Straight-line planter

Abstract

The present invention provides a straight-line-moving seed drill, which belongs to the technical field of agricultural equipment. The straight-line-moving seed drill includes a power mechanism and a travel control mechanism. The travel control mechanism includes a light generating component, a first light receiving component, and a deviation identification component. The light generating component emits light that diffuses in all directions with the light generating component as the center through a plurality of light generators arranged on a light distribution disk that can rotate in a circumferential direction. The first light receiver responds to the light generated by the light generator through a first light response element arranged in an array on a first cylindrical surface, and generates an electrical signal. The displacement deviation identification component determines whether there is an offset and outputs a control signal. On the one hand, the target offset can be corrected quickly and accurately. On the other hand, when the power mechanism completes a straight-line motion, it only needs to reconfirm the position of the reference light response element to proceed with the next straight-line motion, which simplifies the operation process and improves work efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery and equipment, and in particular relates to a straight-line-traveling seed drill. Background Art

[0002] With the continuous advancement of agricultural technology, agricultural machinery and equipment are developing towards large-scale, intelligent and unmanned operation. In order to enable agricultural machinery and equipment to move in a straight line in the field, a variety of positioning and navigation technologies are applied. Beidou navigation technology is not only widely used to make agricultural machinery and equipment move in a straight line, but also used to control the depth of tillage or sowing. However, due to factors such as signal transmission interference and shielding, once the Beidou navigation system loses its signal, the agricultural machinery and equipment is in an uncontrolled state of inertia moving forward. In this way, in places with signal shielding such as greenhouses, the Beidou navigation system cannot reliably function.

[0003] In order to solve the technical problems of insufficient Beidou navigation accuracy and unstable signal reception under special working conditions, in the prior art, for example, the Chinese invention patent with application number 201910787532.7 discloses a laser-assisted positioning system for unmanned rollers in straight lines, including: a laser emitting device and a laser receiving component; the laser emitting device is installed on the paver and the starting point of the route; the laser receiving component is installed on the top of the roller. The laser receiving component includes a photoresistor array and a photoresistor external control circuit; the photoresistor array receives laser irradiation and transmits the signal to the unmanned roller controller through the control circuit; the controller identifies the signal matrix to determine the operating position of the roller and controls the roller to adjust the position. The present invention is a supplement to the traditional navigation and positioning of unmanned rollers, which effectively solves the problems of insufficient accuracy and insufficient response under traditional positioning methods, effectively improves the position accuracy of unmanned rollers in straight line operation, and provides a way of position correction, so that the construction quality is guaranteed.

[0004] Although the above-mentioned unmanned roller straight driving laser assisted positioning system provides a system and method for assisted straight-line navigation, in actual use, after each straight-line driving is completed, the position of the laser emitting device needs to be readjusted so that the light can be normally received by the laser receiving component, which results in cumbersome operation and low work efficiency. Summary of the invention

[0005] Based on this, the present invention provides a straight-line-traveling seed drill to solve the technical problems in the prior art of cumbersome operation and low working efficiency of the laser-assisted positioning device.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] In one embodiment, a straight-line-traveling seed drill is provided, comprising:

[0008] A power mechanism, on which a sowing assembly for sowing is installed; the power mechanism is also provided with an automatic steering assembly for controlling the steering of the power mechanism; and

[0009] A walking control mechanism, the walking control mechanism comprising a light generating component, a first light receiving component and a deviation identifying component;

[0010] The light generating assembly includes a frame, a light distribution plate and at least one light generator, wherein the light distribution plate is arranged on the frame and parallel to the horizontal plane, and the light distribution plate can rotate in the circumferential direction; the light generator is arranged on the light distribution plate, and a plurality of the light generators are distributed on the same horizontal circumference, and the light generator is used to emit light parallel to the horizontal plane;

[0011] The first light receiving assembly is mounted on the central axis of the power mechanism, and includes a first light receiver, the first light receiver having at least one first cylindrical surface arranged perpendicular to the horizontal plane, a plurality of first light response elements arranged in an array on the first cylindrical surface, the first light response element being capable of responding to light emitted by the light generator and incident perpendicularly to the first light response element, and generating an electrical signal;

[0012] The deviation recognition component includes a position recognition module, a deviation calculation module and a straight-line travel control module. The position recognition module is used to recognize the first column coordinates of the first light response element with the strongest actual electrical signal and the standard column coordinates of the first light response element with the strongest expected electrical signal. The deviation calculation module is used to calculate the displacement deviation according to the first column coordinates and the standard column coordinates. The straight-line travel control module is used to output a straight-line travel control signal according to the displacement deviation.

[0013] The automatic steering component communicates with the straight-line travel control module, and the automatic steering component can respond to the straight-line travel control signal output by the straight-line travel control module to correct the travel direction of the power mechanism.

[0014] Preferably, the straight-line-moving seed drill also includes a tillage depth control mechanism, which includes a second light receiving component, which is installed on the side of the power mechanism and includes a second light receiver, which has at least one second cylindrical surface arranged perpendicular to the horizontal plane, and a plurality of second light response elements are arrayed on the second cylindrical surface, and the second light response element can respond to light emitted by the light generator and incident perpendicularly to the second light response element, and generate an electrical signal.

