A seeding device

Abstract

This invention discloses a sowing device, comprising a sowing device body, wherein: a furrow opener, a parallel four-bar linkage, a GPS speed sensor, a magnetized seed box device, an electric-driven seed metering device, a seed guide tube, and a press wheel are installed on the sowing device body; the furrow opener is located at the front of the sowing device body, and the press wheel is located at the rear of the sowing device body; the magnetized seed box device is located at the upper part of the sowing device body, the seed guide tube is located at the lower part of the sowing device body, and the electric-driven seed metering device is located between the magnetized seed box device and the seed guide tube.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment, specifically to a seeding device based on pneumatic seed guiding and electromagnetic emission technology. Background Technology

[0002] Sowing is a crucial step in crop production. High-speed precision sowing is a key technological guarantee for improving sowing quality. Among them, the high-speed seed delivery device is a key component of the high-speed precision sowing system. As the core of the seed metering device to deliver seeds in a single and orderly manner, its main purpose is to reduce the bouncing of seeds when they are sown into the soil furrow, reduce the field variation coefficient, and achieve the agronomic requirement of consistent plant spacing.

[0003] Seed magnetization is an advanced seed treatment technology that can be used to treat seeds of crops such as corn, soybeans, sorghum, wheat, peanuts, green beans, and cabbage. After magnetization, seeds exhibit enhanced germination vigor, faster germination, improved germination rate and seedling quality, resulting in uniform and robust seedlings. In the mid-stage, the crop develops a well-developed root system, stronger water and nutrient absorption capacity, better disease resistance, thicker stems, and stronger lodging resistance, thus shortening the growth period. In the late stage, the grains are fuller and more mature. According to some practical data, under normal circumstances, magnetization increases corn yield by 11.8% per 1 / 15 hectare (1 mu), soybean yield by 11.5%, rice yield by 18%, and sorghum yield by 8.5%, demonstrating significant economic benefits.

[0004] Existing seeding devices suffer from problems such as seeds bouncing violently in the seed furrow, leading to uneven plant and row spacing. Furthermore, seeds must be magnetized beforehand, but the magnetization weakens due to the time interval between magnetization and sowing. Summary of the Invention

[0005] Therefore, this invention provides a low-cost, reliable, and effective sowing device. It effectively solves the problem of uneven plant and row spacing caused by the violent bouncing of seeds within the seed furrow due to the high forward speed of the seeder during high-speed sowing operations. Simultaneously, it allows for seed magnetization during sowing, ensuring that the magnetization degree is not weakened as much as possible.

[0006] To achieve the objectives of this invention, the following technical solution is adopted:

[0007] A sowing device includes a sowing device body, wherein: a stubble-breaking wheel, a furrow opener, a parallel four-bar linkage, a GPS speed sensor, a magnetized seed box device, an electric-driven seed metering device, a seed guide tube, a soil-covering wheel, and a press wheel are installed on the sowing device body; the furrow opener is located at the front of the sowing device body, and the press wheel is located at the rear of the sowing device body; the magnetized seed box device is located at the upper part of the sowing device body, the seed guide tube is located at the lower part of the sowing device body, and the electric-driven seed metering device is located between the magnetized seed box device and the seed guide tube.

[0008] The seeding device described herein includes a seed guide tube equipped with an electromagnetic acceleration device.

[0009] The sowing device, wherein the electromagnetic acceleration device is installed on the lower periphery of the seed guide tube, at three locations: upper, middle, and lower.

[0010] The seeding device includes a seed guide tube comprising an air tube, an inoculation tube, and a seed discharge tube, with the bottom of the air tube connected to the bottom of the seed discharge tube.

[0011] The seeding device, wherein the trachea and the seed discharge tube are connected by a throat tube.

[0012] The seeding device wherein: the top of the throat tube is connected to the bottom of the trachea through a constricting opening, and the bottom of the throat tube is connected to the top of the seed discharge tube through a widening opening.

