control device of the machine is started, the operator can input the initial setting operation information through the control terminal.

[0059] Step S120: If it is determined that the stratified precision fertilization seeder has an operating speed, the posture of the stratified precision fertilization seeder is determined.

[0060] Specifically, after the control device is started, the control terminal will establish a connection relationship with the positioning device, the posture sensor, and the controller. The control terminal can obtain the spatial position information of the machine through the positioning device, and determine whether the machine has an operating speed based on the spatial position information of the machine. If it is determined that the machine has an operating speed, the control terminal obtains the posture information of the machine through the posture sensor, and determines whether the stratified precision fertilization seeder is in an operating posture based on the posture information of the machine.

[0061] Step S130: If it is determined that the stratified precision fertilization seeder is in an operating posture, the target operating speed is calculated according to the initial setting operating information.

[0062] Specifically, the target operating speed includes the target operating speed of the deep fertilizer discharge mechanism, the target operating speed of the shallow fertilizer discharge mechanism and the target operating speed of the seed discharge mechanism. For example, after the machine is in the working posture, the control device will calculate the target discharge amount of deep fertilizer, shallow fertilizer and seeds according to the initial setting operation information, and convert the discharge amount into a speed signal of the hydraulic motor and transmit it to the controller through the CAN bus.

[0063] Step S140, controlling the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism to operate at a target operating speed.

[0064] Optionally, the controller controls the speed of the hydraulic motor by controlling the hydraulic oil flow rate of the electro-hydraulic proportional valve of the hydraulic system valve group, and monitors the speed in real time through a photoelectric encoder, and feeds back the real-time speed data to the controller, so that the controller can fine-tune and correct the speed of the hydraulic motor, forming a closed-loop control device.

[0065] The following is an example of using a machine to sow and fertilize wheat, and the controller is a PID controller, and the deep fertilizer discharge mechanism, shallow fertilizer discharge mechanism and seed discharge mechanism are driven by three hydraulic motors respectively:

[0066] The first step is to configure equipment parameters and target fertilizer and wheat application rate information.

[0067] The operator configures equipment parameters, fertilizer, wheat target sowing rate information and other initial operation information through the control terminal.

[0068] The second step is to confirm whether the configuration information is entered completely.

[0069] After receiving the configuration information, the control terminal will determine whether the configuration information is completely input. If the configuration information is not completely input, it will prompt to complete the configuration information; if the configuration information is completely input, the third step will be executed.

[0070] The third step is to read the machine location information.

[0071] The control terminal can read the location information of the machine through the positioning device.

[0072] The fourth step is to determine whether there is an operating speed.

[0073] The control terminal can determine whether the machine has an operating speed based on the machine's position information. If the machine does not have an operating speed, the theoretical speed of the three hydraulic motors is determined to be 0, and the third step is continued; if the machine has an operating speed, the fifth step is executed.

[0074] The fifth step is to read the machine posture information.

[0075] The control terminal can read the posture information of the machine through the posture sensor.

[0076] The sixth step is to determine whether it is in working posture.

[0077] The control terminal can determine whether the machine is in the working posture according to the posture information of the machine. If the machine is not in the working posture, the theoretical speed of the three hydraulic motors is determined to be 0, and the fifth step is continued; if the machine is in the working posture, the seventh step is executed.

[0078] Step 7. Calculate the theoretical hydraulic motor speed.

[0079] The control terminal can calculate the theoretical rotation speeds of the three hydraulic motors according to the configuration information, and send the calculated theoretical rotation speeds of the three hydraulic motors as target rotation speeds to the PID controller.

[0080] In the eighth step, the PID controller receives the target speed.

[0081] Step 9: Read the actual speed of the hydraulic motor.

[0082] The PID controller will read the actual speed of the three hydraulic motors in real time or periodically.

[0083] The tenth step is to determine whether the actual speed of the hydraulic motor is equal to the target speed.

[0084] If the PID controller determines that the actual speed of the hydraulic motor is equal to the target speed, the eleventh step is executed; if the PID controller determines that the actual speed of the hydraulic motor is not equal to the target speed, the twelfth step is executed.

[0085] Step 11: Maintain the opening of the proportional valve and the speed of the hydraulic motor.

[0086] Step 12: Determine whether the actual speed of the hydraulic motor is less than the target speed.

