Opposed probe type no-tillage sowing stubble avoidance device and method

Abstract

The present invention belongs to the field of agricultural technology, and specifically relates to an opposed probe type no-tillage sowing stubble avoidance device and method. The device comprises an active stubble avoidance device (1), a sowing unit (2), a sowing machine crossbeam (3), and an active stubble avoidance device (1); the active stubble avoidance device (1) is arranged between the sowing unit (2) and the sowing machine crossbeam (3), and is used for connecting the sowing unit (2) and the sowing machine crossbeam (3); the device can realize active stubble avoidance when the sowing unit is sowing, thereby improving the sowing operation effect of the sowing unit. Based on an ultrasonic sensor, by respectively detecting the distance between two probes and the crop stubble, the relative position of the sowing unit and the crop stubble can be accurately obtained in real time according to a mathematical model, providing information support for realizing active stubble avoidance of the sowing unit. The device can be used to quickly modify a traditional sowing unit, so that it has the ability to actively avoid stubble, thereby improving the sowing operation effect of the sowing unit.

Description

Technical Field

[0001] The invention belongs to the technical field of agriculture, and in particular relates to an opposed-probe type no-tillage sowing and stubble-avoiding device and method. Background Art

[0002] No-till seeding refers to applying fertilizer and seeds directly to the stubble after harvest, without or with minimal tillage. It is a key technology in conservation tillage, effectively conserving water and entropy, improving soil physical and chemical properties, and enhancing soil drought resistance and fertility. Due to the complex and resilient root systems of crops, no-till seeding on stubble land can easily cause the furrow opener to clog, potentially causing the planter to shut down, severely impacting seeding quality.

[0003] Precision row-by-row seeding is crucial for improving the quality of no-till seeding in stubble fields. Currently, the main methods for achieving precise row-by-row stubble detection are vision, mechanical feelers, and satellite navigation. Visual detection of stubble is easily affected by field conditions such as lighting. Mechanical feelers provide poor stability in row spacing. Using satellite navigation for stubble-avoidance seeding requires navigation for seeding the preceding crop, which is costly and has significant limitations. Therefore, a highly stable, low-cost active stubble-avoidance device is urgently needed to assist no-till seeders in performing active stubble-avoidance seeding. Summary of the Invention

[0004] The purpose of the present invention is to provide an opposed probe type no-tillage sowing stubble avoidance device and method. When a seeder performs no-tillage sowing, an ultrasonic sensor is used to detect the root stubble position, and an active stubble avoidance device is used to horizontally move the sowing unit, which can effectively realize the active stubble avoidance sowing of the seeder.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] An opposed probe type no-tillage sowing stubble avoidance device comprises an active stubble avoidance device 1, a sowing unit 2 and a sowing machine crossbeam 3. The device further comprises the active stubble avoidance device 1; the active stubble avoidance device 1 is arranged between the sowing unit 2 and the sowing machine crossbeam 3, and is used for connecting the sowing unit 2 and the sowing machine crossbeam 3;

[0007] The active stubble avoidance device 1 includes: an opposing probe 1-1, a rotating gear set 1-2, a controller 1-3, a front connecting plate 1-4, an electric push rod 1-5, a push rod mounting plate 1-6, a rear connecting plate 1-7 and a servo motor 1-8;

[0008] The front connecting plate 1-4 is laterally fixedly connected to the rear end of the planter crossbeam 3; the push rod mounting plate 1-6 extends rearward from the front connecting plate 1-4 and is fixedly connected to the side of the front connecting plate 1-4;

[0009] The rear connecting plate 1-7 includes: a front connecting plate meshing area 1-7-1, a controller installation area 1-7-2, a rotating shaft 1-7-3, a servo motor installation area 1-7-4 and a piston rod installation area 1-7-5;

[0010] The rear connecting plate 1-7 is L-shaped, comprising a vertical portion at the rear and a horizontal portion extending forward from the bottom of the vertical portion;

[0011] The front surface of the vertical portion is provided with a front connecting plate engaging area 1-7-1; the upper and lower ends of the front connecting plate engaging area 1-7-1 are respectively provided with sliding grooves, and the upper and lower surfaces of the front connecting plate 1-4 are respectively placed in the sliding grooves of the front connecting plate engaging area 1-7-1, so that the rear connecting plate 1-7 can move parallel to the front connecting plate 1-4 in the lateral direction;

[0012] The side of the vertical portion is provided with a piston rod mounting area 1-7-5;

[0013] A rotating shaft 1-7-3 is provided in the center of the horizontal portion, and a controller installation area 1-7-2 and a servo motor installation area 1-7-4 are provided on both sides of the rotating shaft 1-7-3;

[0014] The sowing unit 2 is fixedly connected to the vertical portion of the rear connecting plate 1-7 by a "U"-shaped bolt;

[0015] The electric push rod 1-5 includes: a combination component 1-5-1 and a screw 1-5-2; the combination component 1-5-1 is fixedly connected to the push rod mounting plate 1-6; the screw 1-5-2 is fixedly connected to the piston rod mounting area 1-7-5; the screw 1-5-2 can perform a telescopic piston parallel movement relative to the combination component 1-5-1, thereby pulling the rear connecting plate 1-7 to move horizontally left and right, and the sowing unit 2 moves horizontally left and right under the drive of the rear connecting plate 1-7;

[0016] The controller 1-3 is fixedly connected to the controller installation area 1-7-2; the servo motor 1-8 is fixedly connected to the servo motor installation area 1-7-4;

[0017] The controller 1-3 is in communication with the electric push rod 1-5; the controller 1-3 is in communication with the servo motor 1-8;

[0018] The rotating gear set 1-2 includes: a right gear 1-2-1 and a left gear 1-2-2;

[0019] The opposing probes 1-1 include: a right front ultrasonic radar 1-1-1, a right center ultrasonic radar 1-1-2, a right rear ultrasonic radar 1-1-3, a right probe 1-1-4, a left probe 1-1-5, a left rear ultrasonic radar 1-1-6, a left center ultrasonic radar 1-1-7, and a left front ultrasonic radar 1-1-8;

