Cotton digital seed meter

Abstract

The application discloses a cotton digital seed sowing device and belongs to the technical field of agricultural seeding intelligent control. The cotton digital seed sowing device is arranged on a seeding machine. The cotton digital seed sowing device sows cotton seeds through a seed sowing module, detects falling information of the cotton seeds through a seed flow detection module, measures the advancing speed of the seeding machine and the actual seed sowing speed of the seed sowing module through a speed measurement module, calculates a target seed sowing speed according to the per mu seeding amount and the advancing speed when the seeding machine advances at a constant speed, adjusts the actual seed sowing speed according to the target seed sowing speed, and calculates seeding information. When the seeding machine advances at a non-constant speed, the control module adjusts the actual seed sowing speed according to the advancing speed to realize seeding at a variable speed, and calculates seeding information. The multiple modules can realize precision seed sowing, seed sowing detection and seed sowing speed control at the same time, and the seed sowing information is digitized, so that the cotton digital seed sowing device is convenient to use.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural seeding intelligent control, and particularly relates to a cotton digital seed sowing device. BACKGROUND

[0002] The mulch covering precision hill-drop technology is generally used for cotton precision hill-drop sowing. In work, the hill-drop device rolls to take seeds and carries the seeds to rotate, breaks the film and punches a hole above the film through the hill-drop duckbill, and opens the duckbill in contact with the ground to make the cotton seeds drop into the seed hole. However, the traditional cotton production method has a low degree of mechanization, which can easily cause serious problems such as missing sowing, seed shortage and broken stems in the cotton planting process. In order to solve these problems, various cotton seed sowing devices have been designed and produced for the cotton planting industry.

[0003] At present, the cotton seed sowing device technology develops rapidly in China, and most researches focus on structure and optimization design, but there are few researches on cotton seed sowing integrated control. How to detect missing sowing and re-sowing, and ensure one seed per hole, etc. problems have not been solved. At present, the domestic cotton seed sowing device is only a single seed sowing device, and most of the detection devices and speed following systems are sold separately, which increases the installation difficulty and is not conducive to popularization and use. In addition to the high installation difficulty, the existing cotton seed sowing device is also difficult to realize seed sowing, seed sowing detection and seed sowing speed control at the same time. Therefore, the existing cotton seed sowing device has different problems in the use process, so the digital transformation of cotton intelligent seeding still faces great challenges. SUMMARY

[0004] The purpose of the present application is to provide a cotton digital seed sowing device, which can realize precision seed sowing, seed sowing detection and seed sowing speed control of cotton, so as to solve the problems of low intelligence and poor control precision of the cotton seeding system.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] A cotton digital seed sowing device is arranged on a seeding machine; the cotton digital seed sowing device comprises:

[0007] A seed sowing module for sowing cotton seeds;

[0008] A seed flow detection module arranged at the seed sowing outlet of the seed sowing module for detecting the falling information of the cotton seeds;

[0009] A speed measurement module connected with the seeding machine and the seed sowing module for measuring the forward speed of the seeding machine and the actual seed sowing speed of the seed sowing module;

[0010] A control module connected with the seed sowing module, the seed flow detection module and the speed measurement module for:

[0011] When the seeding machine advances at a constant speed, the target seeding speed of the seed metering module is calculated according to the user-set seeding rate per mu and the advancing speed of the seeding machine, the actual seeding speed of the seed metering module is adjusted according to the target seeding speed of the seed metering module, and the seeding information of the cotton seeds is calculated according to the advancing speed of the seeding machine and the falling information of the cotton seeds; the seeding information includes the information of the reseeding of the cotton seeds and the information of the missed seeding of the cotton seeds, and is used to represent the seeding state of the cotton seeds.

[0012] When the seeding machine advances at a non-constant speed, the actual seeding speed of the seed metering module is adjusted according to the advancing speed of the seeding machine to realize the seeding at a variable speed, and the seeding information of the cotton seeds is calculated according to the advancing speed of the seeding machine and the falling information of the cotton seeds.

[0013] Optionally, the control module specifically includes:

[0014] The first controller is connected with the seed flow detection module and the speed detection module, and is used to determine the target seeding speed according to the seeding rate per mu and the advancing speed of the seeding machine when the seeding machine starts to work, and to generate a driving signal according to the target seeding speed. When the advancing speed of the seeding machine increases, an up-regulation signal is generated, and when the advancing speed of the seeding machine decreases, a down-regulation signal is generated.

[0015] The driver is connected with the first controller, and is used to generate a speed up-regulation current if the up-regulation signal is received, and to generate a speed down-regulation current if the down-regulation signal is received.

[0016] The direct current motor is connected with the driver and the seed metering module, and is used to increase the rotating speed of the seed metering module if the speed up-regulation voltage is received, so that the actual seeding speed is increased, and to decrease the rotating speed of the seed metering module if the speed down-regulation voltage is received, so that the actual seeding speed is decreased.

[0017] Further, the control module further includes:

[0018] The second controller is connected with the speed detection module, and is used to perform feedback calibration on the target seeding speed generated by the first controller, to take the difference between the target seeding speed and the actual seeding speed as an input signal, and to obtain a calibration driving signal by decision-making on the input signal.

[0019] The second controller is connected with the driver.

[0020] The first controller and the second controller can be integrated into a main controller.