[0013] The seeding device, wherein: the upper part of the seeding pipe is a straight pipe, and the lower part is a curved pipe connected to the straight pipe, and the outlet of the curved pipe is basically parallel to the ground.

[0014] The seeding device wherein the diameter of the throat tube is smaller than the diameter of the trachea and the diameter of the seed discharge tube.

[0015] The seeding device further includes a control system for controlling the flow rate at the gas inlet of the seed guide tube: the system receives a forward speed signal of the current seeder and outputs the size of the air pump opening based on the speed signal.

[0016] The aforementioned seeding device, wherein the control system uses a PID algorithm to control the valve opening.

[0017] The PID algorithm formula is as follows: U=Kp*e(t)+Ki*∫ t 0e(t)dt+Kd*de(t) / dt

[0018] U is the control signal of the control system, Kp is the proportional gain, Ki is the integral gain, and Kd is the derivative gain. The calculation formula of PID is determined through calculation and experimentation.

[0019] The seeding device, wherein: the proportional gain is 0.1, the integral gain is 0.05, the derivative control is 0.01, the error change rate is 2 cubic meters per hour, the integral error is 150, and the PID algorithm formula is obtained as U=0.1Q_target+7.52, where Q_target is the target flow rate.

[0020] The seeding device further includes a control system. The control system uses a PID algorithm to control the magnitude of the electromagnetic coil current. The PID algorithm formula is as follows: U=Kp*e(t)+Ki*∫ t 0e(t)dt+Kd*de(t) / dt

[0021] U is the control signal of the control system, Kp is the proportional gain, Ki is the integral gain, and Kd is the derivative gain.

[0022] The seeding device, wherein: taking the proportional gain as 0.2, the integral gain as 0.02, the derivative control as 0.1, the error change rate as 0.1 amperes per hour, and the integral error as 10 as an example, the PID algorithm formula is obtained as U = 0.2I_target + 2.01.

[0023] The seeding device, wherein: the magnetized seed box is used

[0024] The process of magnetizing seeds to be sown includes a stirring device, which includes three sets of stirring claws (upper, middle, and lower), each set having multiple stirring blades, which are fixed on a cylindrical column.

[0025] The seeding device, wherein: the upper stirring part

[0026] The blades are slightly twisted, irregular pentagons. The middle and lower blades are long teardrop-shaped. The number of upper blades is greater than the number of middle blades, and the number of middle blades is greater than the number of lower blades.

[0027] The seeding device wherein the area of ​​the upper stirring plate is larger than the area of ​​the middle and lower stirring plates. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the sowing device.

[0029] Figure 2 This is a schematic diagram of the sowing unit drive structure;

[0030] Figure 3 This is a schematic diagram of the seed delivery tube structure;

[0031] Figure 4 Schematic diagram of the electromagnetic acceleration device;

[0032] Figure 5 Here is a flowchart of the seeding method execution;

[0033] Figure 6 This is a schematic diagram of the stirring device. Detailed Implementation

[0034] The following is in conjunction with the appendix Figure 1-6The specific embodiments of the present invention will be described in detail below. These embodiments are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Obviously, the embodiments described in this invention are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] The terms "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, the terms "comprising," "including," "having," and variations thereof in this specification mean "including but not limited to," unless otherwise specifically emphasized.

[0036] like Figure 1 As shown, the sowing device of the present invention includes a sowing device body, on which are mounted a furrow opener 1, a stubble-breaking wheel 2, a parallel four-bar linkage 3, a GPS speed sensor 4, a magnetized seed box device 5, an electric-driven seed metering device 6, a seed guide tube 7, a soil-covering wheel 8, and a press wheel 9. The furrow opener 1 is located at the front of the sowing device body, and the press wheel 9 is located at the rear of the sowing device body. The magnetized seed box device 5 is located at the upper part of the sowing device body, the seed guide tube 7 is located at the lower part of the sowing device body, and the electric-driven seed metering device 6 is located between the magnetized seed box device 5 and the seed guide tube 7. The parallel four-bar linkage 3 allows the furrow opener 1 to float up and down according to the undulations of the terrain, thus conforming more closely to the ground.

