An automatic seeding box docking and filling device and method for a planter

Abstract

The application discloses a seeding machine seed box automatic butt joint feeding device and method, which comprises a rack, a butt joint mechanism, a bunker, an auger conveying mechanism and a controller. The butt joint mechanism comprises a guide rail, a screw adjusting mechanism and a discharging port. The guide rail is installed on the rack, the screw adjusting mechanism is installed on the guide rail and connected with the discharging port. The bunker is arranged corresponding to the rack. The auger conveying mechanism comprises a conveying pipeline, a conveying auger and a conveying driving part. The bottom end of the conveying pipeline is communicated with the bunker. The upper part of the conveying pipeline is provided with a discharging port which is connected with the discharging port. The conveying driving part is arranged at the top end of the conveying pipeline. The conveying auger is arranged in the conveying pipeline and connected with the conveying driving part. The controller is connected with the butt joint mechanism, the auger conveying mechanism and the seeding machine respectively. The row spacing of the discharging port is adjusted according to the seed box row spacing information of the seeding machine so as to be consistent with the seed box row spacing of the seeding machine. The application further discloses a seeding machine seed box automatic butt joint feeding method.

Description

TECHNICAL FIELD

[0001] The present application relates to agricultural seeding machinery, in particular to an automatic docking and feeding device and method for a seeding machine seed box. BACKGROUND

[0002] The rapid development of agricultural machinery has enabled mechanization of most crops in cultivation and harvesting, but in most cases, manual intervention is still required. With the application of information technology and autonomous driving technology in agricultural machinery, the research and construction of unmanned farms have begun to attract attention worldwide. However, in the current seeding process of unmanned farms, the carrying capacity of the seeding machine seed box is limited, which restricts the continuous operation area and cannot meet the needs of large-scale unmanned farms. The replenishment of the seeding machine seed box relies on manual driving and manual operation, and the personnel are required to monitor the seeding machine in real time, otherwise a long waiting time will be caused, which will delay the operation process. In addition, the manual feeding process is rough and lacks accurate records of the amount of feeding. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the above-mentioned defects of the prior art, and to provide an automatic docking and feeding device for a seeding machine seed box.

[0004] In order to achieve the above-mentioned purpose, the present application provides an automatic docking and feeding device for a seeding machine seed box, which comprises:

[0005] a rack;

[0006] a docking mechanism comprising a guide rail, a lead screw adjusting mechanism and a discharge port, the guide rail being installed on the rack, the lead screw adjusting mechanism being installed on the guide rail and connected with the discharge port, for automatically adjusting the position of the discharge port to accurately dock with the seeding machine seed box;

[0007] a hopper corresponding to the rack;

[0008] an auger conveying mechanism comprising a conveying pipeline, an auger and a conveying driving part, the bottom end of the conveying pipeline being in communication with the hopper; the upper part of the conveying pipeline is provided with a discharge port, the discharge port being connected with the discharge port; the conveying driving part is arranged at the top end of the conveying pipeline; the auger is arranged in the conveying pipeline and connected with the conveying driving part; and

[0009] a controller connected with the docking mechanism, the auger conveying mechanism and the seeding machine respectively, for receiving the replenishment operation signal and the seeding machine seed box row spacing information sent by the seeding machine, and adjusting the row spacing of the discharge port according to the seeding machine seed box row spacing information to be consistent with the seeding machine seed box row spacing.

[0010] The automatic docking and feeding device for seed boxes of seeders further comprises an industrial camera and a laser radar, which are respectively installed on the screw rod adjusting mechanism and connected with the controller; the industrial camera is used to collect images of the seed boxes of seeders and send them to the controller, the controller calculates the relative position of the discharge port and the seed boxes of seeders, and controls the discharge port to move above the center of the seed boxes of seeders; the laser radar is used to measure the material level height information of the seed boxes of seeders and send it to the controller, the controller calculates the replenishment amount of each seed box of seeders, and controls the auger conveying mechanism to accurately feed.

[0011] The automatic docking and feeding device for seed boxes of seeders, wherein the screw rod adjusting mechanism comprises a screw rod, a screw rod driving motor, a moving end plate, a fixed end plate and an electric push rod, the screw rod driving motor, the fixed end plate and the moving end plate are respectively installed on the guide rail; one end of the screw rod is connected with the screw rod driving motor; the fixed end plate is connected with the other end of the screw rod, and the moving end plate is close to the screw rod driving motor and connected with the screw rod; the electric push rod is respectively installed on the moving end plate and the fixed end plate through a push rod support; the discharge port is connected with the electric push rod through a discharge support, and the electric push rod drives the discharge port to stretch out and retract forward and backward to adaptively adjust the distance between the discharge port and the corresponding seed box of seeders.