[0015] Preferably, the walking control mechanism further comprises an auxiliary light generating assembly, and the auxiliary light generating assembly comprises at least one auxiliary light generator for emitting light parallel to a horizontal plane.

[0016] Preferably, at least 5 light generators are arranged on the light distribution disk.

[0017] Preferably, the first cylindrical surface is arrayed with N rows and M columns of first photoresponsive elements, wherein N is an integer ≥1, and M is an integer ≥5.

[0018] Preferably, the distribution density of the first light-responsive elements on the first cylindrical surface is ≥ 1 piece / cm 2 .

[0019] Preferably, the second cylindrical surface is arrayed with X rows and Y columns of second photoresponsive elements, wherein X is an integer ≥5, and Y is an integer ≥1.

[0020] Preferably, the first light-responsive element is selected from a phototransistor or a photodiode.

[0021] Preferably, the light generating assembly further comprises a level adjustment member disposed on the light distribution plate for adjusting the level of the light distribution plate.

[0022] Preferably, the sowing assembly has a plurality of sowing heads, each of which includes a fixed portion, a retractable portion and a first driving cylinder, and the first driving cylinder drives the fixed portion to rise and fall to control the height of the fixed portion.

[0023] Compared with the prior art, the present invention has at least the following advantages:

[0024] The present invention provides a seed drill that travels in a straight line, including a power mechanism, a light generating component, a first light receiving component and a deviation identification component. The light generating component emits light that diffuses in all directions with the light generating component as the center through a plurality of light generators arranged on a light distribution disk that can rotate in a circumferential direction. The first light receiving component includes a first light receiver, and the first light receiver responds to the light generated by the light generator through a first light response element arranged in an array on the first cylindrical surface, and generates an electrical signal. At this time, when the power mechanism deviates in the horizontal direction, there will always be one and only one of the first light response elements that receives the strongest light, thereby giving the largest response electrical signal. According to the position of the first light response element corresponding to the actual maximum response electrical signal and the position of the first light response element corresponding to the expected maximum response electrical signal, the target deviation status can be quickly and accurately determined, so that the power mechanism can travel in a straight line through the automatic steering component. It should be noted that, since the light generating component emits light that diffuses in all directions with the light generating component as the center, the first light response element arranged in a cylindrical array can receive vertical incident light at any angle. Therefore, when the target completes a linear motion, it is only necessary to reconfirm the position of the reference light response element without moving the light generating component, thereby achieving the goal of making the power mechanism move in a straight line, thereby simplifying the operating process and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The present invention is a schematic structural diagram of a linear-travel seed drill according to an embodiment of the present invention.

[0026] Figure 2 It is a schematic structural diagram of a light generating component of an embodiment.

[0027] Figure 3 It is a schematic structural diagram of a light generating component of an embodiment.

[0028] Figure 4 Schematic diagram of the structure of a first light receiving component according to an embodiment.

[0029] Figure 5 FIG. 4 is a schematic structural diagram of an optical receiver according to an embodiment of the present invention.

[0030] Figure 6 FIG. 4 is a schematic structural diagram of an optical receiver according to an embodiment of the present invention.

[0031] Figure 7 The present invention is a schematic diagram of the working state of a straight-line-moving seed drill according to an embodiment.

[0032] Figure 8 The figure is a schematic diagram of the working state of a straight-line-moving seed drill according to another embodiment.

[0033] Fig. 9The structure diagram of a seeding head according to an embodiment of the present invention is shown in FIG.

[0034] Fig.10 The structure diagram of a seeding head of another embodiment is shown in FIG.

[0035] In the figure: seeder 1, power mechanism 20, sowing component 201, automatic steering component 202, light generating component 100, frame 110, light distribution plate 120, driving mechanism 121, light generator 130, horizontal adjustment component 140, reference adjustment component 150, first light receiver 220, first light response element 230, deviation recognition component 300, position recognition module 310, deviation calculation module 320, straight line travel control module 330, second light receiver 420, second light response element 430, tilt judgment module 500, second position recognition module 510, tilt calculation module 520, information output module 530, sowing head 700, fixed part 710, retractable part 720, first driving cylinder 730, crossbeam 610, sowing part 620, adjustment component 630, auxiliary light generating component 800, auxiliary light generator. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be further described below in conjunction with the drawings of the embodiments of the present invention, and the present invention is not limited to the following specific implementation methods.

[0037] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present invention, it should be understood that if the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0038] In a specific embodiment of the present invention, please refer to Figure 1 A straight-line-traveling seed drill 1 includes a power mechanism 20 and a travel control mechanism. A seeding assembly 201 for seeding is installed on the power mechanism 20. An automatic steering assembly 202 for controlling the travel direction of the power mechanism 20 is provided on the power mechanism 20.

[0039] The walking control mechanism includes a light generating component 100 , a first light receiving component and a deviation identification component 300 .