[0020] The rod bodies of the right probe rod 1-1-4 and the left probe rod 1-1-5 have the same structure, and from top to bottom, they respectively include a vertically arranged connecting portion, an inclined middle portion, and a working portion parallel to the ground; in the initial state, the angle between the working portion of the right probe rod 1-1-4 and the horizontal plane projection CL of the center line in the forward speed direction of the sowing unit 2 is equal to the angle between the working portion of the left probe rod 1-1-5 and the horizontal plane projection CL of the center line in the forward speed direction of the sowing unit 2;

[0021] The right front ultrasonic radar 1-1-1 is fixed to the inner front end of the working part of the right probe 1-1-4; the right middle ultrasonic radar 1-1-2 is fixed to the inner middle part of the working part of the right probe 1-1-4; the right rear ultrasonic radar 1-1-3 is fixed to the inner rear end of the working part of the right probe 1-1-4;

[0022] The left front ultrasonic radar 1-1-8 is fixed to the inner front end of the working part of the left probe 1-1-5; the left middle ultrasonic radar 1-1-7 is fixed to the inner middle part of the working part of the left probe 1-1-5; the left rear ultrasonic radar 1-1-6 is fixed to the inner rear end of the working part of the left probe 1-1-5;

[0023] The right front ultrasonic radar 1-1-1 and the left front ultrasonic radar 1-1-8 are symmetrically arranged and located on the same horizontal plane; the right center ultrasonic radar 1-1-2 and the left center ultrasonic radar 1-1-7 are symmetrically arranged and located on the same horizontal plane; the right rear ultrasonic radar 1-1-3 and the left rear ultrasonic radar 1-1-6 are symmetrically arranged and located on the same horizontal plane;

[0024] The right probe rod 1-1-4 is arranged below the right gear 1-2-1, and the connecting portion of the right probe rod 1-1-4 is fixedly mounted on the right gear 1-2-1; the left probe rod 1-1-5 is arranged below the left gear 1-2-2, and the connecting portion of the left probe rod 1-1-5 is fixedly mounted on the left gear 1-2-2;

[0025] The right gear 1-2-1 is fixedly mounted on the rotating shaft 1-7-3; the left gear 1-2-2 is fixedly mounted on the output shaft of the servo motor 1-8; the right gear 1-2-1 is meshed with the left gear 1-2-2, and the right gear 1-2-1 rotates driven by the left gear 1-2-2;

[0026] The servo motor 1-8 drives the left gear 1-2-2 to rotate; the right gear 1-2-1 is engaged with the left gear 1-2-2 to perform gear transmission; the left probe rod 1-1-5 rotates under the drive of the left gear 1-2-2; the right probe rod 1-1-4 rotates under the drive of the right gear 1-2-1;

[0027] The left rear ultrasonic radar 1-1-6, the left center ultrasonic radar 1-1-7 and the left front ultrasonic radar 1-1-8 are driven by the left probe 1-1-5 to rotate at a certain angle; the right rear ultrasonic radar 1-1-3, the right center ultrasonic radar 1-1-2 and the right front ultrasonic radar 1-1-1 are driven by the right probe 1-1-4 to rotate at the same angle as the left probe 1-1-5.

[0028] The method comprises the following steps:

[0029] S1, inputting the values ​​of α, T1 and T2 into the controller 1-3, the controller 1-3 controls the servo motor 1-8 to drive the rotating gear set 1-2 to drive the opposing probe 1-1 to open the angle α;

[0030] Wherein, α is the projection angle of the right probe rod 1-1-4 and the left probe rod 1-1-5 in the vertical plane, in degrees, and the value range is [0, 90]. T1 is the minimum threshold value of the vertical distance between the horizontal plane projection CL of the center line in the forward speed direction of the sowing unit 2 and the center point of the crop stubble 4 when judging that the sowing unit 2 is working normally, in meters, and the value range is [0, T2]. T2 is the maximum threshold value of the vertical distance between the horizontal plane projection CL of the center line in the forward speed direction of the sowing unit 2 and the center point of the crop stubble 4 when judging that the sowing unit 2 is working normally, in meters, and the value range is [T1, 1]. CL is the horizontal plane projection of the center line in the forward speed direction of the sowing unit 2 when the sowing unit 2 is working normally.

[0031] S2, sowing unit 2 starts working, the right front ultrasonic radar 1-1-1 detects parameter L1 and transmits it to the controller 1-3; the right middle ultrasonic radar 1-1-2 detects parameter L2 and transmits it to the controller 1-3; the right rear ultrasonic radar 1-1-3 detects parameter L3 and transmits it to the controller 1-3; the left rear ultrasonic radar 1-1-6 detects parameter L4 and transmits it to the controller 1-3; the left middle ultrasonic radar 1-1-7 detects parameter L5 and transmits it to the controller 1-3; the left front ultrasonic radar 1-1-8 detects parameter L6 and transmits it to the controller 1-3;

[0032] S3, the controller 1-3 determines whether the electric push rod 1-5 is working through the following steps:

[0033] S3.1. Calculate the vertical distance P between the horizontal projection CL of the centerline of the sowing unit 2 in the forward direction and the center point of the crop stubble 4 when the sowing unit 2 is operating normally;

[0034]

[0035] In Formula 1, P is the vertical distance between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 when the seeding unit 2 is working properly and the center point of the crop stubble 4, with the unit of m; L1 is the distance from the right front ultrasonic radar 1-1-1 to the crop stubble 4, with the unit of m; L2 is the distance from the right middle ultrasonic radar 1-1-2 to the crop stubble 4, with the unit of m; L3 is the distance from the right rear ultrasonic radar 1-1-3 to the crop stubble 4, with the unit of m; L4 is the distance from the left rear ultrasonic radar 1-1-6 to the crop stubble 4, with the unit of m; L5 is the distance from the left middle ultrasonic radar 1-1-7 to the crop stubble 4, with the unit of m; L6 is the distance from the left front ultrasonic radar 1-1-8 to the crop stubble 4, with the unit of m;