[0012] The automatic docking and feeding device for seed boxes of seeders, wherein a pair of the screw rod adjusting mechanisms are symmetrically arranged on the guide rail, and the fixed end plates of the two screw rod adjusting mechanisms are adjacently arranged; the distance between the moving end plate and the fixed end plate of the same screw rod adjusting mechanism is consistent with the distance between the fixed end plates of the two screw rod adjusting mechanisms, so as to match seed boxes of seeders with different row spacings.

[0013] The automatic docking and feeding device for seed boxes of seeders, wherein gears and racks that mesh with each other are further arranged on the guide rail, the racks are symmetrically arranged on both sides of the gears along the length direction of the guide rail and are respectively connected with the corresponding screw rod adjusting mechanisms; the gears and the racks are located between the two screw rod adjusting mechanisms; the gears drive the racks on both sides to move in opposite directions at equal distances, and the racks respectively drive the distance between the fixed end plates of the corresponding screw rod adjusting mechanisms to change uniformly relative to the midpoint of the guide rail.

[0014] The automatic docking and feeding device for seed boxes of seeders, wherein the discharge port is connected with the discharge port through a flexible pipeline, and the discharge port and the flexible pipeline are detachably connected.

[0015] The automatic docking and feeding device for seed box of seeding machine, wherein the industrial camera is arranged at the front end of the discharging support opposite to the discharging port, and the laser radar is arranged below the discharging support opposite to the discharging port; the industrial camera collects the boundary information of the seed box of the seeding machine from the top, and sends the bottom area S of the seed box of the seeding machine to the controller for calculation; the laser radar measures the distance h1 between the top of the material in the seed box of the seeding machine and the ground and the distance H between the ground, and the amount V of the seed box of the seeding machine to be supplemented is:

[0016] V = V a - ρ * S (H - h1 - h2) ;

[0017] Wherein, V a is the volume of the seed box of the seeding machine, h2 is the distance between the seed box of the seeding machine and the ground, and both are constants calibrated; ρ is the density of the seed to be supplemented; the error range is (-2 / 3 μ, 1 / 3 μ); wherein the calculation formula of μ is:

[0018] μ = S * rtanθ

[0019] Wherein, θ is the inherent packing angle of the seed in the seed box of the seeding machine, and r is the equivalent radius of the bottom area of the seed box of the seeding machine.

[0020] The automatic docking and feeding device for seed box of seeding machine, wherein the conveying driving part comprises a conveying motor, the set flow of the auger conveying mechanism is in linear correspondence with the rotating speed of the conveying motor, the conveying motor takes the actual flow as the feedback amount, adopts the incremental PID control algorithm to adjust the rotating speed of the motor, and realizes the closed loop control of the output flow; the actual flow is calculated by the controller according to the residual amount of the seed box of the seeding machine by the following formula:

[0021]

[0022] Wherein, Q1 is the actual flow, V1 and V2 are the amounts of the seed box of the seeding machine to be supplemented calculated by two consecutive sampling respectively, and Δt is the time interval of two consecutive sampling;

[0023] The incremental PID control algorithm is:

[0024] u (k) = K P [e (k) - e (k-1) ] + K I e (k) + K D [e (k) - 2e (k-1) + e (k-2) ];

[0025] Wherein, u (k) is the output, which is equal to the input voltage increment of the conveying motor; e (k-1), e (k) and e (k-2) are input, which are the error values between the actual flow calculated by the residual amount of the seed box of the seeding machine for three times in succession and the set flow; K PK is a proportional coefficient, which reflects the current error proportionally; K I K is an integral coefficient, which reflects the cumulative deviation of the system; K D K is a differential coefficient.

[0026] The seeding machine seed box automatic docking and feeding device, wherein the conveying motor is a stepping motor, the conveying motor is connected with the conveying auger through a speed reducer; the flow of the auger conveying mechanism when conveying stably is:

[0027] Q = 47D 2 ρLnCK;

[0028] Wherein, D is the outer diameter of the spiral blade of the conveying auger, L is the pitch, C is the inclined conveying correction coefficient of the conveying auger, K is the spiral blade influence coefficient of the conveying auger, and n is the rotating speed of the conveying auger.