[0040] Please also see Figure 2 and Figure 3 The light generating assembly 100 includes a frame 110, a light distribution plate 120 and at least one light generator 130. The light distribution plate 120 is disposed on the frame 110 and parallel to the horizontal plane. The light distribution plate 120 can rotate in the circumferential direction. The light generator 130 is disposed on the light distribution plate 120, and a plurality of the light generators 130 are distributed on the same horizontal circumference. The light generator 130 is used to emit light parallel to the horizontal plane.

[0041] The light generating assembly 100 is used to emit light radiating in all directions with the light generating assembly 100 as the center. For example, the cross section of the light distribution disk 120 parallel to the horizontal plane is circular, and the light distribution disk 120 is provided with a driving mechanism 121, such as a motor, for driving the light distribution disk 120 to rotate. At least one light generator 130 is arranged along the circumferential direction of the light distribution disk 120. The light generator 130 can be any light source capable of emitting a concentrated light beam, such as a laser generator, an infrared generator, etc.

[0042] The light distribution disk 120 is not limited to a circular disk shape, and may be, for example, a triangle, a square, a polygon, etc., as long as the light generators 130 are distributed on the same circumference and do not block the light generators 130 from emitting light parallel to the horizontal plane.

[0043] One or more light generators 130 may be provided. To increase the light density, the number of light generators 130 may be increased, for example, the number of light generators 130 is ≥ 5, preferably 6, 10 or 12. The rotation speed of the light distribution disk 120 may also be increased, for example, the light distribution disk 120 rotates at a rotation speed of 2000 rpm-8000 rpm.

[0044] Preferably, the light generating assembly 100 further includes a level adjustment assembly 140 disposed on the light distribution plate 120 for adjusting the level of the light distribution plate 120. When the light generating assembly 100 is set, the level of the light distribution plate 120 is adjusted by the level adjustment assembly 140, so that the plane where the light emitted by the plurality of light generators 130 is located is parallel to the horizontal plane.

[0045] Preferably, the light generating assembly 100 further includes a reference adjustment assembly 150 disposed on the frame 110 for adjusting the reference position of the light distribution disk 120. Before starting the operation, the position of the light distribution disk 120 is adjusted by the reference adjustment assembly 150 so that the light emitted by the light generator 130 can be vertically incident on the predetermined reference light receiver of the first light receiving assembly. The reference adjustment assembly 150 includes one or more of a Z-axis adjustment member for adjusting the height of the light distribution disk 120, an X-axis adjustment member for adjusting the left and right position of the light distribution disk 120, a Y-axis adjustment member for adjusting the front and rear position of the light distribution disk 120, and an angle adjustment member for adjusting the angle of the light distribution disk 120.

[0046] Please refer to Figures 4 to 6 The first light receiving component is installed on the central axis of the power mechanism 20, and is used to respond to the light emitted by the light generating component 100 as described above, including a first light receiver 220, the first light receiver 220 has at least one first cylindrical surface arranged perpendicular to the horizontal plane, and a plurality of first light response elements 230 are arrayed on the first cylindrical surface, and the first light response element 230 can respond to the light incident perpendicular to the first light response element 230 and generate an electrical signal.

[0047] The first light receiving component is used to respond to the light emitted by the light generator 130 and generate an electrical signal. In the present invention, the power mechanism 20 can determine the displacement of the power mechanism 20 in the horizontal direction relative to the initial state according to the electrical signal fed back by the first light receiver 220.

[0048] Specifically, the first light receiver 220 has at least one first cylindrical surface arranged perpendicular to the horizontal plane, for example, the first light receiver 220 is semi-cylindrical or cylindrical. A plurality of first light response elements 230 are arranged in an array on the first cylindrical surface. In some cases, the first light response elements 230 may have only one row (i.e., the first light response elements 230 located in the same row are equivalent). In this case, the displacement offset of the power mechanism 20 in the horizontal direction can be determined according to the response of the first light response elements 230 at different positions to the light, thereby assisting the power mechanism 20 to move in a straight line. The specific working principle is similar to that described below and will not be repeated here.

[0049] Preferably, the first light-responsive elements 230 are arranged in N rows and M columns on the cylindrical surface, wherein N is an integer ≥ 1 and M is an integer ≥ 5. Preferably, N is an integer ≥ 5. Preferably, on the first cylindrical surface, the distribution density of the first light-responsive elements 230 is not less than 1 / cm 2. For example, in a specific embodiment, 35-50 rows and 40-60 columns of the first light response members 230 are distributed on the first cylindrical surface. For example, 41 rows and 48 columns of 1968 first light response members 230 are distributed in an array on the first cylindrical surface. In principle, in order to improve the light response sensitivity of the first light receiving component, the first light response members 230 should be arranged as densely as possible on the first cylindrical surface. At the same time, the selection of the distribution density of the first light response members 230 should pay attention to the deviation introduced by factors such as the vibration of the power mechanism 20 of the seed drill 1 itself, so as to avoid overcorrection.

