In-situ reseeding method of precision hole seeding device

Abstract

The present invention relates to the technical field of missed seeding and reseeding, and specifically discloses a method for in-situ reseeding of a precision hill-drop planter, including: 1) taking a single complete cavity in the seed metering disc and the partition behind it as a seed metering unit, and spacing m seed metering units between the seed dropping starting line in the seed metering system and the radial line where the detection unit is located; 2) summarizing different degrees of continuous missed seeding situations that occur in the seed metering system; 3) combining the seed metering units in different missed seeding situations with the adjacent previous filling and seeding units into a corresponding reseeding event; 4) accelerating the reseeding event to cross over the adjacent previous filling and seeding unit first and then decelerating to pass over the missed filling unit within time T i ; 5) triggering a variable-speed reseeding task when the reseeding event reaches the seed dropping starting line; the present invention automatically adjusts the variable speed according to different degrees of continuous missed seeding, and returns to the normal seeding rotation speed when the adjacent subsequent filled seed metering unit drops seeds, so as to achieve seeding when all filled cavities have a normal seeding rotation speed, and achieve the effect of in-situ reseeding.

Description

Technical Field

[0001] The invention relates to the technical field of missed seeding reseeding, and in particular discloses an in-situ reseeding method of a precision hole-seeding seed meter. Background Art

[0002] The reseeding methods currently used mainly include auxiliary seeding mechanism reseeding and variable speed self-reseeding. The auxiliary seeding mechanism reseeding method requires the configuration of a servo-waiting auxiliary seeding mechanism, and triggers the auxiliary seeding mechanism to complete the reseeding task when the main seeding device misses sowing. For example, the utility model patent with application number 2020208710917 discloses a system for missed sowing detection and automatic reseeding during precision corn sowing, including a magnetic switch for detecting the sowing action of a precision corn seeding device; a photoelectric switch for detecting whether the sowing is effective during the sowing action; a single-chip computer, respectively connected to the magnetic switch and the photoelectric switch, for determining whether the photoelectric switch is triggered within a set time after the magnetic switch is triggered; a stepper motor driver, connected to the single-chip computer, for receiving a drive signal from the single-chip computer when missed sowing occurs; a stepper motor driver connected to the stepper motor, for controlling the rotation of the stepper motor according to the drive signal; and a reseeder, connected to the stepper motor, for reseeding. In this reseeding method, since the spatial distribution of the auxiliary seed-feeding mechanism is difficult to coincide with that of the main seed-feeding device, the seeding trajectory of the auxiliary seed-feeding mechanism during reseeding is difficult to coincide with the seeding trajectory of the main seed-feeding device in time and space, so it is difficult to achieve in-situ reseeding; at the same time, it is also difficult to achieve reseeding due to continuous missed seeds of the main seed-feeding device and simultaneous missed seeds of the auxiliary seed-feeding mechanism; in addition, the addition of the auxiliary seed-feeding mechanism not only increases the manufacturing cost of the sowing device, but also makes the structure of the sowing unit complicated.

[0003] The variable speed self-seeding method is that when there is a missed seeding, the seed meter adjusts the seeding speed to accelerate and jump over the missed hole, thereby avoiding the missed seeding failure. For example, the utility model patent with application number 2016210820815 discloses a spoon wheel type seed meter to prevent missed seeding and variable speed seeding mechanism, which includes a spoon wheel type seed meter composed of a power input shaft, a gear transmission, a housing, a seeding groove wheel, a partition, a seed filling spoon wheel, a cover body and a seeding shaft assembly. A beam type photoelectric sensor is coaxially installed on the outer edge end face of the housing and the cover body of the spoon wheel type seed meter. The single chip microcomputer is connected to the beam type photoelectric sensor and the stepper motor through wires. The motor of the stepper motor The shaft is connected to the power input shaft of the scoop wheel type seed meter; the scoop wheel type seed meter is equipped with a combined technical structure of missed seeding real-time detection and variable speed reseeding, which achieves the effect of synchronous and timely reseeding of missed seeds. However, the seeding speed adjustment of the accelerated reseeding method is simple, and the force form of the seeds during seeding is not considered, resulting in a higher seeding speed during reseeding than during normal seeding, which affects the seed hole formation and the uniformity of the hole distance; in addition, in the case of continuous missed seeds in multiple cavities, timely reseeding cannot be performed for the continuous missed seeds. Therefore, in view of the shortcomings of the existing auxiliary seeding mechanism reseeding and variable speed self-reseeding equipment and methods, this application proposes an in-situ reseeding method for a precision hole seeding device that can effectively solve the above technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide an in-situ reseeding method for a precision hole-seeding seed metering device, so as to solve the shortcomings of the existing auxiliary seeding mechanism reseeding and variable speed self-reseeding methods mentioned in the background technology.