[0029] In order to better achieve the above purpose, the present application also provides a kind of seeding machine seed box automatic docking and feeding method, wherein, including the following steps:

[0030] S100, the auger conveying mechanism is connected with the discharge port using flexible pipeline, and the supply vehicle carries the seeding machine seed box automatic docking and feeding device to target operation area and is located at the back of the seeding machine seed box;

[0031] S200, the seeding machine sends the signal of starting supply work to the seeding machine seed box automatic docking and feeding device, and sends the row spacing information of the seed box itself;

[0032] S300, after the controller of the seeding machine seed box automatic docking and feeding device receives the signal, the discharge port row spacing is automatically adjusted to be consistent with the seeding machine seed box row spacing;

[0033] S400, the electric push rod pushes the discharge port to stretch forward, the industrial camera collects the image of the seeding machine seed box, and sends the controller to solve, to control the electric push rod to adjust the discharge port to be located at the center of the seeding machine seed box, and completes docking;

[0034] S500, laser radar measures the material level height information of the seeding machine seed box, and sends the controller together with the image information extracted by the industrial camera, and calculates the supply amount of each seeding machine seed box;

[0035] S600, the controller controls each conveying motor to act according to the supply amount, and completes the supply of each seeding machine seed box; And

[0036] S700, after the supply reaches the set seed box residual amount, the conveying motor stops working, the electric push rod and the docking mechanism row spacing adjusting mechanism reset, and the supply work is completed.

[0037] The technical effect of the present application is that:

[0038] The present application realizes automatic replenishment of the seed box of the seeding machine, can detect the remaining amount of the seed box of the seeding machine in real time, and automatically controls the replenishment amount according to the obtained data; is suitable for seed boxes of seeding machines with different row spacing, can automatically adjust the position of the discharge port according to the relative driving state of the replenishment vehicle and the seeding machine, so that it is accurately connected with the seed box of the seeding machine. The problems encountered in the process of adding the seed box are solved, the remaining amount of the seed box of the seeding machine is detected, and the accurate control of the replenishment output is realized; after the replenishment vehicle arrives at the target area, the accurate connection between the feeding port and the seed box of the seeding machine can be smoothly completed, the problem that the unmanned seeding and the replenishment vehicle have a certain angle when actually driving is solved; and the row spacing is adjustable, which meets the requirements of different seeding machines.

[0039] The present application will be described in detail below in combination with the drawings and specific embodiments, but is not limited to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of an embodiment of the present application.

[0041] Figure 2 It is a side view of an embodiment of the present application.

[0042] Figure 3 It is a structural schematic diagram of the docking mechanism of an embodiment of the present application.

[0043] Figure 4 It is a structural schematic diagram of the screw rod adjusting mechanism of an embodiment of the present application.

[0044] Figure 5 It is a working principle diagram of the controller of an embodiment of the present application.

[0045] Figure 6 It is a detection principle diagram of the present application.

[0046] Figure 7 It is a PID control principle diagram of an embodiment of the present application.

[0047] Figure 8 It is a working process diagram of an embodiment of the present application.

[0048] Among them, the reference signs

[0049] 1 frame

[0050] 2 hank rope conveying mechanism

[0051] 21 conveying motor

[0052] 22 speed reducer

[0053] 23 conveying pipeline

[0054] 24 conveying screw

[0055] 25 discharge port

[0056] 3 docking mechanism

[0057] 31 guide rail

[0058] 32 screw adjusting mechanism

[0059] 321 mobile end plate

[0060] 322 fixed end plate

[0061] 323 push rod support

[0062] 324 electric push rod

[0063] 325 blanking support

[0064] 326 screw drive motor

[0065] 327 screw

[0066] 33 rack

[0067] 34 gear

[0068] 35 blanking port

[0069] 4 silo

[0070] 5 flexible pipe

[0071] 6 controller

[0072] 7 industrial camera

[0073] 8 laser radar

[0074] 9 seeder seed box DETAILED DESCRIPTION

[0075] The structural principle and working principle of the present application will be described in detail below in combination with the drawings:

[0076] Referring to Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of an embodiment of the present application, Figure 2The application discloses a kind of automatic docking and feeding device of seeding machine seed box, which includes rack 1;Docking mechanism 3, including guide rail 31, screw adjusting mechanism 32 and discharge port 35, the guide rail 31 is installed on the rack 1, the screw adjusting mechanism 32 is installed on the guide rail 31, and is connected with the discharge port 35, for automatically adjusting the position of the discharge port 35, to accurately dock with seeding machine seed box 9;Bin 4, corresponding to the rack 1 is arranged;Auger conveying mechanism 2 is used to supply the seed of bin 4 into seeding machine seed box 9 and accurately control the amount of feeding, including conveying pipeline 23, conveying auger 24 and conveying drive component, the bottom end of the conveying pipeline 23 is communicated with the bin 4;The upper portion of the conveying pipeline 23 is provided with discharge port 25, the discharge port 25 is connected with the discharge port 35 through flexible pipeline 5, the discharge port 35 and the flexible pipeline 5 are detachably connected by thread or the like, which is convenient for disassembly and maintenance;The conveying drive component is arranged at the top end of the conveying pipeline 23;The conveying auger 24 is arranged in the conveying pipeline 23 and connected with the conveying drive component;Preferably, four auger conveying mechanisms 2 are arranged in parallel, which can simultaneously feed four seeding machine seed boxes 9;And controller 6 is connected with the docking mechanism 3, auger conveying mechanism 2 and seeding machine respectively, for receiving the supply operation signal and seed box row spacing information sent by the seeding machine, and adjusting the row spacing of the discharge port 35 according to the seed box row spacing information, so as to be consistent with the row spacing of the seeding machine seed box 9.

[0077] The embodiment also includes industrial camera 7 and laser radar 8, which are respectively installed on the screw adjusting mechanism 32 and connected with the controller 6;The industrial camera 7 is used to collect the image of the seeding machine seed box 9 and send the controller 6, the controller 6 calculates the relative position of the discharge port 35 and the seeding machine seed box 9, and controls the discharge port 35 to move above the center of the seeding machine seed box 9;The laser radar 8 is used to measure the material level height information of the seeding machine seed box 9 and send the controller 6, the controller 6 calculates the supply amount of each seed box, and controls the auger conveying mechanism 2 to accurately feed.

[0078] Referring to Figure 3 And Figure 4 , Figure 3 It is the structure diagram of docking mechanism 3 of an embodiment of the application, Figure 4The schematic view of the screw adjusting mechanism 32 of an embodiment of the present application. The docking mechanism 3 can adjust the distance of the screw adjusting mechanism 32, and can ensure that the two groups of screw adjusting mechanisms 32 move in opposite directions with equal distance from the center of the guide rail 31, thus completing the docking between the discharge port 35 and the seed box 9 of the seeding machine. The screw adjusting mechanism 32 can adjust the distance between the moving end plate 321 and the fixed end plate 322, thus adjusting the distance between the four discharge ports 35 and completing the task of supplying the seeding machine seed box 9 with different row distances.

[0079] The screw adjusting structure of the present embodiment includes a screw 327, a screw drive motor 326, a moving end plate 321, a fixed end plate 322, and an electric push rod 324. The screw drive motor 326, the fixed end plate 322, and the moving end plate 321 are respectively installed on the guide rail 31. One end of the screw 327 is connected to the screw drive motor 326. The fixed end plate 322 is connected to the other end of the screw 327. The moving end plate 321 is close to the screw drive motor 326 and is connected to the screw 327. The electric push rod 324 is respectively installed on the moving end plate 321 and the fixed end plate 322 through a push rod support 323. The discharge port 35 is connected to the electric push rod 324 through a discharge support 325. The electric push rod 324 drives the discharge port 35 to extend and retract forward and backward, so as to adaptively adjust the distance between the discharge port 35 and the corresponding seeding machine seed box 9, that is, each discharge port 35 can adaptively adjust the distance between itself and the corresponding seeding machine seed box 9 according to the distance between itself and the corresponding seeding machine seed box 9. The push rod support 323 and the discharge support 325 respectively have a cylindrical guide rail 31 and a cylindrical slide rod. The bottom of the push rod support 323 has a support structure for the electric push rod 324, which can share the torque received by the electric push rod 324 and make the extension and retraction process smoother.