[0021] The second controller outputs a calibration driving signal to the driver, and the driver is further used for driving the DC motor to adjust the speed, so that the DC motor is further used for making the actual seed sowing speed of the seed sowing module reach the target seed sowing speed.

[0022] Optionally, the seed flow detection module comprises:

[0023] An incident end LED light transmission module is arranged at the seed sowing outlet of the seed sowing module and is used for generating a detection light;

[0024] A convex lens is arranged on the transmission light path of the detection light and is used for converging the detection light to obtain a converging light;

[0025] A receiving end light sensing module is arranged on the transmission light path of the converging light and is used for obtaining a moving voltage signal of the cotton seed according to the converging light;

[0026] A first signal processing circuit is connected with the receiving end light sensing module and is used for obtaining the falling information of the cotton seed according to the voltage signal of the cotton seed.

[0027] Optionally, the speed measurement module comprises:

[0028] A speed radar is connected with the seeding machine and is used for measuring the forward speed of the seeding machine to obtain a first analog signal;

[0029] A high-precision encoder is connected with the seed sowing module and is used for measuring the actual seed sowing speed of the seed sowing module to obtain a second analog signal;

[0030] A second signal processing circuit is connected with the speed radar, the high-precision encoder and the control module, is used for performing voltage reduction shaping on the first analog signal to obtain the forward speed of the seeding machine, and is used for performing voltage reduction shaping on the second analog signal to obtain the actual seed sowing speed of the seed sowing module.

[0031] Optionally, the seed sowing module comprises a seed box and a seed sower; the seed box is communicated with the seed sower through a seed conveying pipeline, and the seed box is used for storing cotton seeds.

[0032] The seed sowing device comprises a seed sowing device base, a seed guide wheel, a partition plate, a seed sowing disc, a seed sowing device cover and a brush.

[0033] The cotton seeds enter the inner cavity through the seed conveying pipeline; the seed guide wheel is connected with the main controller and the speed measuring device, and is used to rotate under the action of the main controller and drive the seed sowing disc to rotate; the seed sowing disc is used to carry the cotton seeds falling from the outlet of the seed conveying pipeline through the seed scoops and rotate; the brush is used to brush the cotton seeds carried by the seed scoops into the seed slots of the seed guide wheel through the notch of the partition plate; and the seed guide wheel is used to carry the cotton seeds to the seed sowing outlet through the seed slots and sow the cotton seeds.

[0034] Preferably, the cotton digital seed sowing device further comprises:

[0035] The display module is connected with the control module and is used to display the falling information of the cotton seeds, the forward speed of the seeding machine, the actual seed sowing speed of the seed sowing module, the per mu seeding amount, the target seed sowing speed of the seed sowing module and the seeding information.

[0036] Preferably, the cotton digital seed sowing device further comprises:

[0037] The positioning module is connected with the seeding machine and the control module and is used to determine the position information of the seeding machine.

[0038] Further, the cotton digital seed sowing device is further connected with a network cloud module; the network cloud module is used to fuse the seeding information and the position information correspondingly and generate a seeding state information map.

[0039] According to the specific embodiments of the present application, the following technical effects are provided:

[0040] The application discloses a cotton digital seed sowing device, and compared with the prior art, the cotton digital seed sowing device realizes cotton seed sowing, detects the seed sowing of cotton through a seed flow detection module to detect the falling information of cotton seeds, and realizes speed control of the seed sowing of cotton through a control module to adjust the actual seed sowing speed according to the advancing speed of a seeding machine. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0042] Figure 1 Fig. 1 is a module schematic diagram of the cotton digital seed sowing device provided by the embodiment of the present application;

[0043] Figure 2 Fig. 2 is a structure schematic diagram of the cotton digital seed sowing device provided by the embodiment of the present application;

[0044] Figure 3 Fig. 3 is a structure schematic diagram of the seed sowing device provided by the embodiment of the present application;

[0045] Figure 4 Fig. 4 is a structure schematic diagram of the seed flow detection module provided by the embodiment of the present application;

[0046] Figure 5 Fig. 5 is an input and output module schematic diagram provided by the embodiment of the present application;

[0047] Figure 6 Fig. 6 is a general flow block diagram of the cotton digital seed sowing device provided by the embodiment of the present application;

[0048] Figure 7 Fig. 7 is a control flow diagram of the cotton digital seed sowing device provided by the embodiment of the present application.

[0049] Symbol explanation:

[0050] A box-1, a seed metering device-2, a seed flow detection module-3, a tractor vehicle battery-4, a speed measurement radar-5, a positioning module-6, a signal processing circuit board-7, a driver-8, a display module-9, a DC motor-10, a high-precision encoder-11, a battery module-12, a main controller-13, a seed metering device seat-14, a seed guide wheel-15, a partition-16, a seed metering disc-17, a seed metering device cover-18, a brush-19, a seed guide tube-20, a convex lens-21, a receiving end light sensing module-22, an incident end LED light transmission module-23, a seed guide tube circuit channel-24, a user input module-25, a network cloud module-26, a seed metering module-27, a speed measurement module-28, a control module-29. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] The purpose of the present application is to provide a cotton digital seed metering device, which can simultaneously realize cotton seed metering, seed metering detection and seed metering speed control by designing a seed metering module, a seed flow detection module, a speed measurement module and a control module, and digitize seed metering information, thereby solving the problems of low intelligence and poor control precision of a cotton seeding system and facilitating use.