[0036] S3.2. If T1 < |P| < T2, the electric push rod 1-5 does not work;

[0037] T1 < |P| < T2 indicates that when the controller 1-3 judges that the seeding unit 2 is working properly, the vertical distance between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 and the center point of the crop stubble 4 is within a reasonable range, and the working parts of the seeding unit 2 are not likely to touch the crop stubble therefore, it can work properly;

[0038] S3.3. If |P| < T1 and P ≥ 0, the controller 1-3 controls the electric push rod 1-5 to extend, and the seeding unit 2 moves horizontally to the right;

[0039] |P| < T1 indicates that when the controller 1-3 judges that the seeding unit 2 is working properly, the vertical distance between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit and the center point of the crop stubble 4 is too close; P > 0 indicates that when the seeding unit 2 is working properly, the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 is on the right side of the center point of the crop stubble 4; P = 0 indicates that the center point of the crop stubble 4 is on the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 when the seeding unit 2 is working properly; at this time, the working parts of the seeding unit 2 are likely to touch the crop stubble 4, affecting the operation effect of the working parts of the seeding unit 2; the controller 1-3 controls the electric push rod to extend, and the seeding unit 2 moves horizontally to the right, increasing the distance between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 and the center point of the crop stubble 4 when the seeding unit 2 is working properly, so that the working parts of the seeding unit 2 are not likely to touch the crop stubble 4 and can work properly;

[0040] S3.4. If |P| < T1 and P < 0, the controller 1-3 controls the electric push rod 1-5 to contract, and the seeding unit 2 moves horizontally to the left;

[0041] |P| < T1 indicates that when the seeding unit 2 is operating normally, the vertical distance between the center point of the crop stubble 4 and the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 is too close; P < 0 indicates that when the seeding unit 2 is operating normally, the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 is on the left side of the center point of the crop stubble 4. At this time, the working components of the seeding unit 2 are likely to touch the crop stubble 4, affecting the operation effect of the working components of the seeding unit 2. The controller 1-3 controls the electric push rod 1-5 to contract, and the seeding unit 2 moves horizontally to the left, increasing the distance between the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 and the center point of the crop stubble 4 when the seeding unit 2 is operating normally, so that the working components of the seeding unit 2 are not likely to touch the crop stubble 4 and can operate normally;

[0042] S3.5. If |P| > T2 and P > 0, the controller 1-3 controls the electric push rod 1-5 to contract, and the seeding unit 2 moves horizontally to the left;

[0043] |P| > T2 and P > 0 indicate that when the seeding unit 2 is operating, the vertical distance between the left detection rod 1-1-5 and the center point of the crop stubble 4 is too close; it means that when the seeding unit 2 is operating, the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 is on the right side of the center point of the crop stubble 4, and the left detection rod 1-1-5 is likely to touch the crop stubble 4 and be damaged. At this time, the controller 1-3 controls the electric push rod 1-5 to contract, and the seeding unit 2 moves horizontally to the left to increase the distance between the left detection rod 1-1-5 and the crop stubble 4;

[0044] S3.6. If |P| > T2 and P < 0, the controller 1-3 controls the electric push rod 1-5 to extend, and the seeding unit 2 moves horizontally to the right;

[0045] |P| > T2 and P < 0 indicate that when the seeding unit 2 is operating, the vertical distance between the right detection rod 1-1-4 and the center point of the crop stubble 4 is too close; it means that when the seeding unit 2 is operating, the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 is on the left side of the center point of the crop stubble 4, and the right detection rod 1-1-4 is likely to touch the crop stubble 4 and be damaged. At this time, the controller 1-3 controls the electric push rod 1-5 to extend, and the seeding unit 2 moves horizontally to the right to increase the distance between the right detection rod 1-1-4 and the crop stubble 4;

[0046] S4. The controller obtains the seeding coordinate position of the seeding unit 2 according to the movement of the electric push rod 1-5, generates the actual seeding route of the seeding unit 2, and predicts the growth position information of the sown crops, providing data reference for the next harvest and seeding.

[0047] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0048] 1. An opposed probe type no-tillage sowing and stubble avoidance device is designed, which can realize active stubble avoidance when sowing individual sowing units, thereby improving the sowing operation effect of the sowing individual sowing units.

[0049] 2. Based on ultrasonic sensors, by detecting the distance from the two probes to the crop stubble respectively, the relative position of the sowing unit and the crop stubble can be accurately obtained in real time according to the mathematical model, providing information support for the active stubble avoidance of the sowing unit.

[0050] 3. The opposed probe type no-tillage sowing and stubble avoidance device is a universal detachable device. It can be used to quickly modify the traditional sowing unit to enable it to have the ability to actively avoid stubble and improve the sowing operation effect of the sowing unit.

[0051] 4. The controller can obtain the sowing coordinate position of the sowing unit according to the movement of the electric push rod, generate the actual sowing route of the sowing unit, and predict the growth position information of the sowing crop, providing data reference for the next harvest and sowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 Schematic diagram of the overall three-dimensional structure of the active stubble avoidance device 1 (front end face) applied to the sowing unit 2 of the present invention;

[0053] Figure 2 Schematic diagram of the overall three-dimensional structure of the active stubble avoidance device 1 (rear end face) applied to the sowing unit 2 of the present invention;

[0054] Figure 3 Schematic diagram of the three-dimensional structure of the opposing probe 1-1 of the present invention;

[0055] Figure 4 Schematic diagram of the three-dimensional structure of the rotating gear set 1-2 of the present invention;

[0056] Figure 5 Schematic diagram of the three-dimensional structure of the electric push rod 1-5 of the present invention;

[0057] Figure 6 Schematic diagram of the three-dimensional structure of the rear connecting plate 1-7 of the present invention;

[0058] Figure 7 This is a top view of the working control principle of the active stubble avoidance device 1 when the present invention is applied to the sowing unit 2;

[0059] Figure 8 This is a front view of the working control principle of the active stubble avoidance device 1 when the present invention is applied to the sowing unit 2.