[0080] In this embodiment, a pair of lead screw adjusting mechanisms 32 are symmetrically arranged on the guide rail 31, and the fixed end plates 322 of the two lead screw adjusting mechanisms 32 are arranged adjacent to each other. The distance between the moving end plate 321 and the fixed end plate 322 of the same lead screw adjusting mechanism 32 is consistent with the distance between the fixed end plates 322 of the two lead screw adjusting mechanisms 32, so as to match the seed box 9 of the seeding machine with different row spacing. The gear 34 and the rack 33 are arranged on the guide rail 31 and mesh with each other. The rack 33 is symmetrically arranged on both sides of the gear 34 along the length direction of the guide rail 31, and is connected with the corresponding lead screw adjusting mechanism 32. The gear 34 and the rack 33 are located between the two lead screw adjusting mechanisms 32. Preferably, the gear 34 is driven by a stepping motor. The gear 34 drives the racks 33 on both sides to move in opposite directions at equal distances. The rack 33 drives the fixed end plate 322 of the corresponding lead screw adjusting mechanism 32 to change the distance relative to the midpoint of the guide rail 31 uniformly. The lead screw adjusting mechanism 32 is driven by the lead screw drive motor 326, which is preferably a stepping motor, and is connected with the lead screw 327 through a shaft coupling. The distance between the moving end plate 321 and the fixed end plate 322 of the same lead screw adjusting mechanism 32 is consistent with the distance between the fixed end plates 322 of the two lead screw adjusting mechanisms 32, so as to complete the function of matching the docking mechanism 3 with the seed box 9 of the seeding machine with different row spacing.

[0081] Referring to Figure 5 and Figure 6 , Figure 5 is the working principle diagram of the controller 6 of an embodiment of the present application, Figure 6 is the detection principle diagram of the present application. The controller 6 receives the seed box row spacing information sent by the seeding machine and the image information collected by the industrial camera 7, which is used to control the row spacing adjustment process of the docking mechanism 3. The image information and the laser ranging information are used to obtain the remaining amount information of the seed box to be replenished, which is used to control the output of the appropriate replenishment amount of the auger conveying mechanism 2. Figure 6 The upper part is the discharge port 35 and the industrial camera 7 and the laser radar 8 installed thereon, and the lower part is the seed box 9 to be replenished and the material level diagram therein. The image collected by the industrial camera 7 can be calculated after processing to obtain the bottom area information S of the corresponding seed box 9. The laser radar 8 collects the material level distance information h1 to calculate the material level height. The two can calculate the volume of the remaining seeds in the seed box, so as to obtain the remaining amount information of the seed box 9.

[0082] In the embodiment, the industrial camera 7 is arranged at the front end of the discharging support 325 opposite the discharging port 35, and the laser radar 8 is arranged below the discharging support 325 opposite the discharging port 35; the industrial camera 7 collects the boundary information of the seed box 9 of the seeding machine from directly above and sends the controller 6 to calculate the bottom area S of the seed box 9 of the seeding machine; the laser radar 8 measures the distance h1 between the top of the material in the seed box 9 and the laser radar 8 and the distance H between the laser radar 8 and the ground, and the replenishment amount V of the seed box 9 is:

[0083] V = V a - ρ * S (H - h1 - h2) ;

[0084] wherein V a is the volume of the seed box 9, h2 is the distance between the seed box 9 and the ground, and both are constants calibrated; ρ is the seed density of the replenishment;

[0085] Due to the existence of the seed accumulation angle, the top of the material in the seed box 9 is a cone, so that there is a certain error between the calculated replenishment amount and the actual value. If the inherent accumulation angle of the added seed is θ, and the equivalent radius of the bottom area of the seed box 9 is r, then the error range is (-2 / 3 μ, 1 / 3 μ); wherein the calculation formula of μ is:

[0086] μ = S * rtanθ;

[0087] wherein θ is the inherent accumulation angle of the seed in the seed box 9, and r is the equivalent radius of the bottom area of the seed box 9.

[0088] Referring to Figure 7 , Figure 7 is the PID control principle diagram of an embodiment of the application. The actual output flow and the theoretical output flow are inconsistent during operation. The PID control algorithm takes the difference between the two as input, and through the joint calculation and processing of the proportional link, the integral link and the differential link, the control signal is obtained to control the conveying motor 21, so that the difference between the actual output flow and the theoretical flow is reduced. The conveying driving part of the embodiment includes a conveying motor 21, and the set flow of the auger conveying mechanism 2 has a linear correspondence with the rotating speed of the conveying motor 21, but in the case of load, the actual rotating speed may not correspond to the theoretical rotating speed due to step loss and other reasons. The conveying motor 21 takes the actual flow as the feedback quantity, adjusts the motor rotating speed by using the incremental PID control algorithm, and realizes the closed-loop control of the output flow; the actual flow is calculated by the controller 6 according to the obtained residual information of the seed box 9 by using the following formula:

[0089]

[0090] Wherein, Q1 is the actual flow, V1 and V2 are the amounts of the seed box 9 to be supplied calculated by two successive sampling respectively, and Δt is the time interval between two successive sampling.