[0037] The electrically driven seed metering device 6 includes a front housing, a rear housing, a seed metering disc, a seed cleaning device, and an air pump, such as Figure 2 As shown, the electric seed metering device 6 is driven by a seeding unit drive unit. The seed guide tube 7 is used to receive the seeds discharged from the seed metering device 6 below the seed outlet, and to blow in a certain flow rate of air at the airflow inlet. A GPS speed sensor 4 is installed at the front end of the electric seed metering device 6 to monitor the forward speed of the seeder in real time and transmit the signal to the control unit.

[0038] Seed guide tube 7 is equipped with an electromagnetic acceleration device, which mainly includes a DC power supply, a capacitor, a copper coil, and a control unit, such as... Figure 4 As shown, the electromagnetic acceleration device is installed on the outer periphery of the seed guide tube at three locations: top, middle, and bottom. The electromagnetic acceleration device includes an electromagnetic coil with a circular cross-section, which is made of several turns of copper coil wound around the plastic outer shell of the seed guide tube, which also has a circular cross-section.

[0039] The acceleration process is as follows: the seed falls with an initial velocity through the electromagnetic coil, which is energized by induction. The resulting magnetic field creates a magnetic gradient near the seed, causing it to experience a magnetic force. Depending on the seed's position and the distribution of the magnetic field, it is propelled downwards. As the seed passes through the magnetic field, it is also subjected to a circumferential magnetic force, reducing collisions with the seed delivery tube wall and thus minimizing energy loss. By adjusting the current within the electromagnetic coil, the acceleration and seed velocity can be controlled; increasing the current increases the magnetic field strength.

[0040] The controller unit mainly includes a microcontroller, which processes the imported seeder forward speed information to obtain the appropriate gas flow rate and current magnitude at the current seeding speed, and issues commands for control.

[0041] like Figure 2 As shown, the electric seed metering device 6 of the present invention includes a brushless DC motor driver 601 and a brushless DC motor 602. The brushless DC motor driver 601 is connected to a communication controller via a CAN bus, and the brushless DC motor 602 is connected to the brushless DC motor driver 601 via signal lines and power lines. The rear housing of the electric seed metering device 6 is connected to the brushless DC motor 602 via bolts.

[0042] like Figure 3 As shown, the seed delivery tube 7 includes an trachea 72, an inoculation tube 71, and a seed discharge tube 75. The inoculation tube 71 is a curved tube, and the trachea 72 is a straight tube. The bottom of the trachea 72 connects to the bottom of the seed discharge tube 75, and the two are connected by a throat 73. A flaring end 74 is located at the junction of the throat 73 and the seed discharge tube 75. The diameter of the throat 73 is smaller than the diameter of the trachea 72. The top of the throat 73 connects to the bottom of the trachea 72 via a constriction end 74', and the bottom of the throat 73 connects to the top of the seed discharge tube 75 via a flaring end. The diameter of the throat 73 is smaller than the diameter of the seed discharge tube 75. The upper part of the seed discharge tube 75 is a straight tube, and the lower part is a curved tube connected to the straight tube. The outlet of the curved tube is basically parallel to the ground. The throat 73 is the narrowest part of the Venturi tube. According to Bernoulli's principle, as the fluid velocity increases, its pressure decreases. This design reduces turbulence and energy loss when the fluid flows through it. The tapered opening helps generate low local pressure at the lower end, which can attract seeds into the seed guide tube. The gradual expansion of the expansion section (tapered opening) helps restore fluid pressure and reduce overall energy loss. Through contraction and expansion, the air pressure utilizes Bernoulli's principle to forcefully attract the seeds input into the inoculation tube 71, allowing them to be drawn into the curved pipe of the subsequent seed metering tube 75. Air pipe 72 is the gas inlet, connected to a blower to provide adjustable flow rate and pressure. Inoculation tube 71 is the seed tube inlet; seeds discharged by the electrically driven seed metering device 6 enter the seed guide tube 7 through this point.