[0060] The accompanying drawings are as follows:

[0061] 1. Active stubble avoidance device

[0062] 1-1, Opposing probe 1-2, Rotating gear set

[0063] 1-3, controller 1-4, front connection plate

[0064] 1-5, Electric push rod 1-6, Push rod mounting plate

[0065] 1-7, rear connecting plate 1-8, servo motor

[0066] 1-1-1, right front ultrasonic radar 1-1-2, right center ultrasonic radar

[0067] 1-1-3, right rear ultrasonic radar 1-1-4, right probe

[0068] 1-1-5, left probe 1-1-6, left rear ultrasonic radar

[0069] 1-1-7, left center ultrasonic radar 1-1-8, left front ultrasonic radar

[0070] 1-2-1, right gear 1-2-2, left gear

[0071] 1-5-1, Assembly 1-5-2, Screw

[0072] 1-7-1, front connecting plate engagement area 1-7-2, controller installation area

[0073] 1-7-3, shaft 1-7-4, servo motor installation area

[0074] 1-7-5, Piston rod installation area

[0075] 2. Seeding unit 3. Seeder beam

[0076] 4. Crop stubble DETAILED DESCRIPTION

[0077] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0078] A probe-type no-tillage sowing and stubble avoidance device comprises an active stubble avoidance device 1, a sowing unit 2 and a sowing machine crossbeam 3. Figure 7 and Figure 8 As shown, the active stubble avoidance device 1 is arranged between the sowing unit 2 and the seeder crossbeam 3, and is used for the connection between the sowing unit 2 and the seeder crossbeam 3.

[0079] like Figure 1 and Figure 2As shown, the active stubble avoidance device 1 includes: an opposing probe 1-1, a rotating gear set 1-2, a controller 1-3, a front connecting plate 1-4, an electric push rod 1-5, a push rod mounting plate 1-6, a rear connecting plate 1-7 and a servo motor 1-8.

[0080] like Figure 1 、 Figure 2 、 Figure 7 and Figure 8 As shown, the front connecting plate 1-4 is laterally fixedly connected to the rear end of the planter crossbeam 3. The push rod mounting plate 1-6 extends rearward from the front connecting plate 1-4 and is fixedly connected to the side of the front connecting plate 1-4.

[0081] like Figure 6 As shown, the rear connecting plate 1-7 includes: a front connecting plate meshing area 1-7-1, a controller installation area 1-7-2, a rotating shaft 1-7-3, a servo motor installation area 1-7-4 and a piston rod installation area 1-7-5.

[0082] The rear connecting plate 1-7 is "L"-shaped, including a vertical portion at the rear and a horizontal portion extending forward from the bottom of the vertical portion.

[0083] The front surface of the vertical portion is provided with a front connecting plate engaging area 1-7-1. Slide grooves are provided at the upper and lower ends of the front connecting plate engaging area 1-7-1, respectively. The upper and lower surfaces of the front connecting plate 1-4 are respectively placed in the slide grooves of the front connecting plate engaging area 1-7-1, thereby enabling the rear connecting plate 1-7 to move laterally parallel to the front connecting plate 1-4.

[0084] A piston rod mounting area 1-7-5 is provided on the side of the vertical portion.

[0085] A rotating shaft 1-7-3 is provided in the center of the horizontal part, and a controller installation area 1-7-2 and a servo motor installation area 1-7-4 are respectively provided on both sides of the rotating shaft 1-7-3.

[0086] The sowing unit 2 is fixedly connected to the vertical portion of the rear connecting plate 1-7 by a "U"-shaped bolt.

[0087] like Figure 5 As shown, the electric push rod 1-5 comprises a combination component 1-5-1 and a screw 1-5-2. The combination component 1-5-1 is fixedly connected to the push rod mounting plate 1-6. The screw 1-5-2 is fixedly connected to the piston rod mounting area 1-7-5. The screw 1-5-2 can move parallel to the piston relative to the combination component 1-5-1, thereby pulling the rear connecting plate 1-7 in a lateral left-right motion. Driven by the rear connecting plate 1-7, the sowing unit 2 moves in a lateral left-right motion.

[0088] like Figure 1 、 Figure 2 and Figure 6 As shown, the controller 1-3 is fixedly connected to the controller installation area 1-7-2. The servo motor 1-8 is fixedly connected to the servo motor installation area 1-7-4.

[0089] The controller 1-3 is in communication connection with the electric push rod 1-5; the controller 1-3 is in communication connection with the servo motor 1-8.

[0090] like Figure 4 As shown, the rotating gear set 1-2 includes: a right gear 1-2-1 and a left gear 1-2-2.

[0091] like Figure 3 As shown, the opposing probe 1-1 includes: a right front ultrasonic radar 1-1-1, a right center ultrasonic radar 1-1-2, a right rear ultrasonic radar 1-1-3, a right probe 1-1-4, a left probe 1-1-5, a left rear ultrasonic radar 1-1-6, a left center ultrasonic radar 1-1-7 and a left front ultrasonic radar 1-1-8.

[0092] The rod body of the right probe rod 1-1-4 and the left probe rod 1-1-5 have the same structure, which includes a vertically arranged connecting portion, an inclined middle portion and a working portion parallel to the ground from top to bottom. Figure 7 As shown, in the initial state, the angle between the working part of the right probe 1-1-4 and the horizontal plane projection CL of the center line of the forward speed direction of the sowing unit 2 is equal to the angle between the working part of the left probe 1-1-5 and the horizontal plane projection CL of the center line of the forward speed direction of the sowing unit 2.