[0091] The incremental PID control algorithm is:

[0092] u(k) = K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)];

[0093] Wherein, u(k) is the output, equal to the input voltage increment of the conveying motor 21; e(k-1), e(k), e(k-2) are input, the error values between the actual flow and the set flow calculated by three successive seed box 9 surplus measurement values; K P is the proportional coefficient, which proportionally reflects the current error and immediately makes adjustment when the automatic control system has deviation, and quickly adjusts the system; K I is the integral coefficient, which reflects the cumulative deviation of the system and is used to eliminate the steady-state error and improve the error-free degree of the system; K D is the differential coefficient, which has a leading role and is used to overcome the lag of the controlled object.

[0094] The incremental PID algorithm does not accumulate, and the value of the control output is only related to the sampling values of the recent errors, so the calculation error has less influence on the control quantity; and the incremental PID algorithm obtains the control quantity increment, so the misoperation has less influence; and the incremental PID algorithm itself has no integral action, so it is suitable for objects with integral components such as stepping motors. The conveying motor 21 in the embodiment is preferably a stepping motor, and the conveying motor 21 is connected with the conveying auger 24 through a speed reducer 22; the rack 1 connected with the auger conveying mechanism 2 can adjust the angle between the conveying auger 24 and the bunker 4; and the flow of the auger conveying mechanism 2 when conveying stably is:

[0095] Q = 47D 2 ρLnCK;

[0096] Wherein, D is the outer diameter of the spiral blade of the conveying auger 24, in meters; L is the pitch, in meters; C is the inclined conveying correction coefficient of the conveying auger 24, K is the spiral blade influence coefficient of the conveying auger 24, and n is the rotating speed of the conveying auger 24, in r / min.

[0097] In actual operation, the auger conveying mechanism 2 and the discharge port 35 are connected by a flexible pipeline 5, and the supply vehicle carries the automatic feeding device to the target operation area, i.e. directly behind the seed box 9 of the seeding machine. Due to the existence of travel state deviation, there will be a certain error between the front and rear distance of the two vehicles and the set value, and there will be a certain relative deflection angle between the two vehicles. At this time, the seeding machine sends a signal to the automatic feeding device to start the feeding operation, and sends the row spacing information of the seeding machine seed box 9; after receiving the signal, the controller 6 of the automatic feeding device automatically adjusts the row spacing of the discharge port 35 to be consistent with the row spacing of the seeding machine seed box 9, the electric push rod 324 pushes the discharge port 35 to extend forward, and the industrial camera 7 collects images of the seeding machine seed box 9, which is analyzed by the controller 6 to analyze the relative position of the discharge port 35 and the seeding machine seed box 9, so as to control the electric push rod 324 to adjust the position of the discharge port 35 to the center of the seeding machine seed box 9; after the docking process is completed, the laser radar 8 measures the material level information and sends it to the controller 6 together with the image information extracted by the industrial camera 7 to calculate the feeding amount of each seed box; the controller 6 controls the operation of each conveying motor 21 according to the feeding amount of each seeding machine seed box 9 to complete the feeding of each seeding machine seed box 9; after the feeding is completed, the conveying motor 21 stops operating, the electric push rod 324 is reset, and then the row spacing adjustment device of the docking mechanism 3 is reset, and the feeding operation is completed.

[0098] Referring to Figure 8 , Figure 8 The operation process diagram of an embodiment of the present application is the overall operation process of the present application, and the specific process in each part of the process. The automatic docking and feeding method of the seeding machine seed box 9 of the present application includes the following steps:

[0099] Step S100, connecting the auger conveying mechanism 2 and the discharge port 35 by a flexible pipeline 5, and carrying the automatic docking and feeding device of the seeding machine seed box to the target operation area and directly behind the seeding machine seed box 9;

[0100] Step S200, the seeding machine sends a signal to the automatic docking and feeding device of the seeding machine seed box to start the feeding operation, and sends the row spacing information of the seeding machine seed box 9;

[0101] Step S300, the controller 6 of the automatic docking and feeding device receives the signal, and automatically adjusts the row spacing of the discharge port 35 to be consistent with the row spacing of the seed box 9 of the seeding machine;

[0102] Step S400, the electric push rod 324 pushes the discharge port 35 to extend forward, the industrial camera 7 collects the image of the seed box 9 of the seeding machine, and sends the image to the controller 6 for calculation, so as to control the electric push rod 324 to adjust the discharge port 35 to be located at the center of the seed box 9 of the seeding machine, and complete the docking;