[0050] It should be noted that the first light response element 230 is selected and matched according to the type of light source emitted by the light generator 130. For example, the first light response element 230 may correspond to a laser receiver or an infrared receiver. Preferably, in the present invention, the first light response element 230 is selected from a photodiode or a phototransistor.

[0051] In principle, the first light-responsive element 230 can respond to light sources irradiated from different directions, and the direction and intensity of the illumination affect the size of the final response electrical signal of the first light-responsive element 230. Preferably, in the present invention, the maximum value of the response electrical signal is selected as the acceptable signal, that is, only when the light emitted by the light generator 130 irradiates vertically on the first light-responsive element 230, a recognized response electrical signal is generated.

[0052] Please continue to see Figure 1 The deviation recognition component 300 includes a position recognition module 310, a deviation calculation module 320 and a straight-line walking control module 330. The position recognition module 310 is used to recognize the first column coordinates of the photoresponse element 230 with the strongest actual electrical signal and the standard column coordinates of the photoresponse element 230 with the strongest expected electrical signal. The deviation calculation module 320 is used to calculate the displacement deviation according to the first column coordinates and the standard column coordinates. The straight-line walking control module 330 is used to output a straight-line walking control signal according to the displacement deviation.

[0053] The automatic steering component 202 communicates with the linear travel control module 330; the automatic steering component 202 is used to respond to the linear travel control signal output by the linear travel control module 330 to correct the travel direction of the power mechanism 20. For example, the automatic steering component 202 can be a steering device that controls the steering of a travel mechanism such as wheels.

[0054] Please see Figure 7 and Figure 8Based on the light generating component 100, the first light receiving component, the deviation identifying component 300 and the automatic steering component 202, the power mechanism 20 can move in a straight line.

[0055] Specifically, in the initial position state, the position of the light generating component 100 is adjusted, the first light receiver 220 is installed on the central axis of the power mechanism 20, and the light emitted by the light generating component 100 is aligned with the first light response element 230 of the established reference on the first light receiver 220, so that the light emitted by the light generating component 100 is vertically irradiated on the first light response element 230 of the established reference on the first light receiver 220. At this time, the first light response element 230 of the established reference is recorded as A0, and the position coordinate is marked as A0 (X n0 , Y m0 ), where n0 and m0 represent the row coordinate and column coordinate of A0 respectively.

[0056] In one case, when the power mechanism 20 is located directly in front of the light generating assembly 100, if no offset occurs, the light emitted by the light generator 130 always shines vertically on the reference light response element A0, that is, the actual light response element A1 remains overlapped with the reference light response element A0.

[0057] When the power mechanism 20 is horizontally offset, that is, the travel route of the power mechanism 20 is at an angle with the predetermined travel route, the first light receiver 220 is deflected along with the power mechanism 20, and the position of the light emitted by the light generator 130 vertically irradiating the first light receiver 220 changes, and the first light response element 230 vertically irradiated by the light emitted by the light generator 130 at this time is recorded as the actual light response element A1. At this time, the arc of the actual light response element A1 and the reference light response element A0 in the orthographic projection direction (the angle formed by the connection of the orthographic projection of the actual light response element A1 and the center of the circle where the orthographic projection of the cylindrical surface is located and the connection of the orthographic projection of the reference light response element A0 and the center of the circle where the orthographic projection of the cylindrical surface is located) is the horizontal offset angle of the power mechanism 20. The linear travel control module 330 can output the linear travel control signal according to the above horizontal offset angle, and after being responded by the automatic steering component 202, the travel direction of the power mechanism 20 is corrected in real time, so that the power mechanism 20 moves in a straight line.

[0058] In either case, see Figure 7When the power mechanism 20 is located on the side of the light generating component 100, the straight-line driving seed drill 1 provided by the present invention can still accurately identify the displacement deviation, so that the power mechanism 20 drives in a straight line. Therefore, in actual operation, there is no need to frequently move the light generating component 100, which simplifies the operation process and improves work efficiency.

[0059] Specifically, when the power mechanism 20 is located on the side of the light generating assembly 100, as the power mechanism 20 moves forward, the theoretical position at which the light emitted by the light generator 130 is perpendicularly irradiated on the first light receiver 220 changes. For ease of explanation, as the power mechanism 20 moves forward, the theoretical position at which the light emitted by the light generator 130 is perpendicularly irradiated on the light receiver 220 is marked as the expected light corresponding component A. y .

[0060] In this case, firstly, the expected light response component A is determined according to the current position of the power mechanism 20. y For example, the angle formed by the current position of the power mechanism 20 and the straight line L1 where the light generating component 100 is located and the straight line L2 located directly in front of the light generating component 100 is the angle between the expected light response element Ay and the reference light response element A0. Similarly, when the power mechanism 20 is horizontally offset, that is, the travel route of the power mechanism 20 forms an angle with the predetermined travel route, the first light receiver 220 is deflected, and the expected position of the light emitted by the light generator 130 vertically irradiating the first light receiver 220 changes, and the first light response element 230 vertically irradiated by the light emitted by the light generator 130 at this time is recorded as the actual light response element A1. At this time, the arc of the actual light response element A1 and the expected light response element A0 in the orthographic projection direction (the angle formed by the connection of the orthographic projection of the offset light response element A1 and the center of the circle where the orthographic projection of the cylindrical surface is located and the connection of the orthographic projection of the reference light response element A0 and the center of the circle where the orthographic projection of the cylindrical surface is located) is the horizontal offset angle of the power mechanism 20. According to the horizontal offset angle and the offset direction, a straight-line travel control signal is generated to correct the forward direction of the power mechanism 20 so that the power mechanism 20 travels in a straight line.