[0053] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0054] The present application discloses a cotton digital seed metering device, which is arranged on a seeding machine. Figure 1 (solid lines represent connection relationships, and dashed lines represent corresponding arrangement relationships), the cotton digital seed metering device comprises a seed metering module 27, a seed flow detection module 3, a speed measurement module 28 and a control module 29.

[0055] The seed metering module 27 is used for metering cotton seeds.

[0056] The seed flow detection module 3 is arranged at a seed metering outlet of the seed metering module 27, and is used for detecting falling information of the cotton seeds.

[0057] The speed measurement module 28 is connected with the seeding machine and the seed metering module 27, and is used for measuring the forward speed of the seeding machine and the actual seed metering speed of the seed metering module 27.

[0058] The control module 29 is connected with the seed metering module 27, the seed flow detection module 3 and the speed detection module 28, and the control module 29 is used for:

[0059] When the seeding machine is uniformly advanced, the target seed metering speed of the seed metering module 27 is calculated according to the acreage and the advancing speed of the seeding machine, the actual seed metering speed of the seed metering module 27 is adjusted according to the target seed metering speed of the seed metering module 27, and the seeding information of the cotton seeds is calculated according to the advancing speed of the seeding machine and the falling information of the cotton seeds.

[0060] When the seeding machine is non-uniformly advanced, the actual seed metering speed of the seed metering module 27 is adjusted according to the advancing speed of the seeding machine to realize speed-dependent seeding, and the seeding information of the cotton seeds is calculated according to the advancing speed of the seeding machine and the falling information of the cotton seeds.

[0061] The seeding information includes the reseeding information and the missing seeding information of the cotton seeds, and the seeding information is used for representing the seed metering state of the cotton seeds.

[0062] Optionally, the control module 29 calculates the target seed metering speed of the seed metering module 27 according to the preset plant spacing and the advancing speed of the seeding machine.

[0063] With reference to Figure 2 , the control module 29 specifically includes a first controller, a second controller, a driver 8 and a direct current motor 10.

[0064] The first controller is connected with the seed flow detection module 3 and the speed detection module 28, and the first controller is used for determining the target seed metering speed according to the acreage and the advancing speed of the seeding machine when the seed metering module 27 starts to work, and generating a driving signal according to the target seed metering speed. During the working process of the seed metering module 27, when the advancing speed of the seeding machine increases and the target seed metering speed increases, the first controller generates an up-regulation signal, and when the advancing speed of the seeding machine decreases and the target seed metering speed decreases, the first controller generates a down-regulation signal.

[0065] The driver 8 is connected with the first controller, and is used for generating a speed up-regulation voltage if the up-regulation signal is received, and generating a speed down-regulation voltage if the down-regulation signal is received.

[0066] The direct current motor 10 is connected with the driver 8 and the seed metering module 27, and is used for increasing the rotating speed of the seed metering module 27 if the speed up-regulation voltage is received, so that the actual seed metering speed is increased, and decreasing the rotating speed of the seed metering module 27 if the speed down-regulation voltage is received, so that the actual seed metering speed is decreased.

[0067] The second controller is connected with the speed measuring module 28; the second controller is used for feedback calibration of the target seed spacing speed generated by the first controller, and the difference between the target seed spacing speed and the actual seed spacing speed is taken as an input signal, and a calibration driving signal is obtained by decision of the input signal.

[0068] The second controller is also connected with the driver 8 and the direct current motor 10 respectively; the second controller outputs the calibration driving signal to the driver 8, the driver 8 drives the direct current motor 10 to adjust the speed, and then the direct current motor 10 makes the actual seed spacing speed of the seed spacing module 27 reach the target seed spacing speed.

[0069] With reference to Figure 2 and Figure 5 , in order to improve the integration of the device and reduce the space occupation of the device, the first controller and the second controller can be integrated into the main controller 13. Meanwhile, the cotton digital seed spacing device further comprises a signal processing circuit board 7, the signal processing circuit board 7 connected with the main controller 13 is arranged in a short distance, signals transmitted by other modules can be processed centrally, and the space occupation of the device is further reduced.

[0070] In addition, if the cotton digital seed spacing device is powered by the tractor-mounted storage battery 4, the instantaneous current may be too large when starting, which may cause the driver 8 and the direct current motor 10 to be burned out, therefore the cotton digital seed spacing device further comprises a battery module 12.

[0071] The battery module 12 is connected with the main controller 13, the driver 8 and the direct current motor 10, and the battery module 12 is used for providing stable current to ensure that the control module 29 continuously and safely operates.

[0072] With reference to Figure 2 , the seed spacing module 27 comprises a seed box 1 and a seed spacing device 2; the seed box is communicated with the seed spacing device 2 through a seed conveying pipeline, and the seed box 1 is used for storing cotton seeds.