[0103] Step S500, the laser radar 8 measures the material level height information of the seed box 9 of the seeding machine, and sends the image information extracted by the industrial camera 7 to the controller 6 together, and calculates the replenishment amount of each seed box 9 of the seeding machine;

[0104] Step S600, the controller 6 controls the action of each conveying motor 21 according to the replenishment amount, and completes the replenishment of each seed box 9 of the seeding machine; and

[0105] Step S700, after the replenishment reaches the set amount of the seed box 9 of the seeding machine, the conveying motor 21 stops working, the electric push rod 324 and the row spacing adjustment mechanism of the docking mechanism 3 are reset, and the replenishment operation is completed.

[0106] The application is used for automatic replenishment of the seed box 9 of the seeding machine, can complete the whole automatic process of docking and replenishment, can perform the replenishment operation on the seed box 9 of the seeding machine in a common driving state, and is used for solving the problems of extensive manual feeding process, lack of automatic replenishment technology and equipment of the seed box 9 of the seeding machine. In the operation, the discharge port of the auger conveying mechanism 2 is connected with the discharge port 35 of the docking mechanism 3 through the flexible pipeline 5, the docking mechanism 3 can automatically adjust the row spacing between the discharge ports 35, and each discharge port 35 can independently adjust the extension length; the docking mechanism 3 comprises a plurality of sensors, which can detect the amount of the seed box 9 of the seeding machine, so as to accurately control the feeding amount.

[0107] Of course, the application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the application without departing from the spirit and essence of the application. However, these corresponding changes and modifications should belong to the protection scope of the claims attached to the application.

Claims

1. An automatic seed box docking and feeding device for a seeder, characterized in that, The utility model relates to a kind of automatic feeding device for seeding machine, including: Frame; Docking mechanism, including guide rail, screw adjusting mechanism and blanking port, the guide rail is installed on the frame, the screw adjusting mechanism is installed on the guide rail, and is connected with the blanking port, for automatically adjusting the position of the blanking port, to accurately dock with seeding machine seed box; Bin, corresponding to the frame is provided; Auger conveying mechanism, including conveying pipeline, conveying auger and conveying drive component, the bottom end of the conveying pipeline is communicated with the bin;The upper portion of the conveying pipeline is provided with discharge port, and the discharge port is connected with the blanking port;The conveying drive component is arranged at the top end of the conveying pipeline;The conveying auger is arranged in the conveying pipeline and is connected with the conveying drive component; And Controller is connected with the docking mechanism, auger conveying mechanism and seeding machine respectively, for receiving the replenishment operation signal and the seeding machine seed box row spacing information sent by the seeding machine, and adjusting the row spacing of the blanking port according to the seeding machine seed box row spacing information, to be consistent with the row spacing of the seeding machine seed box; Wherein, the screw adjusting structure includes screw, screw drive motor, mobile end plate, fixed end plate and electric push rod, the screw drive motor, fixed end plate and mobile end plate are installed on the guide rail respectively;One end of the screw is connected with the screw drive motor;The fixed end plate is connected with the other end of the screw, and the mobile end plate is close to the screw drive motor and is connected with the screw;The electric push rod is installed on the mobile end plate and fixed end plate respectively through push rod support;The blanking port is connected with the electric push rod through blanking support, and the electric push rod drives the blanking port to stretch out and draw back, to adaptively adjust the distance between the blanking port and the corresponding seeding machine seed box; The conveying drive component includes conveying motor, the set flow of the auger conveying mechanism and the rotational speed of the conveying motor are linearly corresponding, the conveying motor uses incremental PID control algorithm to adjust the rotational speed with actual flow as feedback, to realize closed-loop control on output flow;The actual flow is calculated by the controller according to the residual amount of seeding machine seed box as follows: Wherein, Q1 is actual flow, V1 and V2 are respectively the amount of seeding machine seed box that should be replenished calculated by two consecutive sampling, and Δt is the time interval of two consecutive sampling; The incremental PID control algorithm is as follows: u(k) = K P [e(k) - e(k-1)] + K I e(k) + K D [e(k) - 2e(k-1) + e(k-2)]; Wherein, u(k) is the output, equal to the input voltage increment of the conveying motor; e(k-1), e(k), e(k-2) are input, the error value between the actual flow and the set flow calculated by the seed box residual measurement value for three times in succession; K P is the proportional coefficient, which proportionally reflects the current error; K I is the integral coefficient, which reflects the cumulative deviation of the system; K D is the differential coefficient.