[0005] The present invention is achieved through the following technical solutions:

[0006] A method for in-situ reseeding of a precision hole-seeding seed meter comprises the following steps:

[0007] 1) Take a single complete cavity and its rear partition in the seeding disc as a seeding unit, and set the interval between the seeding starting line in the seeding system and the radial line where the detection unit is located to m complete seeding units;

[0008] 2) The different degrees of continuous missed sowing situations that may occur in the seeding system are summarized as: 1 hole missed sowing, 2 consecutive holes missed sowing, 3 consecutive holes missed sowing...n consecutive holes missed sowing, and n<m;

[0009] 3) Design an in-situ supplementary strategy for combined filling and leaking, combining the leaking and filling seeding units under different degrees of continuous leaking seeding with the adjacent filling and filling seeding units into a corresponding reseeding event;

[0010] 4) Design the variable speed reseeding task, that is, the corresponding reseeding event is accelerated to pass the seed filling unit within the time Ti, and then decelerated to pass the missed seed filling unit, so that the adjacent seed filling unit returns to the normal seeding speed when sowing, and Ti is the seeding time corresponding to each seeding unit during normal sowing;

[0011] 5) When the reseeding event reaches the seeding starting line, the speed-changing reseeding task is triggered, so that the adjacent seeding unit that has been fully seeded can return to the normal seeding speed when sowing.

[0012] As a further configuration of the above solution, the speed change process of the reseeding event in step 4) includes five stages within the time Ti: rapid acceleration, slow acceleration, average speed, rapid deceleration and slow deceleration.

[0013] As a further configuration of the above scheme, the duration of the five stages of rapid acceleration, slow acceleration, average speed, rapid deceleration and slow deceleration is equal, and the duration of each speed change stage is T i / 5.

[0014] As a further configuration of the above scheme, when more than m consecutive holes are missed in step 2), it is determined that the seeding system fails and the system issues an alarm.

[0015] As a further configuration of the above scheme, the different degrees of continuous missed seeding in step 2) are judged by the detection unit on the seeding system scanning the cavities in the seeding unit one by one, and are obtained by continuous accumulation based on the judged missed seeding states.

[0016] The present invention regards a single complete cavity and its rear partition as a seeding unit, and sets a seeding starting line of the seeding system and a radial line where the detection unit is located at an interval of m complete seeding units, and uses the detection unit to record the relative position of the currently detected cavity from the seeding starting line.

[0017] When a cavity leakage event occurs, the system combines the seeding unit to which the leakage cavity belongs and the seeding unit to which the adjacent cavity that has been successfully filled with seeds belongs into a reseeding event, and triggers the variable speed reseeding task when the reseeding event reaches the seeding port. At this time, the seeding trajectory of the adjacent cavity that has been successfully filled with seeds is not affected by the speed change of the seed disc, and it is still normal seeding. During the variable speed reseeding process, the speed control of the seed disc adopts a five-segment S-curve speed regulation algorithm with the same duration, which can automatically adjust the speed change according to different continuous leakage cavities, and return to the normal seeding speed when the adjacent cavity that has been filled with seeds is seeded, so that all the filled cavities can be seeded at the normal seeding speed, achieving the effect of in-situ reseeding.

[0018] Compared with the prior art, the advantages of the present invention include:

[0019] The present invention adopts a detection unit to record the position of the radial line from the seeding starting line, obtains a precise speed change starting time point, combines the working speed set by the current seeding disk, and then completes the corresponding speed change reseeding control according to the corresponding continuous missed seeding event. The speed change reseeding control adopts the method of first accelerating and then decelerating, which can ensure that the cavity that has been filled with seeds returns to the normal seeding speed when it reaches the position of the seeding starting line, and can avoid the influence of the speed change reseeding process on the seeding trajectory of each filling cavity, thereby realizing a precise in-situ reseeding process.