[0061] In the above embodiment, according to the position of the first light response element 230 corresponding to the actual maximum response electrical signal and the position of the first light response element 230 corresponding to the expected maximum response electrical signal, the target deviation status can be quickly and accurately determined, so that the power mechanism 20 can move in a straight line through the automatic steering component 202. Since the light generating component 100 emits light that diffuses to the surroundings with the light generating component 100 as the center, the first light response element 230 arranged in a cylindrical array can receive vertical incident light at any angle. Therefore, when the target completes a linear motion, it is only necessary to reconfirm the position of the reference light response element without moving the light generating component, so as to achieve the goal of making the power mechanism 20 move in a straight line, which simplifies the operation process and improves work efficiency.

[0062] It is worth noting that, under the condition that the sowing surface is relatively flat, the above-mentioned horizontal deviation is more concentrated in the first light response members 230 located in the same row responding to the light emitted by the light generator 130. At this time, when the first light response members 230 in different rows respond to the light emitted by the light generator 130, it can be considered that the fuselage of the power mechanism 20 has tilted left and right or front and back, which may be caused by uneven terrain or the presence of hard soil blocks, stones, etc. in the soil.

[0063] In order to achieve accurate sowing and avoid inconsistent sowing depths, affecting the uniformity of seedling emergence and causing the phenomenon of large and small seedlings, it is necessary to adjust the local sowing depth when the fuselage of the power mechanism 20 is tilted. In actual operation, when the fuselage of the power mechanism 20 is tilted, not only will the first light response elements 230 between different rows respond to the light emitted by the light generator 130, but also the first light response elements 230 between different columns will respond to the light emitted by the light generator 130, which is not conducive to specifically judging the tilt state of the fuselage of the power mechanism 20 and calculating the tilt degree of the fuselage.

[0064] To solve the above technical problems, in a preferred embodiment, the straight-line-moving seed drill 1 also includes a tillage depth control mechanism, and the tillage depth control mechanism includes a second light receiving component, which is installed on the side of the power mechanism 20, and includes a second light receiver 420. The second light receiver 420 has at least one second cylindrical surface arranged perpendicular to the horizontal plane, and a plurality of second light response elements 430 are arrayed on the second cylindrical surface. The second light response element 430 can respond to the light emitted by the light generator 130 and incident perpendicularly to the second light response element 430, and generate an electrical signal.

[0065] Preferably, the structure and working principle of the second light receiving assembly are similar to those of the first light receiving assembly, and will not be described in detail here. It should be noted that the second cylindrical surface is arrayed with X rows and Y columns of second light response elements, where X is an integer ≥5 and Y is an integer ≥1. In other words, the second light receiving assembly can be set to have only one column or the second light response elements on the same row are equivalent.

[0066] The second light receiving component is arranged on the side of the power mechanism 20. When the body of the power mechanism 20 is tilted, the row coordinates of the second light receiving component change, and the height difference of the row coordinates of the second light receiving component relative to the reference is close to the inclination of the body of the power mechanism 20. The inclination of the body of the power mechanism 20 can be judged based on the height difference of the row coordinates.

[0067] Preferably, the tillage depth control mechanism also includes a tilth judgment module 500, which includes a second position identification module 510, an inclination calculation module 520 and an information output module 530. The position identification module 510 is electrically connected to the second light receiving component, and is used to identify the first row of coordinates of the second light response element 430 with the strongest actual electrical signal and the standard row of coordinates of the second light response element 430 with the strongest expected electrical signal; the inclination calculation module 520 is used to calculate the inclination of the fuselage according to the first row of coordinates and the standard row of coordinates; the information output module 530 generates a tillage depth adjustment instruction according to the inclination and outputs it.

[0068] In response to the tillage depth adjustment instruction output by the information output module 530, the sowing component 201 is further provided with a tillage depth adjustment execution module, which communicates with the information output module 530 to receive the tillage depth adjustment instruction and execute the tillage depth adjustment action.

[0069] Specifically, the height of the lower end of the sowing assembly 201 can be adjusted in whole or in part. Preferably, the sowing assembly 201 has a plurality of sowing end faces (for example, the sowing assembly 201 has at least one sowing discharge port), and the heights of the plurality of sowing end faces can be independently controlled. Fig. 9 The sowing assembly 201 has a plurality of sowing heads 700, and the height of each of the sowing heads 700 can be independently controlled. For example, each of the sowing heads 700 has a fixed part 710, a retractable part 720 and a first driving cylinder 730. The first driving cylinder 730 drives the fixed part 710 to rise and fall, thereby independently controlling and changing the height of the fixed part 710.