2. The planter box auto dock and fill apparatus of claim 1, wherein, It also includes industrial camera and laser radar, which are installed on the screw adjusting mechanism and connected with the controller respectively;The industrial camera is used for collecting the image of the seeding machine seed box and sending the controller, and the controller calculates the relative position of the blanking port and seeding machine seed box, and controls the blanking port to move to the center above the seeding machine seed box;The laser radar is used for measuring the material level height information of the seeding machine seed box and sending the controller, and the controller calculates the replenishment amount of each seeding machine seed box, and controls the auger conveying mechanism to accurately feed.

3. The planter box auto dock and fill apparatus of claim 1, wherein, A pair of the screw rod adjusting mechanisms are symmetrically arranged on the guide rail, and the fixed end plates of the two screw rod adjusting mechanisms are arranged adjacently; the distance between the moving end plate and the fixed end plate of the same screw rod adjusting mechanism is consistent with the distance between the fixed end plates of the two screw rod adjusting mechanisms, so as to match the seeders of different row spacing.

4. The planter box auto dock and fill apparatus of claim 3, wherein, Gear and rack are further arranged on the guide rail, the rack is symmetrically arranged on both sides of the gear along the length direction of the guide rail, and is connected with the corresponding screw rod adjusting mechanism; the gear and the rack are located between the two screw rod adjusting mechanisms; the gear drives the rack on both sides to move reversely and equidistantly, and the rack drives the distance between the fixed end plates of the corresponding screw rod adjusting mechanism to change uniformly relative to the midpoint of the guide rail.

5. The planter box auto dock and fill apparatus of claim 1, wherein, The discharge port is connected with the discharging port through a flexible pipeline, and the discharging port is detachably connected with the flexible pipeline.

6. The planter box auto dock and fill apparatus of claim 2, wherein, The industrial camera is arranged at the front end of the discharging support opposite to the discharging port, and the laser radar is arranged below the discharging support opposite to the discharging port; the industrial camera collects the boundary information of the seeder from directly above and sends the information to the controller to calculate the bottom area S of the seeder; The laser radar measures the distance h1 between the top of the material in the seeder and the seeder and the distance H between the top of the material and the ground, and the replenishment amount V of the seeder is: V = V a - p * S (H - h1 - h2); where V a is the planter box volume, h2is the planter box to ground clearance, both of which are constants determined by calibration; p is the seed density of the replenishment; the error range is (-2 / 3μ, 1 / 3μ); where the formula for μ is: μ=S*rtanθ; Wherein, θ is the inherent packing angle of the seeds in the seeder, and r is the equivalent radius of the bottom area of the seeder.

7. The planter box auto dock and fill apparatus of claim 1, wherein, The conveying motor is a stepping motor, and the conveying motor is connected with the conveying auger through a speed reducer; the flow rate of the auger conveying mechanism during stable conveying is: Q = 47D 2 pLnCK; Wherein, D is the outer diameter of the spiral blade of the conveying auger, L is the pitch, C is the inclined conveying correction coefficient of the conveying auger, K is the spiral blade influence coefficient of the conveying auger, and n is the rotating speed of the conveying auger.

8. An automatic aligning and filling method for a seeding machine seed tank, characterized in that, The seeder automatic docking and feeding device is used for feeding, and the steps are as follows: S100, the auger conveying mechanism is connected with the discharging port through a flexible pipeline, the seeder is automatically docked and fed to the target operation area, and the seeder is located directly behind the seeder; S200, the seeder sends a signal to start the replenishment operation to the seeder automatic docking and feeding device, and sends the row spacing information of the seeder; S300, after receiving the signal, the controller of the seeder automatic docking and feeding device automatically adjusts the discharging port to be consistent with the row spacing of the seeder; S400, the electric push rod pushes the discharging port to extend forward, the industrial camera collects the image of the seeder, and sends the image to the controller to calculate and control the electric push rod to adjust the discharging port to be located at the center of the seeder, and the docking is completed; S500, the laser radar measures the material level height information of the seeder, and sends the information to the controller together with the image information extracted by the industrial camera, and calculates the replenishment amount of each seeder; S600, the controller controls the action of each conveying motor according to the replenishment amount, and completes the replenishment of each seeder; and S700, after the replenishment reaches the set seed tank residual amount, the conveying motor stops operating, the electric push rod and the docking mechanism pitch adjustment mechanism reset, and the replenishment operation is completed.

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