[0087] If the PID controller determines that the actual speed of the hydraulic motor is greater than the target speed, the proportional valve opening is reduced to reduce the speed of the hydraulic motor; if the PID controller determines that the actual speed of the hydraulic motor is less than the target speed, the proportional valve opening is increased to increase the speed of the hydraulic motor.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A layered precision fertilization seeder, characterized in that: It includes a frame, a rotary tillage device, a fertilizing device and a sowing device; The frame has a front end for connecting with a traction mechanism; The rotary tillage device is rotatably arranged on the frame, and the rotary tillage device is used to throw soil backward when the traction mechanism pulls the frame forward; The fertilizing device and the sowing device are both arranged on the frame, the fertilizing device is provided with a deep fertilizer discharge port and a shallow fertilizer discharge port, and the sowing device is provided with a seed discharge port; The shallow fertilizer discharge port is located below the seed discharge port and above the deep fertilizer discharge port. The deep fertilizer discharge port, the shallow fertilizer discharge port and the seed discharge port are all located behind the rotary tillage device, and are used to discharge deep fertilizer, shallow fertilizer and seeds when the rotary tillage device throws soil backwards; The fertilizing device comprises a deep fertilizer box and a deep fertilizer discharge mechanism, wherein the deep fertilizer box is arranged on the frame and is connected with a deep fertilizer pipe, and the deep fertilizer discharge port is arranged at one end of the deep fertilizer pipe away from the deep fertilizer box, and the deep fertilizer discharge mechanism is arranged on the side of the deep fertilizer box for controlling the discharge amount of the deep fertilizer; The fertilizing device further comprises a shallow fertilizer box and a shallow fertilizer discharge mechanism, wherein the shallow fertilizer box is arranged on the frame and is connected with a shallow fertilizer pipe, and the shallow fertilizer discharge port is arranged at one end of the shallow fertilizer pipe away from the shallow fertilizer box, and the shallow fertilizer discharge mechanism is arranged on the side of the shallow fertilizer box for controlling the shallow fertilizer discharge amount; The sowing device comprises a seed box and a seed discharging mechanism, wherein the seed box is arranged on the frame and is connected to a seed discharging pipe, and the seed discharging port is arranged at one end of the seed discharging pipe away from the seed box, and the seed discharging mechanism is arranged on the side of the seed box and is used to control the seed discharging amount; The stratified precision fertilization seeder also includes a control device, and the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are all connected to the control device; The deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are all hydraulic drive mechanisms, and the control device connects the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism through a hydraulic system valve group; The seeding tube is connected to the seed box through the seeding box, and the seeding box is retracted in the direction away from the seed box; One end of the deep fertilizer pipe is connected to the deep fertilizer box through a fertilizer discharge box, and the fertilizer discharge box is retracted in a direction away from the deep fertilizer box; One end of the shallow fertilizer pipe is connected to the shallow fertilizer box through a fertilizer discharge box, and the fertilizer discharge box is retracted in a direction away from the shallow fertilizer box; The layered precision fertilization seeder also includes a traction mechanism, and the front end of the frame is connected to the traction mechanism for pulling the frame forward; The control device includes a control terminal arranged on the traction mechanism, and a controller connected to the control terminal, and the deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are all connected to the controller; The front end of the frame is connected to the traction mechanism in an upside-down manner, so that the stratified precision fertilization seeder has a standby posture in which the frame is turned over and close to the traction mechanism, and a working posture opposite to the standby posture; The frame is provided with a posture sensor connected to the control terminal; The traction mechanism is provided with a positioning device, and the positioning device is connected to the control terminal.

2. The stratified precision fertilization seeder according to claim 1, characterized in that: The shallow fertilizer outlet is located directly behind the deep fertilizer outlet and directly in front of the seed outlet; and / or, The rotary tillage device extends in the left-right direction, and a plurality of deep fertilizer discharge ports, shallow fertilizer discharge ports and seed discharge ports are arranged in a one-to-one correspondence, and the plurality of deep fertilizer discharge ports, the plurality of shallow fertilizer discharge ports and the plurality of seed discharge ports are all arranged at intervals in the left-right direction.

3. The stratified precision fertilization seeder according to claim 1, characterized in that: The deep fertilizer pipe, the shallow fertilizer pipe and the seeding pipe are all arranged to be adjustable forward and backward relative to the rotary tillage device; and / or, The deep fertilizer discharge port, the shallow fertilizer discharge port and the seed discharge port can all be adjusted up and down.

4. The stratified precision fertilization seeder according to any one of claims 1 to 3, characterized in that: The frame is provided with a suppression mechanism, and the suppression mechanism is located behind the deep fertilizer discharge port, the shallow fertilizer discharge port and the seed discharge port; and / or, The frame is provided with a stubble-breaking shovel facing forward, and the stubble-breaking shovel protrudes forward from the rotary tillage device; and / or, The frame is provided with a depth limiting wheel which can be adjusted up and down.

5. A control method for a stratified precision fertilization seeder based on the stratified precision fertilization seeder according to claim 1, characterized in that: include: After obtaining the initial setting operation information, determine whether the stratified precision fertilization seeder has an operation speed; If it is determined that the stratified precision fertilization seeder has an operating speed, then determining the posture of the stratified precision fertilization seeder; If it is determined that the stratified precision fertilization seeder is in an operating posture, a target operating speed is calculated according to the initial setting operating information; The deep fertilizer discharge mechanism, the shallow fertilizer discharge mechanism and the seed discharge mechanism are controlled to operate at the target operating speed.

Images