[0070] In some cases, see Fig.10, the sowing assembly 201 can be adjusted as a whole. For example, the sowing assembly 201 includes a crossbeam 610, a sowing portion 620 disposed under the crossbeam 610 for sowing, and an adjustment assembly 630 for adjusting the height and inclination of the crossbeam 610. The adjustment assembly 630 is disposed at both ends of the crossbeam 610 and includes a second driving cylinder, which drives one or both ends of the crossbeam to rise or fall.

[0071] In the above embodiment, the straight-line-moving seeder 1 provided by the present invention not only solves the problem of the seeder 1 moving in a straight line, but also solves the problem of inconsistent sowing depth caused by the tilt of the power mechanism 20, thereby achieving precise sowing.

[0072] It should be noted that, in the present invention, if the power mechanism 20 moves along a predetermined straight line and is offset in the horizontal direction, the offset direction is the same as the offset direction of the light generator 130 on the first light receiver 220. For example, if the power mechanism 20 is offset to the left, the first light receiver 220 is deflected to the left, and the light emitted by the light generator 130 falls on the left side of the expected position of the first light receiver 220.

[0073] However, if the power mechanism 20 is offset as a whole, that is, the power mechanism 20 does not travel along the predetermined route, then at this time, the offset direction of the light generator 130 on the first light receiver 220 is opposite to the offset direction of the power mechanism 20. For example, if the power mechanism 20 is located on the left side of the predetermined travel route, the light emitted by the light generator 130 falls on the right side of the expected position of the first light receiver 220.

[0074] In order to solve the above technical problems, in a preferred embodiment, it can be judged whether there is an overall offset of the power mechanism 20 based on the feedback of the adjustment result. That is, first assume that the power mechanism 20 moves along a predetermined route and deflects, and make corrections based on the deflection direction and deflection angle. At this time, if there is an overall offset of the power mechanism 20, the correction at this time makes the offset larger. At this time, it can be judged that there is an overall offset of the power mechanism 20, and a reverse correction can be made. In other optional embodiments, it can be judged whether the power mechanism 20 has an overall offset based on the position of the first light response element 230 with the strongest expected electrical signal when the power mechanism 20 moves along the predetermined route and the position of the first light response element 230 with the strongest electrical signal when the power mechanism 20 moves along the actual route.

[0075] In some specific embodiments, in order to control the tillage spacing, the walking control mechanism further includes an auxiliary light generating assembly 800, and the auxiliary light generating assembly 800 includes an auxiliary light generator capable of emitting light in parallel and horizontal directions. During tillage, the auxiliary light generating assembly 800 is fixed at the front end of the predetermined walking route of the power mechanism 20, and the light emitted by the auxiliary light generator is made parallel to the predetermined walking route of the power mechanism 20. In this way, it is possible to determine whether the power mechanism 20 has an overall offset according to the response position of the auxiliary light generator on the first light receiver 220, and make corrections.

[0076] In another specific embodiment of the present invention, a sowing control method is provided, which is implemented based on the straight-line-moving sowing machine 1 as described above, and includes the following steps:

[0077] S10. Obtain the standard column coordinates of the first photoresponsive element with the strongest expected electrical signal.

[0078] Specifically, when the straight-line planter 1 is initially working, the light emitted by the light generating assembly 100 is vertically irradiated on the first light response element 230 of the first light receiver 220. At this time, the first light response element 230 is marked as the reference light response element A0. When the straight-line planter 1 moves forward, the expected position of the light emitted by the light generator 130 vertically irradiating the first light receiver 220 changes, which is recorded as the expected first light response element A0. y In S01, for example, the first light response element A may be used as the expected y The number of rows and columns is the expected photoresponse element A. y The standard coordinates of .

[0079] When the power mechanism 20 is located directly in front of the light generating assembly 100, during the movement of the power mechanism 20, the expected first light response element A y It coincides with the reference photoresponse element A0 and the standard column coordinates remain unchanged.

[0080] When the power mechanism 20 is located at the side of the light generating assembly 100, during the movement of the power mechanism 20, the expected first light response element A y The standard column coordinates change with the position of the power mechanism 20. At this time, the expected light response element A can be inferred by the position of the power mechanism 20 and the light generating assembly 100. y The standard coordinates of .

[0081] Specifically, “obtaining the standard column coordinates of the first photoresponse element with the strongest expected electrical signal” includes the following steps:

[0082] S11. Obtain the first reference coordinates of the light generating component 100.

[0083] Specifically, for example, the center of the orthographic projection of the light distribution plate 120 on the plane can be used as the first reference coordinate of the generating device.

[0084] S12. Obtain the first coordinate of the current power mechanism 20.

[0085] Specifically, for example, the center of the orthographic projection of the first light receiver 220 on the plane may be used as the first coordinate of the power mechanism 20 .

[0086] Since the power mechanism 20 is mobile, the moving distance of the device 210 for controlling linear movement can be used as a basis for calculating the first coordinate of the current power mechanism 20 .