[0073] The specific structure of the seed spacing device 2 is shown in Figure 3As shown, the seed metering device 2 comprises a seed metering device base 14, a seed guiding wheel 15, a partition plate 16, a seed metering disc 17, a seed metering device cover 18 and a brush 19; the seed metering device base 14, the seed guiding wheel 15, the partition plate 16, the seed metering disc 17 and the seed metering device cover 18 are coaxially arranged from left to right in sequence, the seed metering device base 14 and the seed metering device cover 18 form an inner cavity by fitting, and the seed guiding wheel 15, the partition plate 16 and the seed metering disc 17 are arranged in the inner cavity; the outlet of the seed conveying pipeline extends to the inner cavity through the seed metering device cover 18, the seed metering device base 14 is provided with the seed metering outlet, the outer edge of the seed guiding wheel 15 is provided with a plurality of equidistant seed grooves in the circumferential direction, the outer edge of the seed metering disc 17 is provided with a plurality of equidistant seed scoops in the circumferential direction, the number of the seed grooves and the seed scoops is equal and one-to-one corresponding, the brush 19 is fixed to the inner side wall of the seed metering device cover 18, and the partition plate 16 is provided with a notch corresponding to the brush 19.

[0074] The cotton seeds enter the inner cavity through the seed conveying pipeline; the seed guiding wheel 15 is connected with the main controller 13 and the speed measuring device, and is used to rotate under the action of the main controller 13 and drive the seed metering disc 17 to rotate; the seed metering disc 17 is used to rotate by carrying the cotton seeds falling from the outlet of the seed conveying pipeline through the seed scoops; the brush 19 is used to brush the cotton seeds carried by the seed scoops into the seed grooves of the seed guiding wheel 15 through the notch on the partition plate 16; when the weather is relatively humid, the cotton seeds are easy to stick to the seed scoops, the brush 19 can forcibly brush the seeds in the seed scoops into the seed guiding wheel 15, and the excess cotton seeds in the seed scoops are removed in time; the seed guiding wheel 15 is used to carry the cotton seeds to the seed metering outlet through the seed grooves and then seed the cotton seeds.

[0075] After the seed metering device 2 starts to rotate, when the seed metering disc 17 rotates to the notch of the partition plate 16, the cotton seeds in the seed scoops of the seed metering disc 17 are sent into the seed grooves of the seed guiding wheel 15 under the action of the brush 19. The seed metering device 2 continues to rotate, when the seed grooves of the seed guiding wheel 15 rotate to the seed metering outlet, the cotton seeds are discharged from the seed grooves along the seed metering outlet under the action of centrifugal force.

[0076] The design of the seed metering device 2 is based on a spoon type seed taking mechanism for cotton seed profiling, and the profiling design can improve the single cotton seed seeding performance and the uniformity of the seed spacing during the seeding of the seed metering device 2. Based on the structure of the seed metering device 2, the driving system and the detection system are designed to form an integral whole with the seed metering device 2, so that the single cotton digital seed metering device provided in the embodiment of the application can realize the functions of seeding, seeding information detection and seeding speed control, and has the advantages of simple structure and convenient installation.

[0077] In combination with cotton seeds, the seed guiding wheel 15 and the seed plate 17 are designed according to cotton seeds, the seed plate 17 is a spoon type seed taking mechanism with 18 holes, and the seed holding structure of each hole is shaped according to the shape of cotton seeds for realizing precision seeding. When the seed metering device 2 rotates, the cotton seeds enter the inner cavity from the seed tank 1 through the seed conveying pipeline, the cotton seeds entering the inner cavity are carried by the seed spoon of the seed plate 17, the seed plate 17 and the partition plate 16 hold the cotton seeds, when the seed spoon carries more than one seed, the extra seeds are removed by the brush 19, when the seed plate 17 rotates to the notch at the upper end of the partition plate 16, the seeds fall into the seed guiding wheel 15 under the action of the brush 19, the inner cavity of the seed guiding wheel 15 moves to the seed dropping port, the cotton seeds fall down, and the cotton seed metering operation is realized.

[0078] With reference to Figure 4 , the seed flow detection module 3 comprises an incident end LED light transmission module 23, a convex lens 21, a receiving end photosensitive module 22 and a first signal processing circuit.

[0079] The incident end LED light transmission module 23 is arranged at the seed metering outlet of the seed metering device 2, and is used for generating detection light; the detection light is perpendicular to the discharge direction of the cotton seeds.

[0080] The convex lens 21 is arranged on the transmission light path of the detection light, and is used for converging the detection light to obtain bundled light.

[0081] The receiving end photosensitive module 22 is arranged on the transmission light path of the bundled light, and is used for obtaining the moving voltage signal of the cotton seeds according to the bundled light.

[0082] The first signal processing circuit is connected with the receiving end photosensitive module 22, and is used for obtaining the falling information of the cotton seeds according to the voltage signal of the cotton seeds.

[0083] With reference to Figure 2 and Figure 4When the cotton seeds are discharged through the seed outlet, the seed flow detection module 3 detects the cotton seeds passing through the seed guide tube 20; the seed flow detection module 3 is powered through the power supply circuit arranged in the seed guide circuit channel 24, and the seed flow detection module 3 emits detection light through the incident end LED light transmission module 23; when the cotton seeds fall, the detection light is perpendicular to the cotton seeds and changes due to the shielding of the cotton seeds; after the detection light is collected by the convex lens 21, the change of the detection light is sensed by the receiving end photosensitive module 22 in real time, and then the change of the light intensity of the receiving end photosensitive module 22 caused by the change of the detection light changes the voltage on both sides, and a corresponding moving pressing signal is generated; the moving voltage signal is processed by the first signal processing circuit, a stable square wave signal (i.e. the falling information of the cotton seeds) is generated and transmitted to the main controller 13, and one cycle of the square wave signal represents that one seed is detected; at the same time, the main controller 13 records the time corresponding to each cycle of the square wave signal, and the time difference between two adjacent seeds is multiplied by the forward speed of the seeding machine measured by the speed measurement radar to obtain the actual plant spacing of the seeds; and then the main controller 13 calculates the seeding information of the cotton seeds according to the actual plant spacing of the seeds, the forward speed of the seeding machine and the actual seeding speed of the seed metering device.