[0020] The variable speed reseeding control process in the present invention further adopts an S-curve motor automatic speed regulation algorithm, so that the variable speed reseeding process consists of five speed change stages of equal duration, namely rapid acceleration, slow acceleration, constant speed, rapid deceleration and slow deceleration. The motor rotation in the variable speed reseeding process is smooth and impact-free, and the impact of the variable speed reseeding process on the seed filling, seeding and missed seeding detection of the seeding system is effectively reduced.

[0021] The present invention designs corresponding in-situ supplementary strategies and variable-speed reseeding tasks for different degrees of continuous missed sowing situations, so that in various situations such as 1-hole missed sowing, 2-hole missed sowing in a row, 3-hole missed sowing in a row and n-hole missed sowing in a row, the present invention can make corresponding variable-speed reseeding actions in response to different missed sowing situations, and has a wider range of applications and excellent in-situ reseeding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the structure division of the seeding unit in the seeding system of the present invention;

[0024] Figure 2 This is a schematic diagram of the change in angular acceleration of the seed tray after the reseeding task of the present invention is triggered;

[0025] Figure 3 This is a schematic diagram of the change in angular velocity of the seed tray after the reseeding task is triggered in the present invention;

[0026] Figure 4 It is a flow chart of the control system operation of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. Figures 1 to 4 , and describes the application in detail with reference to embodiments.

[0029] The present invention discloses an in-situ reseeding method for a precision hole-seeding seed-metering device. The in-situ reseeding method is implemented based on a precision hole-seeding seed-metering device with a missed seeding detection function, such as a seed-seeding device with a cavity light curtain scanning missed seeding detection disclosed in the invention patent with application number 2022100239680, which has mutually aligned light curtain sensor receiving ends and light curtain sensor transmitting ends arranged on both sides of the seed-seeding device housing, and uses the light emitted by the light curtain sensor to scan the fan ring cavity one by one, so as to determine whether the fan ring cavity is full of seeds, and then determine whether missed seeding will occur.

[0030] Reference Figure 1 The first step of this in-situ reseeding method is to treat a single complete cavity and its rear partition as a seeding unit, and divide the area between the seeding starting line in the seeding system and the radial line where the light curtain detection surface is located into an integer number of complete seeding units, and the position of the seeding starting line should ensure that the seeds are close to the front wall of the cavity before planting.

[0031] In addition, it should be emphasized that the precision hole-seeding seeder can also be replaced by other seeding systems with missed seeding detection, as long as the radial line between the seeding starting line in the seeding system and the detection unit on the seeding system is divided into m complete seeding units, and the missed and filled states in each seeding unit can be accurately judged.

[0032] The second step is to classify the different degrees of continuous missed sowing situations that may occur in the seeding system into: 1 hole missed sowing, continuous 2 hole missed sowing, continuous 3 hole missed sowing... continuous n hole missed sowing, and the seeding system needs to meet the requirement that the number of continuous missed sowing n is less than the number of seeding units m between the radial line where the seeding start line and the light curtain detection surface are located. If there are more than m consecutive missed sowing holes, it can be judged as a seeding system failure, and the system will alarm.

[0033] The third step is to design an in-situ supplement strategy of "filling and leaking combination", that is, to combine the leaking cavity (i.e. the leaking seeding unit) with the adjacent filling cavity (i.e. the filled seeding unit) into a reseeding event, and the continuous leaking state is provided by the detection module in the seeding system. When the reseeding event reaches the seeding starting line, the speed change reseeding task is triggered, and the speed change degree is automatically adjusted according to the continuous leaking state.

[0034] When the seed meter is normally seeding, the seeding time corresponding to each cavity is T i ; After the replanting task is triggered, the system i The seeding unit that has been filled with seeds is accelerated first, and then the seeding unit that has not been filled is decelerated, so that the adjacent seeding unit that has been filled with seeds returns to the normal seeding speed when planting seeds, so that all the seeding units that have been filled with seeds can plant seeds at the normal seeding speed, so as to achieve the purpose of in-situ reseeding.