[0087] For example, the “obtaining the first coordinate of the current power mechanism 20 ” includes the following steps: obtaining the moving distance of the current power mechanism 20 . The above moving distance can be achieved by a displacement sensor disposed on the walking mechanism of the power mechanism 20 .

[0088] Alternatively, the “taking the first coordinate of the current power mechanism 20” includes the following steps:

[0089] Obtaining the average speed of movement of the power mechanism 20;

[0090] Obtaining the moving time of the power mechanism 20;

[0091] The first coordinate is calculated according to the average speed and the moving duration.

[0092] S13. Calculate a first angle formed between a straight line where the first coordinate and the first reference coordinate are located and a reference straight line; wherein the reference straight line is a straight line passing through the first reference coordinate and perpendicular to a predetermined travel route of the power mechanism 20 .

[0093] S14. Obtain the reference column coordinates of the first photoresponsive element serving as a reference.

[0094] Specifically, for example, when the power mechanism 20 is located directly in front of the light generating assembly 100, the standard column coordinates of the first light response element with the strongest expected electrical signal are used as the reference column coordinates of the reference light response element.

[0095] S15. Calculate the standard column coordinates according to the first angle and the reference column coordinates.

[0096] Specifically, in this embodiment, (90°-first angle) is used as the arc of the standard column coordinate of the light response element with the strongest expected electrical signal relative to the reference column coordinate on the cylindrical surface of the light receiver 220, and based on this, the standard column coordinate of the light response element with the strongest expected electrical signal relative to the reference column coordinate can be obtained.

[0097] S20. Obtain the first column coordinates of the first photoresponsive element with the strongest actual electrical signal.

[0098] Specifically, when the power mechanism 20 is moving, the direction of travel is offset, and the first light receiving component is deflected, and the position of the light emitted by the light generating component 100 vertically irradiating the first light receiver 220 changes. At this time, since the first light response element 230 is vertically irradiated and irradiated from the side, the strength of the electrical signal generated is different. When the electrical signal is the strongest, it is considered that the first light response element 230 is vertically irradiated. When the power mechanism 20 is moving, the first light response element 230 with the strongest electrical signal is identified as the first light response element 230 with the strongest actual signal, and its first coordinate is obtained. For example, the column number where the actual first light response element 230 is located can be used as the first column coordinate of the first light response element.

[0099] S30. Calculate displacement deviation according to the first column coordinates and the standard column coordinates.

[0100] In one case, the arc formed by the orthographic projection of the first column coordinates and the standard column coordinates on the cylindrical surface is the horizontal displacement deviation of the target.

[0101] S40. Output a straight-line walking control signal according to the displacement deviation.

[0102] It is worth noting that, in the embodiment of the present invention, it is assumed that when the power mechanism 20 deviates in the horizontal direction, the power mechanism 20 body first forms an angle with the predetermined driving direction. For example, when the power mechanism 20 deviates to the right, the first light receiver 220 rotates to the right along with the power mechanism 20. At this time, the light emitted by the light generator 130 is received by the first light receiver 220 located on the right side of the reference light receiver. Subject to the sensitivity of the system, in theory, after the power mechanism 20 deflects, the traveling direction can be corrected in a short time, so as to maintain straight driving.

[0103] In some cases, the power mechanism 20 moves along a straight line, but deviates from the predetermined travel route. At this time, when the power mechanism 20 is located at the same horizontal position, the actual value of the first angle formed between the straight line where the first coordinate and the first reference coordinate are located and the reference straight line will deviate from the theoretical value. For example, when the actual travel route of the power mechanism 20 deviates to the left relative to the predetermined travel route, the first light receiver 220 moves to the left with the power mechanism 20. At this time, the light emitted by the light generator 130 is received by the first light receiver 220 located on the right side of the reference light receiver.

[0104] It can be found that in the above situation and the situation when deflection occurs, the response position of the first light receiver 220 is the same. If adjustment is performed according to the logic of deflection, a larger deviation will occur.

[0105] At this time, you can solve it by the following methods:

[0106] Acquire a response position of the light emitted by the auxiliary light generator on the first light receiver 220;

[0107] According to the response position, determining whether the power mechanism 20 has an overall offset;

[0108] If not, execute S10-S40;

[0109] If so, after correcting the overall offset of the power mechanism 20, steps S10-S40 are executed.

[0110] That is to say, when starting the operation, the auxiliary light generating assembly 800 is first set at one end of the predetermined walking route of the power mechanism 20, and the auxiliary light generator is adjusted to be level with the light generator 130. At this time, the auxiliary light generator is turned on intermittently, so that the light emitted by the auxiliary light generator is responded to by the first light receiver 220, and the response position is recorded, thereby judging the overall offset of the power mechanism 20. If there is an overall offset, the offset correction is first performed, and after the correction, the normal walking straight line is achieved.

[0111] It should be emphasized that the farming device and farming control method proposed in the present invention are suitable for short-distance straight-line driving. Generally, the straight-line driving distance is no more than 500m. Long distances will cause the system accuracy to decrease, or even fail due to failure to receive optical signals normally.