[0093] The right front ultrasonic radar 1-1-1 is fixed at the inner front end of the working part of the right probe rod 1-1-4; the right middle ultrasonic radar 1-1-2 is fixed at the inner middle part of the working part of the right probe rod 1-1-4; the right rear ultrasonic radar 1-1-3 is fixed at the inner rear end of the working part of the right probe rod 1-1-4.

[0094] The left front ultrasonic radar 1-1-8 is fixed at the inner front end of the working part of the left probe 1-1-5; the left middle ultrasonic radar 1-1-7 is fixed at the inner middle part of the working part of the left probe 1-1-5; the left rear ultrasonic radar 1-1-6 is fixed at the inner rear end of the working part of the left probe 1-1-5.

[0095] The right front ultrasonic radar 1-1-1 and the left front ultrasonic radar 1-1-8 are arranged symmetrically and located on the same horizontal plane; the right center ultrasonic radar 1-1-2 and the left center ultrasonic radar 1-1-7 are arranged symmetrically and located on the same horizontal plane; the right rear ultrasonic radar 1-1-3 and the left rear ultrasonic radar 1-1-6 are arranged symmetrically and located on the same horizontal plane.

[0096] like Figure 3 and Figure 4 As shown, the right probe rod 1-1-4 is arranged below the right gear 1-2-1, and the connecting portion of the right probe rod 1-1-4 is fixedly mounted on the right gear 1-2-1; the left probe rod 1-1-5 is arranged below the left gear 1-2-2, and the connecting portion of the left probe rod 1-1-5 is fixedly mounted on the left gear 1-2-2.

[0097] like Figure 1 、 Figure 2 、 Figure 4 and Figure 6 As shown, the right gear 1-2-1 is fixedly mounted on the rotating shaft 1-7-3; the left gear 1-2-2 is fixedly mounted on the output shaft of the servo motor 1-8; the right gear 1-2-1 is engaged with the left gear 1-2-2, and the right gear 1-2-1 rotates driven by the left gear 1-2-2.

[0098] The servo motor 1-8 drives the left gear 1-2-2 to rotate; the right gear 1-2-1 is engaged with the left gear 1-2-2 to perform gear transmission; the left probe rod 1-1-5 rotates under the drive of the left gear 1-2-2; the right probe rod 1-1-4 rotates under the drive of the right gear 1-2-1.

[0099] Driven by left probe 1-1-5, the left rear ultrasonic radar 1-1-6, left center ultrasonic radar 1-1-7, and left front ultrasonic radar 1-1-8 rotate at a certain angle. Driven by right probe 1-1-4, the right rear ultrasonic radar 1-1-3, right center ultrasonic radar 1-1-2, and right front ultrasonic radar 1-1-1 rotate at the same angle as left probe 1-1-5.

[0100] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 7 and Figure 8 As shown, a stubble avoidance method using the above-mentioned opposed probe type no-tillage sowing stubble avoidance device includes the following steps:

[0101] S1. Input the α value, T1 and T2 values ​​into the controller 1-3. The controller 1-3 controls the servo motor 1-8 to drive the rotating gear set 1-2 to drive the opposing probe 1-1 to open the angle α.

[0102] Where, α is the included angle between the projections of the right detection rod 1-1-4 and the left detection rod 1-1-5 in the vertical plane, with the unit of degree and the value range of [0, 90]; T1 is the minimum threshold of the perpendicular distance between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 and the center point of the crop stubble 4 when judging that the seeding unit 2 is working normally, with the unit of m and the value range of [0, T2]; T2 is the maximum threshold of the perpendicular distance between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 and the center point of the crop stubble 4 when judging that the seeding unit 2 is working normally, with the unit of m and the value range of [T1, 1]; CL is the center line horizontal plane projection of the advancing speed direction of the seeding unit 2 when the seeding unit 2 is working normally.

[0103] S2. The seeding unit 2 starts to work. The right front ultrasonic radar 1-1-1 detects the parameter L1 and transmits it to the controller 1-3; the right middle ultrasonic radar 1-1-2 detects the parameter L2 and transmits it to the controller 1-3; the right rear ultrasonic radar 1-1-3 detects the parameter L3 and transmits it to the controller 1-3; the left rear ultrasonic radar 1-1-6 detects the parameter L4 and transmits it to the controller 1-3; the left middle ultrasonic radar 1-1-7 detects the parameter L5 and transmits it to the controller 1-3; the left front ultrasonic radar 1-1-8 detects the parameter L6 and transmits it to the controller 1-3.

[0104] S3. The controller 1-3 judges whether the electric push rod 1-5 works through the following steps.

[0105] S3.1. Calculate the perpendicular distance P between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 and the center point of the crop stubble 4 when the seeding unit 2 is working normally.

[0106]

[0107] In Formula 1, P is the perpendicular distance between the center line horizontal plane projection CL of the advancing speed direction of the seeding unit 2 and the center point of the crop stubble 4 when the seeding unit 2 is working normally, with the unit of m; L1 is the distance from the right front ultrasonic radar 1-1-1 to the crop stubble 4, with the unit of m; L2 is the distance from the right middle ultrasonic radar 1-1-2 to the crop stubble 4, with the unit of m; L3 is the distance from the right rear ultrasonic radar 1-1-3 to the crop stubble 4, with the unit of m; L4 is the distance from the left rear ultrasonic radar 1-1-6 to the crop stubble 4, with the unit of m; L5 is the distance from the left middle ultrasonic radar 1-1-7 to the crop stubble 4, with the unit of m; L6 is the distance from the left front ultrasonic radar 1-1-8 to the crop stubble 4, with the unit of m.

[0108] S3.2. If T1 < |P| < T, the electric push rod 1-5 does not work.

[0109] T1 < |P| < T2 indicates that when the controller 1-3 determines that the seeding unit 2 is working normally, the vertical distance between the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 and the center point of the crop stubble 4 is within a reasonable range. The working components of the seeding unit 2 are not likely to touch the crop stubble 4 and can work properly.

[0110] S3.3. If |P| < T1 and P ≥ 0, the controller 1-3 controls the electric push rod 1-5 to extend, and the seeding unit 2 moves horizontally to the right.