[0084] Specifically, referring to Figure 5 , the target plant spacing is input to the main controller 13 through the input interface of the user input module 25, the main controller 13 compares the actual plant spacing with the target plant spacing, if the actual plant spacing is less than 0.5 times the target plant spacing, one seed is re-seeded; if the actual plant spacing is greater than 1.5 times the target plant spacing, one seed is missed; if the actual plant spacing is greater than 2.5 times the target plant spacing, two seeds are missed; and if the actual plant spacing is greater than 3.5 times the target plant spacing, three seeds are missed. The main controller 13 can calculate the seeding information of the cotton seeds according to the above algorithm.

[0085] In combination with the above embodiment, the seed flow detection module 3 based on the LED linear array light source and the silicon photocell is used to obtain the seeding information, and when the cotton seeds fall and pass through and shield the detection light, the precision is better and the size is smaller than the traditional piezoelectric sensor or the photoelectric sensor based on the infrared emission and infrared receiving principle.

[0086] In order to ensure the cotton seed metering speed control, the forward speed of the seeding machine and the seeding speed of the seed metering device 2 need to be accurately detected. Referring to Figure 2 , the speed measurement module 28 comprises a speed measurement radar 5, a high-precision encoder 11 and a second signal processing circuit.

[0087] The speed measurement radar 5 is connected with the seeding machine, and is used to measure the forward speed of the seeding machine to obtain a first analog signal.

[0088] The high-precision encoder 11 is connected with the seed-metering module 27, and is used to measure the actual seed-metering speed of the seed-metering module 27 to obtain a second analog signal.

[0089] The second signal processing circuit is connected with the speed measurement radar 5, the high-precision encoder 11 and the control module 29, and is used to perform voltage reduction shaping on the first analog signal to obtain the forward speed of the seeding machine and perform voltage reduction shaping on the second analog signal to obtain the actual seed-metering speed of the seed-metering module 27.

[0090] The first signal processing circuit and the second signal processing circuit can be integrated into a signal processing circuit board 7, and the first controller and the second controller are integrated into a main controller 13, so that the system integration degree is further improved.

[0091] In combination with the application of the speed measurement module 28 of the cotton digital seed-metering device disclosed in the above embodiment, a PID control algorithm for speed-dependent seeding is designed by the control module 29, and compared with the traditional motor driving, the control is faster and the error is smaller. Meanwhile, referring to Figure 2 , the DC motor 10 of the cotton digital seed-metering device is synchronized with the state of the seeding machine through the main controller 13, the seeding machine is started, the tractor on-board storage battery 4 is started and supplies power to the seed-metering module 27, the seed-metering module 27 is powered and starts to rotate, the vehicle is stopped and the stand is stopped, the vehicle is walked and the stand is raised, and the start time of the cotton seed-metering at the head is shorter.

[0092] Specifically, as shown in Figure 6 , in one embodiment of the present application, the main controller 13 is taken as a Raspberry Pi control terminal for further description.

[0093] Because the amplitude of the return signal voltage of the speed measurement radar 5 and the high-precision encoder 11 is 12V, the return signal of the speed measurement radar 5 and the high-precision encoder 11 cannot be directly read by the GPIO interface of the Raspberry Pi control terminal, and therefore two-way optical coupling isolation elements TLP521 (i.e. the second signal processing circuit) are used to isolate and reduce the voltage of the return signal to a 3.3V signal.

[0094] In the cotton seed-metering work, the speed measurement radar 5 is fixedly installed on the frame of the seeding machine, and returns a square wave signal (i.e. the first analog signal) whose frequency is proportional to the forward speed of the seeding machine as the seeding machine moves. The second signal processing circuit is mainly a voltage reduction shaping circuit, and the second signal processing circuit performs voltage reduction processing on the return signal of the speed measurement radar 5, so that the return signal can be received by the Raspberry Pi control terminal and the working speed of the seeding machine is calculated.

[0095] In combination withFigure 3 The high-precision encoder 11 is installed on the main shaft of the seed guiding wheel 15 of the seed metering device 2. When the seed metering device 2 is working, the seed metering device 2 rotates under the action of the main controller 13, that is, the seed guiding wheel 15 rotates at a certain frequency. At this time, the high-precision encoder 11 returns a square wave (i.e., the second analog signal) whose frequency is proportional to the rotating speed of the seed metering device 2. The second signal processing circuit performs voltage reduction shaping on the square wave whose frequency is proportional to the rotating speed of the seed metering device 2, so that the square wave can be received by the Raspberry Pi control terminal. Then, the Raspberry Pi control terminal calculates the rotating speed of the seed metering device 2 at the current time.