[0112] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A straight-line seeder, characterized in that: include: A power mechanism, on which a sowing assembly for sowing is installed; the power mechanism is also provided with an automatic steering assembly for controlling the steering of the power mechanism; as well as A walking control mechanism, the walking control mechanism comprising a light generating component, a first light receiving component and a deviation identifying component; The light generating assembly includes a frame, a light distribution plate and at least one light generator, wherein the light distribution plate is arranged on the frame and parallel to the horizontal plane, and the light distribution plate can rotate in the circumferential direction; the light generator is arranged on the light distribution plate, and a plurality of the light generators are distributed on the same horizontal circumference, and the light generator is used to emit light parallel to the horizontal plane; The first light receiving assembly is mounted on the central axis of the power mechanism, and includes a first light receiver, the first light receiver having at least one first cylindrical surface arranged perpendicular to the horizontal plane, a plurality of first light response elements arranged in an array on the first cylindrical surface, the first light response element being capable of responding to light emitted by the light generator and incident perpendicularly to the first light response element, and generating an electrical signal; The deviation recognition component includes a position recognition module, a deviation calculation module and a straight-line travel control module. The position recognition module is used to recognize the first column coordinates of the first light response element with the strongest actual electrical signal and the standard column coordinates of the first light response element with the strongest expected electrical signal. The deviation calculation module is used to calculate the displacement deviation according to the first column coordinates and the standard column coordinates. The straight-line travel control module is used to output a straight-line travel control signal according to the displacement deviation. The automatic steering component communicates with the linear travel control module, and the automatic steering component can respond to the linear travel control signal output by the linear travel control module to correct the travel direction of the power mechanism; The acquisition of the standard column coordinates of the first light response element with the strongest expected electrical signal includes the following steps: S11. Obtaining a first reference coordinate of the light generating assembly; S12. Obtaining the first coordinate of the current power mechanism; S13. Calculate a first angle formed between a straight line where the first coordinate and the first reference coordinate are located and a reference straight line; wherein the reference straight line is a straight line passing through the first reference coordinate and perpendicular to a predetermined travel route of the power mechanism; S14. Obtaining the reference column coordinates of the first light response element as a reference; S15. Calculate the standard column coordinates according to the first angle and the reference column coordinates.

2. The straight-line seed drill according to claim 1, characterized in that: It also includes a tillage depth control mechanism and a tilt judgment module, wherein the tillage depth control mechanism includes a second light receiving component, which is installed on the side of the power mechanism and includes a second light receiver, the second light receiver has at least one second cylindrical surface arranged perpendicular to the horizontal plane, and a plurality of second light response elements are arrayed on the second cylindrical surface, and the second light response element can respond to the light emitted by the light generator and incident perpendicularly to the second light response element, and generate an electrical signal; The tilt judgment module includes a second position recognition module, a tilt calculation module and an information output module. The position recognition module is electrically connected to the second light receiving component and is used to identify the first row coordinates of the second light response element with the strongest actual electrical signal and the standard row coordinates of the second light response element with the strongest expected electrical signal. The tilt calculation module is used to calculate the tilt of the body according to the first row coordinates and the standard row coordinates. The information output module generates a tillage depth adjustment instruction according to the tilt and outputs it. The sowing component is also provided with a tillage depth adjustment execution module, which communicates with the information output module and is used to receive a tillage depth adjustment instruction and execute a tillage depth adjustment action.

3. The straight-line seed drill according to claim 1, characterized in that: The walking control mechanism also includes an auxiliary light generating component, which includes at least one auxiliary light generator for emitting light parallel to the horizontal plane; the auxiliary light generating component is fixed at the front end of the established walking route of the power mechanism, and the light emitted by the auxiliary light generator is parallel to the established walking route of the power mechanism.

4. The straight-line seed drill according to claim 1, characterized in that: At least five light generators are arranged on the light distribution disk.

5. The straight-line-moving seed drill according to claim 1, characterized in that: The first cylindrical surface is arrayed with N rows and M columns of first photoresponsive elements, wherein N is an integer ≥1, and M is an integer ≥5.

6. The straight-line-moving seed drill according to claim 5, characterized in that: The distribution density of the first light-responsive element on the first cylindrical surface is ≥ 1 piece / cm 2 .

7. The straight-line-moving seed drill according to claim 2, characterized in that: The second cylindrical surface is arrayed with X rows and Y columns of second photoresponsive elements, wherein X is an integer ≥5, and Y is an integer ≥1.

8. The straight-line seed drill according to any one of claims 1 to 7, characterized in that: The first light-responsive element is selected from a phototransistor or a photodiode.

9. The straight-line-moving seed drill according to claim 1, characterized in that: The light generating assembly further comprises a level adjusting member disposed on the light distribution plate for adjusting the level of the light distribution plate.

10. The straight-line-moving seed drill according to claim 2, characterized in that: The sowing assembly has a plurality of sowing heads, each of which includes a fixed portion, a retractable portion and a first driving cylinder. The first driving cylinder drives the fixed portion to rise and fall to control the height of the fixed portion.

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