[0043] Force analysis at the radiating inlet 74: According to Bernoulli's principle, under ideal conditions, the sum of the kinetic energy, potential energy, and pressure potential energy of a unit volume of fluid at any cross-section of the same flow tube is a constant. Calculations show that when the pressure at the air pressure inlet is 800 Pa, a pressure difference of 2200 Pa can be generated at the radiating inlet 74. Assuming the seed is 11 mm long, 9 mm wide, and has a mass of 0.25 g, the force on it is F = ΔP⋅A, where ΔP is the pressure difference, A is the cross-sectional area at point 4, the force is 0.218 N, and the acceleration is 871.2 m / s². 2 In a Venturi tube, as fluid flows through the pipe, the flow velocity increases and the pressure decreases, thus creating a lower pressure zone at the pipe outlet. Strong wind pressure suction ensures that seeds are adsorbed into the bend 5 of the seed guide tube, where they continue to be accelerated by the wind pressure. Furthermore, the diameter ratio of the throat 73 to the flaring opening 74, as well as the angles of the contraction and expansion points, also affect the performance of the seed guide tube. This invention designed a set of central combination design experiments, which revealed that when the diameter of the seed guide tube 7 (air duct 72, seed discharge tube 75) is 30 mm, the optimal diameter of the throat 73 is 16-20 mm, and the optimal angles of contraction and expansion are 10-30°.

[0044] Unlike existing technologies, in this invention, the seed inlet is located near the outlet, meaning the inoculation tube 71 and the seed discharge tube 75 are directly connected, and the connection point between them is the seed inlet. Figure 3 As shown, the seed inlet and the seed outlet (i.e., the outlet of the seed metering pipe 75 bend) are close together. After testing, this setting method can ensure that the pressure at the outlet of the seed metering pipe 75 is lower than the air pressure inside the seed pipe, which can ensure that the seeds are adsorbed in, which is an improvement over the previous scheme.

[0045] When the seed enters the seed delivery tube at point 7, it encounters air resistance. Stokes' law is used to estimate the drag. For general air conditions, the drag coefficient can be used to calculate the drag: F_d = 1 / 2C_dρAv^2, where C_d is the drag coefficient, ρ is the air density, A is the particle cross-sectional area, and v is the air velocity. Under standard conditions, the air density is approximately 1.225 kg / m³. The value of the drag coefficient C_d needs to be determined based on the shape of the object and the flow state (laminar or turbulent). For common shapes, C_d can vary between 0.1 and 1.2. Taking a moderate value of C_d = 1.0 for the air blowing the seed, at a wind speed of 33.75 m / s, the thrust it experiences is 0.069 N. Calculations show that the force acting on the seed at this point can propel it to a rapid descent, revealing the relationship between the force acting on the seed and the flow rate.

[0046] The final horizontal velocity of the seed can be adjusted and controlled by controlling the airflow rate at the tracheal inlet. Through calculation and experimental verification, the relationship between the gas flow rate at the tracheal inlet and the discharged horizontal velocity was calculated. The relationship between gas flow rate and velocity is Q=A*v. Assuming the radius of the diffuser 74 is R, the flow rate Q=Π*R^2*v (1)

[0047] The resistance formula is F_d = 1 / 2C_dρAv^2 (2)

[0048] The formula for wind force and acceleration of a seed is F_d = m*a (3), where F_d is the wind force acting on the seed.

[0049] The formula for displacement and acceleration is x = 1 / 2a*t^2 (4)

[0050] The relationship between velocity and acceleration is v_t = v_0 + a*t (5), where V_0 is the initial velocity (which can be zero).

[0051] In the formula, Q is the flow rate, R is the radius of the pipe, v is the air velocity, C_d is the drag coefficient, ρ is the air density, A is the cross-sectional area of ​​the pipe, a is the acceleration, x is the displacement of the seed, F_d is the air thrust on the seed, and t is the time of movement in the pipe.