[0035] When the reseeding task is triggered, the speed control of the motor connected to the seed meter adopts the S-curve motor speed regulation principle. The speed reseeding process is set to 5 speed control stages, namely, rapid acceleration, slow acceleration, average speed, rapid deceleration and slow deceleration, and the duration of each stage is T i / 5. The acceleration and speed change curve of the S-curve motor speed regulation can be found in the attached Figure 2 and attached Figure 3 ,From the speed change curve, it can be seen that after the reseeding task is triggered, the adjacent ,seeding units that have been filled with seeds can return to the normal ,seeding speed when sowing.

[0036] The control system operation flow chart of the in-situ reseeding method of the precision hole seeding device disclosed in the present invention can be referred to in the attached Figure 4 . After the power supply is supplied, the system is initialized, the GPIO pins are configured and the related functions are initialized. After the stepper motor on the seeding system drives the seeding, the signal acquisition module starts to run, and the microcontroller continuously reads the changes in the output level of the sensor in the detection unit to complete the real-time detection of the filling status of the seeding disc cavity. The system will classify different missed seeding states according to the missed seeding judgment results and update their current positions in real time. The system determines whether to create a reseeding program or release an alarm signal based on the classification results, and triggers the corresponding reseeding task to complete the variable speed reseeding when the reseeding event reaches the seeding starting line.

[0037] The specific process is that during operation, the detection unit on the seeding system cooperates to complete the missed seeding detection process, and is divided into different reseeding events according to different missed seeding degrees. When the seeding starting line of the seeding system is separated from the radial line where the light curtain detection surface (i.e., the detection unit) is located by m complete seeding units, then when the current cavity is scanned and detected, the m-1th seeding unit along the rotation direction of the seeding disc with this cavity as the reference just arrives at the seeding area for seeding. The detection unit records the relative position of the current detected seeding unit from the seeding starting line, and at the moment when the reseeding event reaches the seeding starting line, the S-shaped curve motor speed regulation of the corresponding variable speed reseeding event can be used to perform in-situ reseeding.

[0038] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for in-situ reseeding using a precision hole-seeding and metering device. It is characterized in that The steps include: 1) Take a single complete cavity and its rear partition in the seeding disc as a seeding unit, and set the interval between the seeding starting line in the seeding system and the radial line where the detection unit is located to m complete seeding units; 2) The different degrees of continuous missed sowing situations that may occur in the seeding system are summarized as: 1 hole missed sowing, 2 consecutive holes missed sowing, 3 consecutive holes missed sowing...n consecutive holes missed sowing, and n<m; 3) Design an in-situ supplementary strategy for the combination of filling and leaking, combining the leaking and filling seeding units under different degrees of continuous leaking seeding with the adjacent filling and filling seeding units into a corresponding reseeding event; 4) Design the variable speed reseeding task, that is, the corresponding reseeding event is accelerated to pass the seed filling unit within the time Ti, and then decelerated to pass the missed seed filling unit, so that the adjacent seed filling unit returns to the normal seeding speed when sowing, and Ti is the seeding time corresponding to each seeding unit during normal sowing; 5) When the reseeding event reaches the seeding starting line, the speed-changing reseeding task is triggered, so that the adjacent seeding unit that has been fully seeded can return to the normal seeding speed when sowing.

2. The in-situ reseeding method of the precision hole seeding and metering device according to claim 1, It is characterized in that The speed change process of the reseeding event in step 4) includes five stages within the time Ti: rapid acceleration, slow acceleration, average speed, rapid deceleration and slow deceleration.

3. The in-situ reseeding method of the precision hole seeding and metering device according to claim 2, It is characterized in that The duration of the five stages of rapid acceleration, slow acceleration, constant speed, rapid deceleration and slow deceleration is equal, and the duration of each speed change stage is Ti / 5.

4. The in-situ reseeding method of the precision hole seeding and metering device according to claim 1, It is characterized in that In the step 2), when more than m consecutive holes are missed, it is judged as a seeding system failure and the system issues an alarm.

5. The in-situ reseeding method of the precision hole seeding and metering device according to claim 1, It is characterized in that The different degrees of continuous missed seeding in step 2) are judged by the detection unit on the seeding system scanning the cavities in the seeding unit one by one, and are obtained by continuous accumulation based on the judged missed seeding states.

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