[0111] |P| < T1 indicates that when the controller 1-3 determines that the seeding unit 2 is working normally, the vertical distance between the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 and the center point of the crop stubble 4 is too close; P > 0 indicates that when the seeding unit 2 is working normally, the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 is on the right side of the center point of the crop stubble 4; P = 0 indicates that the center point of the crop stubble 4 is on the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 when the seeding unit 2 is working normally. At this time, the working components of the seeding unit 2 are likely to touch the crop stubble 4, affecting the operation effect of the working components of the seeding unit 2. The controller 1-3 controls the electric push rod 1-5 to extend, and the seeding unit 2 moves horizontally to the right, increasing the distance between the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 and the center point of the crop stubble 4 when the seeding unit 2 is working normally, so that the working components of the seeding unit 2 are not likely to touch the crop stubble 4 and can work properly.

[0112] S3.4. If |P| < T1 and P < 0, the controller 1-3 controls the electric push rod 1-5 to contract, and the seeding unit 2 moves horizontally to the left.

[0113] |P| < T1 indicates that when the controller 1-3 determines that the seeding unit 2 is working normally, the vertical distance between the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 and the center point of the crop stubble 4 is too close; P < 0 indicates that when the seeding unit 2 is working normally, the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 is on the left side of the center point of the crop stubble 4. At this time, the working components of the seeding unit 2 are likely to touch the crop stubble 4, affecting the operation effect of the working components of the seeding unit 2. The controller 1-3 controls the electric push rod 1-5 to contract, and the seeding unit 2 moves horizontally to the left, increasing the distance between the horizontal plane projection CL of the center line of the forward speed direction of the seeding unit 2 and the center point of the crop stubble 4 when the seeding unit 2 is working normally, so that the working components of the seeding unit 2 are not likely to touch the crop stubble 4 and can work properly.

[0114] S3.5. If |P| > T2 and P > 0, the controller 1-3 controls the electric push rod 1-5 to contract, and the seeding unit 2 moves horizontally to the left.

[0115] If |P| > T2 and P > 0, controller 1-3 determines that the vertical distance between left probe 1-1-5 and the center of crop stubble 4 is too close when sowing unit 2 is operating. This indicates that the horizontal projection CL of the centerline of sowing unit 2 in the direction of its forward speed is to the right of the center of crop stubble 4, and left probe 1-1-5 is likely to hit the crop stubble 4 and cause damage. At this point, controller 1-3 controls electric push rod 1-5 to retract, causing sowing unit 2 to move laterally to the left, increasing the distance between left probe 1-1-5 and crop stubble 4.

[0116] S3.6. If |P|>T2, P<0, the controller 1-3 controls the electric push rod 1-5 to extend, and the sowing unit 2 moves horizontally to the right.

[0117] If |P|>T2 and P<0, controller 1-3 determines that the vertical distance between right probe 1-1-4 and the center of crop stubble 4 is too close when sowing unit 2 is operating. This indicates that the horizontal projection CL of the centerline of sowing unit 2 in the direction of its forward speed is to the left of the center of crop stubble 4, and right probe 1-1-4 is likely to hit the crop stubble 4 and cause damage. At this point, controller 1-3 controls electric push rod 1-5 to extend, causing sowing unit 2 to move horizontally to the right, increasing the distance between right probe 1-1-4 and crop stubble 4.

[0118] S4. The controller obtains the sowing coordinate position of the sowing unit 2 according to the movement of the electric push rods 1-5, generates the actual sowing route of the sowing unit 2, and predicts the growth position information of the sowing crops to provide data reference for the next harvest and sowing.