[0052] Solving equations (1)-(5) simultaneously yields the relationship between the horizontal velocity component of the seed after it is adsorbed onto the seed delivery tube 7 and the flow rate when it is released into the seed delivery tube 7: v_t=(C_dρx / Am) 1 / 2 Q (6)

[0053] The flow rate at the gas inlet of the seed tube 7 is controlled using a flow control method: the current forward speed signal of the seeder is input, and the controller output (air pump opening size) is proportional to the input signal (speed). Specifically, the controller output can be expressed as C=kv, where C is the controller output (i.e., the air pump opening adjustment), v is the speed signal, and k is the proportional gain used to adjust the response sensitivity. An electric valve is used to adjust the air pump opening. A feedback mechanism is used to measure the gas flow rate and feed it back to the control system to further improve the accuracy of the control system and compensate for flow loss.

[0054] Specifically: Based on the zero-velocity seeding theory, the horizontal velocity component between the seeds at the seed metering outlet and the ground is made close to zero. The forward speed of the seeder is taken as the input signal v, which is then determined as the target speed for the control algorithm. Using the aforementioned velocity-flow relationship, the required target flow rate Q_target is derived and calculated. A PID algorithm is then used to control the valve opening. The PID algorithm formula is as follows: U=Kp*e(t)+Ki*∫ t 0e(t)dt+Kd*de(t) / dt

[0055] In the above formula, U is the control signal of the control system, Kp is the proportional gain, Ki is the integral gain, and Kd is the derivative gain. This invention determines the calculation formula of PID through calculation and experimentation, and determines that the proportional gain is 0.1, the integral gain is 0.05, and the derivative control is 0.01. Taking the error change rate of 2 cubic meters per hour and the integral error of 150 as an example, the PID algorithm formula is obtained as U=0.1Q_target+7.52 (7)

[0056] like Figure 4 The diagram shows an electromagnetic accelerator. When a magnetic seed passes through an electromagnetic coil at the lower bend 31 of the seed guide tube, it experiences an electromagnetic force. The magnitude of this force depends on the magnitude of the current. According to the Lorentz force F = q(E + v * B), where q is the charge, E is the electric field strength, v is the velocity of the charged particle, and B is the magnetic field strength, the relationship between the seed's velocity and the field strength can be obtained from the Lorentz force and Newton's second law: v = (2 x q(E + v0B) / m)¹ / ² (8)

[0057] The above conversion yields the relationship between the horizontal velocity component of the seed after magnetic acceleration and the magnitude of the current as it travels to the seed-distributing tube: v_t=(2xqU / md+2xqv0I / m) 1 / 2

[0058] In the above formula, x is the acceleration distance, q is the charge of the seed, v0 is the initial velocity of the seed when it enters the electromagnetic accelerator, m is the mass of the seed, B is the magnetic field strength which is related to the current A, and E is the electric field strength.

[0059] The control system receives the current speed, seed size, and quality signals. An MCU controller receives these digital signals, calculates the corresponding current output value, and sends the output signal to the terminal to regulate the current magnitude. A current sensor measures the actual output and feeds these values ​​back to the controller to achieve closed-loop control. A PID algorithm is used to control the electromagnetic coil current. The PID algorithm formula is as follows: U = Kp * e(t) + Ki * ∫ t 0e(t)dt+Kd*de(t) / dt

[0060] In the above formula, U is the control signal of the control system, Kp is the proportional gain, Ki is the integral gain, and Kd is the derivative gain. This invention determines the PID calculation formula through calculation and experimentation, setting the proportional gain to 0.2, the integral gain to 0.02, and the derivative gain to 0.1. Taking an error change rate of 0.1 amperes per hour and an integral error of 10 as an example, the PID algorithm formula is obtained as U = 0.2I_target + 2.01 (7').

[0061] In the formula, I_target is the target current value.

[0062] The seeds are accelerated by wind and magnetism, with a contribution rate of 0.7F. 风 +0.3F 磁 .