[0096] When the seeding machine is started, the Raspberry Pi control terminal obtains the input seeding rate or plant spacing, and calculates the seed metering requirement for achieving the current seeding rate or plant spacing according to the forward speed of the seeding machine measured by the speed radar 5. Referring to Figure 7 The high-precision encoder 11 measures the current rotating speed of the seed metering device 2, and plays a feedback function. Then, the Raspberry Pi control terminal compares the current rotating speed of the seed metering device 2 fed back by the high-precision encoder 11 with the target rotating speed, and sends a calibration signal to the driver after calculation by the PID control algorithm, so as to adjust the actual seed metering speed of the seed metering device 2. The actual seed metering speed is adjusted by the PID control algorithm, so as to realize the precise rotating speed control of the seed metering device.

[0097] At the same time when the seeding machine is started, the cotton digital seed metering device starts to work, the cotton seeds in the seed box 1 fall into the seed metering device 2, and the seed metering device 2 meters and seeds the cotton seeds from the seed metering outlet. When the cotton seeds fall from the seed metering outlet, the detection light emitted from the incident end LED light transmission module 23 will be blocked, so that the light intensity sensed by the receiving end photosensitive module 22 in real time will change due to the blocking of the detection light by the falling cotton seeds. The voltage on both sides of the receiving end photosensitive module 22 changes accordingly. The falling signal of the cotton seeds is transmitted to the Raspberry Pi control terminal by the first signal processing circuit, and a stable square wave signal is generated. The Raspberry Pi control terminal records the time point of the current voltage signal, which is the time of the seed falling. The actual spacing of the seeds is equal to the time difference between the falling of two seeds multiplied by the driving speed of the seeding machine. The Raspberry Pi control terminal compares the set seeding spacing with the actual spacing, so as to obtain the seeding information of the cotton seeds.

[0098] In the actual seed metering work, the seeding machine and the cotton digital seed metering device arranged on the seeding machine will generate various different data or signals. The workers need to observe and record the different data or signals according to the requirements. In order to improve the convenience of seed metering observation and recording and improve the seed metering efficiency, referring to Figure 2 and Figure 5The cotton digital seed sowing device further comprises a display module 9 and a positioning module 6, and is further connected with a network cloud module 26. The cotton digital seed sowing device transmits the obtained sowing information and position information to the network cloud module 26 in real time, realizes corresponding fusion of the sowing information data and the position information data, and generates a sowing state information map.

[0099] The display module 9 is an OLED display screen, is connected with the main controller 13 through a serial port, and is used for displaying the forward speed of the seeding machine, the actual sowing speed of the seed sowing module, the per mu sowing amount, the target sowing speed of the seed sowing module and the sowing information.

[0100] The positioning module 6 is connected with the seeding machine and the main controller 13, and is used for determining the position information of the seeding machine. The positioning module 6 can be a Beidou positioning module.

[0101] With reference to Figure 5 The network cloud module 26 can be a network cloud and sowing state information map module. The main controller 13 transmits and stores the forward speed of the seeding machine, the actual sowing speed of the seed sowing module, the per mu sowing amount, the target sowing speed of the seed sowing module and the sowing information to the network cloud and sowing state information map module in real time, the network cloud and sowing state information map module generates a sowing state information map in the network cloud platform according to various data transmitted by the main controller 13 and the position information of the seeding machine, and a worker can observe and analyze the sowing state information map from multiple ports such as a mobile phone and a computer webpage.

[0102] Optionally, the Beidou positioning module comprises an antenna and a Beidou positioning unit.

[0103] The antenna is arranged on the seeding machine and is connected with the Beidou positioning unit, the Beidou positioning unit is connected with the main controller 13, and the main controller 13 is connected with the network cloud module 26; the Beidou positioning unit is used for measuring the position of the seeding machine; and the sowing position of the seed sowing device 2, i.e. the sowing longitude and latitude data of the seed sowing device 2, is calculated according to the positional relationship between the Beidou positioning unit on the seeding machine and the seed sowing device 2.

[0104] With reference to Figure 6The main controller 13 is a Raspberry Pi control terminal, and the network cloud module 26 is a network cloud and sowing state information graph module, which comprises a mobile phone, a computer web terminal, a cloud server and a MySQL database. The cotton digital seed metering device disclosed in the application is used as an example to illustrate the interaction between the cotton digital seed metering device and the network cloud module 26. The data interaction between the web terminal and the cloud server and between the cloud server and the main controller 13 is realized by using a WebSocket communication protocol. The sowing state information graph in the network cloud and sowing state information graph module is drawn by sowing map marking points on a network map. The sowing map marking points are circular color blocks, which are colored in red, yellow and green, respectively, to represent three sowing quality states of over-sowing, under-sowing and qualified sowing. The cloud server calls a network map API according to the sowing machine position information and sowing information (i.e. over-sowing information and under-sowing information of cotton seeds, and qualified sowing if no over-sowing or under-sowing occurs) uploaded by the main controller 13 at the current time, and adds the sowing map marking points to the map of the web terminal in sequence, so as to obtain the sowing state information graph. The main controller 13 also accesses the MySQL database by using an ODBC database access interface, for storing historical data. Through the function of connecting with the network cloud module 26, the application can realize the fine and efficient management of sowing by the web terminal, and can also generate a sowing state information graph according to the position of the sowing machine, so as to timely confirm the over-sowing position information or under-sowing position information of the cotton seed metering device.