Claims

1. An opposed probe type no-tillage sowing and stubble avoidance device, comprising a sowing unit (2) and a sowing machine crossbeam (3), characterized in that: The device further comprises an active stubble avoidance device (1); the active stubble avoidance device (1) is arranged between the sowing unit (2) and the seeder crossbeam (3), and is used for the connection between the sowing unit (2) and the seeder crossbeam (3); The active stubble avoidance device (1) comprises: an opposing probe (1-1), a rotating gear set (1-2), a controller (1-3), a front connecting plate (1-4), an electric push rod (1-5), a push rod mounting plate (1-6), a rear connecting plate (1-7) and a servo motor (1-8); The front connecting plate (1-4) is laterally fixedly connected to the rear end of the seeder crossbeam (3); the push rod mounting plate (1-6) extends rearward from the front connecting plate (1-4) and is fixedly connected to the side of the front connecting plate (1-4); The rear connecting plate (1-7) comprises: a front connecting plate engaging area (1-7-1), a controller installation area (1-7-2), a rotating shaft (1-7-3), a servo motor installation area (1-7-4) and a piston rod installation area (1-7-5); The rear connecting plate (1-7) is L-shaped, comprising a vertical portion at the rear and a horizontal portion extending forward from the bottom of the vertical portion; The front surface of the vertical portion is provided with a front connecting plate engaging area (1-7-1); the upper end and the lower end of the front connecting plate engaging area (1-7-1) are respectively provided with sliding grooves, and the upper surface and the lower surface of the front connecting plate (1-4) are respectively placed in the sliding grooves of the front connecting plate engaging area (1-7-1), so that the rear connecting plate (1-7) can move parallel to the front connecting plate (1-4) in the transverse direction; A piston rod mounting area (1-7-5) is provided on the side of the vertical portion; A rotating shaft (1-7-3) is provided in the center of the horizontal portion, and a controller installation area (1-7-2) and a servo motor installation area (1-7-4) are respectively provided on both sides of the rotating shaft (1-7-3); The sowing unit (2) is fixedly connected to the vertical portion of the rear connecting plate (1-7) via a "U"-shaped bolt; The electric push rod (1-5) comprises: a combination component (1-5-1) and a screw rod (1-5-2); the combination component (1-5-1) is fixedly connected to the push rod mounting plate (1-6); the screw rod (1-5-2) is fixedly connected to the piston rod mounting area (1-7-5); the screw rod (1-5-2) can perform a telescopic piston parallel movement relative to the combination component (1-5-1), thereby pulling the rear connecting plate (1-7) to move horizontally left and right, and the sowing unit (2) moves horizontally left and right under the drive of the rear connecting plate (1-7); The controller (1-3) is fixedly connected to the controller installation area (1-7-2); the servo motor (1-8) is fixedly connected to the servo motor installation area (1-7-4); The controller (1-3) is in communication connection with the electric push rod (1-5); the controller (1-3) is in communication connection with the servo motor (1-8); The rotating gear set (1-2) comprises: a right gear (1-2-1) and a left gear (1-2-2); The opposing probes (1-1) include: a right front ultrasonic radar (1-1-1), a right center ultrasonic radar (1-1-2), a right rear ultrasonic radar (1-1-3), a right probe (1-1-4), a left probe (1-1-5), a left rear ultrasonic radar (1-1-6), a left center ultrasonic radar (1-1-7) and a left front ultrasonic radar (1-1-8); The rod bodies of the right probe rod (1-1-4) and the left probe rod (1-1-5) have the same structure, and respectively comprise a vertically arranged connecting portion, an inclined middle portion, and a working portion parallel to the ground from top to bottom; in an initial state, the angle between the working portion of the right probe rod (1-1-4) and the horizontal plane projection CL of the center line of the forward speed direction of the sowing unit (2) is equal to the angle between the working portion of the left probe rod (1-1-5) and the horizontal plane projection CL of the center line of the forward speed direction of the sowing unit (2); The right front ultrasonic radar (1-1-1) is fixed to the inner front end of the working part of the right probe (1-1-4); the right middle ultrasonic radar (1-1-2) is fixed to the inner middle part of the working part of the right probe (1-1-4); and the right rear ultrasonic radar (1-1-3) is fixed to the inner rear end of the working part of the right probe (1-1-4). The left front ultrasonic radar (1-1-8) is fixed to the inner front end of the working part of the left probe (1-1-5); the left middle ultrasonic radar (1-1-7) is fixed to the inner middle part of the working part of the left probe (1-1-5); and the left rear ultrasonic radar (1-1-6) is fixed to the inner rear end of the working part of the left probe (1-1-5); The right front ultrasonic radar (1-1-1) and the left front ultrasonic radar (1-1-8) are symmetrically arranged and located on the same horizontal plane; the right center ultrasonic radar (1-1-2) and the left center ultrasonic radar (1-1-7) are symmetrically arranged and located on the same horizontal plane; the right rear ultrasonic radar (1-1-3) and the left rear ultrasonic radar (1-1-6) are symmetrically arranged and located on the same horizontal plane; The right probe rod (1-1-4) is arranged below the right gear (1-2-1), and the connecting portion of the right probe rod (1-1-4) is fixedly mounted on the right gear (1-2-1); the left probe rod (1-1-5) is arranged below the left gear (1-2-2), and the connecting portion of the left probe rod (1-1-5) is fixedly mounted on the left gear (1-2-2); The right gear (1-2-1) is fixedly mounted on the rotating shaft (1-7-3); the left gear (1-2-2) is fixedly mounted on the output shaft of the servo motor (1-8); the right gear (1-2-1) is meshed with the left gear (1-2-2), and the right gear (1-2-1) rotates under the drive of the left gear (1-2-2); The servo motor (1-8) drives the left gear (1-2-2) to rotate; the right gear (1-2-1) meshes with the left gear (1-2-2) to perform gear transmission; the left probe rod (1-1-5) rotates under the drive of the left gear (1-2-2); and the right probe rod (1-1-4) rotates under the drive of the right gear (1-2-1); The left rear ultrasonic radar (1-1-6), the left center ultrasonic radar (1-1-7) and the left front ultrasonic radar (1-1-8) are driven by the left probe (1-1-5) to rotate at a certain angle; the right rear ultrasonic radar (1-1-3), the right center ultrasonic radar (1-1-2) and the right front ultrasonic radar (1-1-1) are driven by the right probe (1-1-4) to rotate at the same angle as the left probe (1-1-5).

2. A stubble avoidance method using the opposed probe type no-tillage sowing stubble avoidance device according to claim 1, characterized in that: The method comprises the following steps: S1, inputting the α value, T1 and T2 values ​​into the controller (1-3), the controller (1-3) controls the servo motor (1-8) to drive the rotating gear set (1-2) to drive the opposing probe (1-1) to open the angle α; Wherein, α is the projection angle of the right probe (1-1-4) and the left probe (1-1-5) in the vertical plane, in degrees, and in the range of [0, 90]; T1 is the minimum threshold value for judging the vertical distance between the horizontal plane projection CL of the center line in the forward speed direction of the sowing unit (2) and the center point of the crop stubble (4) when the sowing unit (2) is working normally, in m, and in the range of [0, T2]; T2 is the maximum threshold value for judging the vertical distance between the horizontal plane projection CL of the center line in the forward speed direction of the sowing unit (2) and the center point of the crop stubble (4) when the sowing unit (2) is working normally, in m, and in the range of [T1, 1]; CL is the horizontal plane projection of the center line in the forward speed direction of the sowing unit (2) when the sowing unit (2) is working normally; S2, the sowing unit (2) starts working, the right front ultrasonic radar (1-1-1) detects parameter L1 and transmits it to the controller (1-3); the right middle ultrasonic radar (1-1-2) detects parameter L2 and transmits it to the controller (1-3); the right rear ultrasonic radar (1-1-3) detects parameter L3 and transmits it to the controller (1-3); the left rear ultrasonic radar (1-1-6) detects parameter L4 and transmits it to the controller (1-3); the left middle ultrasonic radar (1-1-7) detects parameter L5 and transmits it to the controller (1-3); the left front ultrasonic radar (1-1-8) detects parameter L6 and transmits it to the controller (1-3); S3. The controller (1-3) determines whether the electric push rod (1-5) is working through the following steps: S3.