[0063] like Figure 5 As shown, the program execution flow of this invention is as follows:

[0064] 1. During the magnetization process of the seed box, the seeds to be sown are magnetized. The stirring device is then activated to thoroughly mix the seeds and magnetic powder within the seed box. The stirring device uses vertical, flexible stirring claws, mixing the seed population in three layers. The stirring claws are made of rubber to avoid damaging the seeds. See the stirring device details below. Figure 6 11 is a rubber stirring claw, and 21 is a cylindrical column. The rubber stirring claw 11 is divided into three groups: upper, middle, and lower. Each group has multiple stirring blades, which are fixed on the cylindrical column 21. Figure 5 As shown, the upper stirring blade is a slightly twisted, irregular pentagon, while the middle and lower stirring blades are long teardrop-shaped. The number of upper stirring blades is greater than the number of middle stirring blades, and the number of middle stirring blades is greater than the number of lower stirring blades. Figure 5 The number of stirring plates in the upper, middle, and lower sections are 6, 5, and 4 respectively; the area of ​​the upper stirring plate is larger than that of the middle and lower stirring plates. This structure can effectively agitate the population. The numerous pentagonal stirring plates allow the upper population to be rapidly agitated to contact the magnetic powder, while the long teardrop-shaped stirring plates allow the middle and lower populations to continue to be agitated and fully contact the surrounding magnetic field, increasing the overall magnetization effect of the population.

[0065] 2. Install a CPS speed sensor at a suitable location on the seeder. The sensor detects the forward speed of the seeder. Using the forward speed of the seeder as the target speed, the data is transmitted to the controller via a wireless communication module.

[0066] 3. Receive operating speed information; based on the grain size and the operating speed, obtain the appropriate wind force and current for the current sowing speed, and send the calculated appropriate wind pressure and current information to the regulator;

[0067] 4. The microcontroller receives signals and controls the angle and current of the pressure valve to adjust the seed force.

[0068] This invention effectively reduces the field coefficient of variation and the number of seed collisions within the seed delivery tube. By increasing the relative speed of the seed with respect to the seed delivery tube, the absolute speed of the seed is reduced. Under high-speed sowing conditions, ensuring that the seed discharge speed is consistent with or nearly consistent with the seeder's travel speed effectively reduces the number of seed collisions with the seed furrow, guaranteeing consistent plant spacing.

[0069] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A seeding device, comprising a seeding device body, characterized in that: The sowing device body is equipped with a stubble-breaking wheel, a furrow opener, a parallel four-bar linkage, a GPS speed sensor, a magnetized seed box device, an electric-driven seed metering device, a seed guide tube, a soil-covering wheel, and a press wheel. The furrow opener is located at the front of the sowing device body, and the press wheel is located at the rear. The magnetized seed box device is located at the upper part of the sowing device body, the seed guide tube is located at the lower part of the sowing device body, and the electric-driven seed metering device is located between the magnetized seed box device and the seed guide tube. The seed guide tube includes an air tube, an inoculation tube, and a seed metering tube. The inoculation tube is a curved tube, and the air tube is a straight tube. The bottom of the air tube is connected to the bottom of the seed metering tube. The air tube and the seed metering tube are connected through a throat. A flared end is located at the junction of the throat and the seed metering tube. The diameter of the throat is smaller than the diameter of the air tube. The top of the throat is connected to the bottom of the air tube through a constricted end, and the bottom of the throat is connected to the top of the seed metering tube through a flared end. The diameter of the throat is smaller than the diameter of the seed metering tube. The upper part of the seed metering tube is a straight tube, and the lower part is a curved tube connected to the straight tube. The outlet of the curved tube is basically parallel to the ground; the inoculation tube is a curved tube, with the upper part connected to the seed metering device and the lower part directly connected to the seed metering tube. The connection between the two is the seed inlet, which is adjacent to the outlet of the curved seed metering tube.

2. The seeding device according to claim 1, characterized in that: It also includes a control system for controlling the flow rate at the gas inlet of the seed delivery tube.

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