[0105] In the above embodiment, the cotton digital seed metering device adopts a Raspberry Pi as a main controller, which can control the downward mechanism and process the return signals of various sensors. Meanwhile, the Raspberry Pi control terminal has more abundant function expansion. Meanwhile, the speed of the sowing machine is measured by using a speed radar 5, which can more accurately and timely measure the speed compared with the Beidou speed measurement. The rotation speed of the seed metering device is measured by using a high-precision encoder 11, which can more accurately verify the rotation speed control signal output by the Raspberry Pi control terminal. The integrated sowing detection module can timely detect the sowing information of the seeds, so as to timely adjust the sowing state.

[0106] Reference Figure 7The process of the corresponding software and hardware program during the operation of the application is described. After the cotton seeding machine is started, the cotton digital seed metering device is powered on standby, and the device is initialized. The operator sets the cotton plant spacing or the per mu seeding amount through the user input module 25, and confirms the seed metering condition of the target seed metering area. Then the seeding machine starts to advance, and the cotton digital seed metering device starts to operate. At this time, the forward speed of the seeding machine is detected in real time by the speed radar 5. The main controller 13 calculates the required motor speed according to the set cotton plant spacing (i.e. the preset plant spacing) or the per mu seeding amount, so that the seed metering device 2 operates at the target seed metering speed, and generates a driving signal. Under the assistance of the PID controller, the corresponding PWM duty cycle is output, the driver 8 generates a driving voltage according to the driving signal to drive the DC motor 10 to work. The DC motor 10 adjusts the actual seed metering speed of the seed metering device 2 according to the driving voltage, so that the actual seed metering speed of the seed metering device 2 is close to the target seed metering speed, and the dynamic balance of the seed metering speed of the seed metering device 2 is realized.

[0107] At the same time, the main controller 13 determines the actual seed metering speed of the seed metering device 2 according to the high-precision encoder 11, and executes the speed control of the above-mentioned embodiment of the cotton digital seed metering device. No matter whether the forward speed of the seeding machine increases or decreases, the corresponding PWM duty cycle is output under the action of the PID controller, the regulating current is generated, and the driver 8 drives the DC motor 10 to increase or decrease the rotation speed according to the regulating current, so that the actual seed metering speed of the seed metering device 2 increases or decreases, and the reseeding and missing seeding of the cotton seeds are corrected.

[0108] When the speed radar 5 detects the forward speed of the seeding machine in real time, the seed metering module 27 starts and begins to seed at the same time, the seed flow detection module 3 is powered on and starts to operate, the falling signal of the cotton seeds is collected, the main controller 13 calculates the current seed metering information of the seed metering module 27 according to the per mu seeding amount (or the cotton plant spacing) and the falling signal of the seeds, calculates the seeding number, and determines the current seeding information.

[0109] The application discloses a cotton digital seed metering device, and provides various implementation methods of the cotton digital seed metering device, solves the problems of low intelligentization and digitization level, poor adaptability and unsuitable installation of the existing seed metering system. With the indicators of intelligentization and integration, the accurate seed metering of the cotton seeds, the real-time detection of the seed metering amount, the real-time regulation of the seed metering speed are realized, one hole one seed is realized, and the economic loss caused by the problems such as missing seeding and reseeding in the cotton seeding process is reduced. At the same time, the application can also display the seeding information in real time on the webpage end through the network cloud module 26, generate a seeding state information diagram, realize the visualization and traceability of the seeding production process, and improve the seeding production efficiency.

[0110] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other.

[0111] The principles and implementations of the present application are described in the specific examples herein, and the above examples are only used to help understand the device of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation and application range. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A digital seed metering device for cotton, characterized in that, The cotton digital seed metering device is arranged on a seeding machine; the cotton digital seed metering device comprises: a seed metering module for metering cotton seeds; the seed metering device is designed based on a spoon type seed taking mechanism shaped according to cotton seeds; the seed metering device comprises a seed metering device seat, a seed guide wheel, a partition plate, a seed metering disc, a seed metering device cover and a brush, the seed metering disc is a spoon type seed taking mechanism with 18 holes, and the seed holding structure of each hole is shaped according to the shape of cotton seeds; a seed flow detection module arranged at the seed metering outlet of the seed metering module for detecting the falling information of the cotton seeds; the seed flow detection module comprises an incident end LED light transmission module, a convex lens, a receiving end light sensing module and a first signal processing circuit, and the detection light is perpendicular to the direction in which the cotton seeds are discharged; the incident end LED light transmission module of the seed flow detection module is arranged at the seed metering outlet of the seed metering module for generating detection light; the convex lens is arranged on the transmission light path of the detection light for collecting the detection light to obtain bundled light; the receiving end light sensing module is arranged on the transmission light path of the bundled light for obtaining the moving voltage signal of the cotton seeds according to the bundled light; and the first signal processing circuit is connected with the receiving end light sensing module for obtaining the falling information of the cotton seeds according to the voltage signal of the cotton seeds; a speed measurement module connected with the seeding machine and the seed metering module for measuring the forward speed of the seeding machine and the actual seed metering speed of the seed metering module; the speed measurement module comprises a speed measurement radar, a high-precision encoder and a second signal processing circuit, the high-precision encoder is connected with the seed metering module, and the high-precision encoder is used for measuring the actual seed metering speed of the seed metering module to obtain a second analog signal; a control module connected with the seed metering module, the seed flow detection module and the speed measurement module for: when the seeding machine advances at a constant speed, the target seed metering speed of the seed metering module is calculated according to the user set seed quantity per mu and the forward speed of the seeding machine, the actual seed metering speed of the seed metering module is adjusted according to the target seed metering speed of the seed metering module, and the seeding information of the cotton seeds is calculated according to the forward speed of the seeding machine and the falling information of the cotton seeds; the seeding information comprises the reseeding information and the missed seeding information of the cotton seeds, and the seeding information is used for representing the seed metering state of the cotton seeds; when the seeding machine advances at a non-constant speed, the actual seed metering speed of the seed metering module is adjusted according to the forward speed of the seeding machine to realize speed-dependent seeding, and the seeding information of the cotton seeds is calculated according to the forward speed of the seeding machine and the falling information of the cotton seeds.