1. Calculate the vertical distance P between the horizontal projection CL of the center line of the sowing unit (2) in the forward direction and the center point of the crop stubble (4) when the sowing unit (2) is operating normally; In Formula 1, P is the vertical distance between the centerline horizontal plane projection CL of the forward speed direction of the seeding unit (2) and the center point of the crop stubble (4) when the seeding unit (2) is working normally, with the unit of m; L1 is the distance from the right front ultrasonic radar (1-1-1) to the crop stubble (4), with the unit of m; L2 is the distance from the right middle ultrasonic radar (1-1-2) to the crop stubble (4), with the unit of m; L3 is the distance from the right rear ultrasonic radar (1-1-3) to the crop stubble (4), with the unit of m; L4 is the distance from the left rear ultrasonic radar (1-1-6) to the crop stubble (4), with the unit of m; L5 is the distance from the left middle ultrasonic radar (1-1-7) to the crop stubble (4), with the unit of m; L6 is the distance from the left front ultrasonic radar (1-1-8) to the crop stubble (4), with the unit of m; S3.

2. If T1 < |P| < T2, the electric push rod (1-5) does not work; T1 < |P| < T2 indicates that when the controller (1-3) determines that the seeding unit (2) is working normally, the vertical distance between the centerline horizontal plane projection CL of the forward speed direction of the seeding unit (2) and the center point of the crop stubble (4) is within a reasonable range, and the working components of the seeding unit (2) are not likely to touch the crop stubble (4) and can work normally; S3.

3. If |P| < T1 and P ≥ 0, the controller (1-3) controls the electric push rod (1-), and the seeding unit (2) moves horizontally to the right; |P| < T1 indicates that when the controller (1-3) determines that the seeding unit (2) is working normally, the vertical distance between the centerline horizontal plane projection CL of the forward speed direction of the seeding unit (2) and the center point of the crop stubble (4) is too close; P > 0 indicates that when the seeding unit (2) is working normally, the centerline horizontal plane projection CL of the forward speed direction of the seeding unit (2) is on the right side of the center point of the crop stubble (4); P = 0 indicates that the center point of the crop stubble (4) is on the centerline horizontal plane projection CL of the forward speed direction of the seeding unit (2) when the seeding unit (2) is working normally; at this time, the working components of the seeding unit (2) are likely to touch the crop stubble (4), affecting the working effect of the working components of the seeding unit (2); the controller (1-3) controls the electric push rod (1-5) to extend, and the seeding unit (2) moves horizontally to the right, increasing the distance between the centerline horizontal plane projection CL of the forward speed direction of the seeding unit (2) and the center point of the crop stubble (4) when the seeding unit (2) is working normally, so that the working components of the seeding unit (2) are not likely to touch the crop stubble (4) and can work normally; S3.

4. If |P| < T1 and P < 0, the controller (1-3) controls the electric push rod (1-5) to contract, and the seeding unit (2) moves horizontally to the left; |P| < T1, it indicates that when the seeding unit (2) is operating normally, the vertical distance between the projection CL of the centerline of the forward speed direction of the seeding unit (2) on the horizontal plane and the center point of the crop stubble (4) is too close; P > 0, it indicates that when the seeding unit (2) is operating normally, the projection CL of the centerline of the forward speed direction of the seeding unit (2) on the horizontal plane is on the left side of the center point of the crop stubble (4); at this time, the working components of the seeding unit (2) are likely to touch the crop stubble (4), affecting the operation effect of the working components of the seeding unit (2); the controller (1 - 3) controls the electric push rod (1 - 5) to contract, and the seeding unit (2) moves horizontally to the left, increasing the distance between the projection CL of the centerline of the forward speed direction of the seeding unit (2) and the center point of the crop stubble (4) when the seeding unit (2) is operating normally, so that the working components of the seeding unit (2) are not likely to touch the crop stubble (4) and can operate normally; S3.

5. If |P| > T2 and P > 0, the controller (1 - 3) controls the electric push rod (1 - 5) to contract, and the seeding unit (2) moves horizontally to the left; |P| > T2 and P > 0, the controller (1 - 3) determines that when the seeding unit (2) is operating, the vertical distance between the left detection rod (1 - 1 - 5) and the center point of the crop stubble (4) is too close; it indicates that when the seeding unit (2) is operating, the projection CL of the centerline of the forward speed direction of the seeding unit (2) on the horizontal plane is on the right side of the center point of the crop stubble (4), and the left detection rod (1 - 1 - 5) is likely to touch the crop stubble (4) and be damaged; at this time, the controller (1 - 3) controls the electric push rod (1 - 5) to contract, and the seeding unit (2) moves horizontally to the left to increase the distance between the left detection rod (1 - 1 - 5) and the crop stubble (4); S3.

6. If |P| > T2 and P < 0, the controller (1 - 3) controls the electric push rod (1 - 5) to extend, and the seeding unit (2) moves horizontally to the right; |P| > T2 and P < 0, the controller (1 - 3) determines that when the seeding unit (2) is operating, the vertical distance between the right detection rod (1 - 1 - 4) and the center point of the crop stubble (4) is too close; it indicates that when the seeding unit (2) is operating, the projection CL of the centerline of the forward speed direction of the seeding unit (2) on the horizontal plane is on the left side of the center point of the crop stubble (4), and the right detection rod (1 - 1 - 4) is likely to touch the crop stubble (4) and be damaged; at this time, the controller (1 - 3) controls the electric push rod (1 - 5) to extend, and the seeding unit (2) moves horizontally to the right to increase the distance between the right detection rod (1 - 1 - 4) and the crop stubble (4); S4. The controller obtains the seeding coordinate position of the seeding unit (2) according to the movement of the electric push rod (1 - 5), generates the actual seeding route of the seeding unit (2), and predicts the growth position information of the sown crops to provide data reference for the next harvest and seeding.

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