2. The cotton digital seed meter of claim 1, wherein, The control module specifically comprises: a first controller connected with the seed flow detection module and the speed measurement module for determining the target seed metering speed according to the seed quantity per mu and the forward speed of the seeding machine when the seeding machine starts to work, and generating a driving signal according to the target seed metering speed; when the forward speed of the seeding machine increases, an up-regulation signal is generated, and when the forward speed of the seeding machine decreases, a down-regulation signal is generated; A driver, connected with the first controller, for generating a speed-up voltage if receiving the up signal, and generating a speed-down voltage if receiving the down signal; A direct current motor, connected with the driver and the seed sowing module, for increasing the rotating speed of the seed sowing module if receiving the speed-up voltage, and decreasing the rotating speed of the seed sowing module if receiving the speed-down voltage, so as to realize the speed-dependent sowing.

3. The cotton digital seed meter of claim 2, wherein, The control module further comprises: A second controller, connected with the speed measuring module, for feeding back and calibrating the target seed sowing speed generated by the first controller, taking the difference between the target seed sowing speed and the actual seed sowing speed as an input signal, and obtaining a calibrated driving signal by decision-making on the input signal; The second controller is connected with the driver; The first controller and the second controller can be integrated into a main controller; The second controller outputs the calibrated driving signal to the driver, and the driver is further used for driving the direct current motor to adjust the speed, and then the direct current motor is further used for making the actual seed sowing speed of the seed sowing module reach the target seed sowing speed.

4. The cotton digital seed meter of claim 1, wherein, The speed measuring radar in the speed measuring module is connected with the seeding machine, for measuring the advancing speed of the seeding machine to obtain a first analog signal; The second signal processing circuit is connected with the speed measuring radar, the high-precision encoder and the control module, for performing voltage reduction shaping on the first analog signal to obtain the advancing speed of the seeding machine, and performing voltage reduction shaping on the second analog signal to obtain the actual seed sowing speed of the seed sowing module.

5. The cotton digital seed meter of claim 3, wherein, The seed sowing module comprises a seed box and a seed sower, and the seed box is communicated with the seed sower through a seed conveying pipeline, and the seed box is used for storing cotton seeds. The seed sower seat, the seed guide wheel, the partition plate, the seed sowing disc and the seed sower cover are coaxially arranged from left to right, the seed sower seat and the seed sower cover form an inner cavity by fitting, the seed guide wheel, the partition plate and the seed sowing disc are arranged in the inner cavity, the outlet of the seed conveying pipeline extends to the inner cavity through the seed sower cover, the seed sower seat is provided with the seed sowing outlet, the outer edge of the seed guide wheel is provided with a plurality of equidistant seed grooves in the circumferential direction, the outer edge of the seed sowing disc is provided with a plurality of equidistant seed scoops in the circumferential direction, the number of the seed grooves and the seed scoops is equal and one-to-one corresponding, the brush is fixed to the inner side wall of the seed sower cover, and the partition plate is provided with a notch corresponding to the brush. The cotton seeds enter the inner cavity through the seed conveying pipeline, the seed guide wheel is connected with the main controller and the speed measuring module, and the seed guide wheel is used for rotating under the action of the main controller and driving the seed sowing disc to rotate, the seed sowing disc is used for rotating by carrying the cotton seeds falling from the outlet of the seed conveying pipeline through the seed scoops, the brush is used for brushing the cotton seeds carried by the seed scoops into the seed grooves of the seed guide wheel through the notch of the partition plate, and the seed guide wheel is used for carrying the cotton seeds to rotate to the seed sowing outlet for seed sowing.

6. The cotton digital seed meter of claim 1, wherein, The cotton digital seed sowing device further comprises: The display module is connected with the control module and is used for displaying the falling information of the cotton seeds, the forward speed of the seeding machine, the actual seed sowing speed of the seed sowing module, the per mu sowing amount, the target seed sowing speed of the seed sowing module and the seeding information.

7. The cotton digital seed meter of claim 1, wherein, The cotton digital seed sowing device further comprises: The positioning module is connected with the seeding machine and the control module and is used for determining the position information of the seeding machine.

8. The cotton digital seed meter of claim 7, wherein, The cotton digital seed sowing device is further connected with a network cloud module; the network cloud module is used for fusing the seeding information and the position information correspondingly to generate a seeding state information map.

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