Intelligent plot seeder and sowing method

Abstract

The present invention belongs to the technical field of agricultural sowing, and specifically provides an intelligent plot seeder and sowing method, wherein the intelligent plot seeder includes a chassis, an automatic seed supply device, a seed storage device, a seed discharge device, a seed cleaning device, a seed separation device, a furrowing device and an automatic control system; the sowing method uses an automatic control system to coordinate and control the actions of each device to realize the intelligent process of plot sowing. The intelligent plot seeder of the present invention eliminates the manual seed supply link through the automatic seed supply device, and is easy to use; the automatic seed cleaning device cooperates with the speed control system to realize the automatic seed cleaning operation without stopping; the sowing method of the intelligent plot seeder of the present invention uses satellite positioning, speed measurement and speed adjustment of the airborne control terminal to ensure the accuracy of the mechanized sowing operation in the plot and improve the accuracy of the breeding experiment.

Description

Technical Field

[0001] The present invention relates to the field of agricultural sowing, and in particular to an intelligent plot seeder and a sowing method. Background Art

[0002] Plot breeding field trials are an important part of crop breeding and agricultural research, helping to select new varieties that are most suitable for specific environments.

[0003] Among them, plot sowing, as the primary link in field breeding, has an important impact on breeding experiments.

[0004] In the plot sowing operation of related technologies, manual labor is usually assisted by mechanical operations, and the degree of automation and intelligence is still insufficient. Before sowing, it is necessary to mark the lines manually, and then one person drives the machine and one person assists in the sowing operation. Due to the small area and large number of plots, it is necessary to pay attention to the position of the seeder at all times, which places great demands on the proficiency of the workers. In addition, the accuracy of manual assisted sowing operations is difficult to guarantee, which has a certain degree of impact on the accuracy of the test. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide an intelligent plot seeder and a seeding method, aiming to solve the technical problems raised in the above-mentioned background technology.

[0006] In one embodiment of the present disclosure, an intelligent plot seeder is provided, comprising:

[0007] A chassis, on which a fixed platform is mounted via a support frame;

[0008] An automatic seed supply device is arranged on the fixed platform, and the automatic seed supply device includes a seed supply tray; a slideway with a concentric circle structure is provided on the upper surface of the seed supply tray; a seed supply tray stepper motor is installed at the bottom of the seed supply tray, and the output shaft of the seed supply tray stepper motor coaxially passes through the seed supply tray, and the output shaft of the seed supply tray stepper motor extends to the top of the seed supply tray, and a plurality of seed supply tray forks for pushing the seed cup to move along the slideway are arranged at equal intervals in a circular array on the output shaft of the seed supply tray stepper motor, and the slideway is provided with a seed drop port and a cup drop port along the moving direction of the seed cup respectively;

[0009] A seed storage device, the seed storage device comprising a seed storage cylinder, the seeds in the seed cup at the seed drop port fall into the seed storage cylinder, the upper outer wall of the seed storage cylinder is connected to one end of a lifting lever, the non-end of the lifting lever is hinged to the top of the triangular bracket, and the other end of the lifting lever is connected to the telescopic end of the electromagnetic telescopic rod;

[0010] A seeding device, the seeding device comprising a seeding grid plate, the bottom of the seed storage cylinder coaxially extends into the seeding grid plate, so that the seeds enter the seeding grid plate;

[0011] A seed cleaning device, the seed cleaning device comprising a Y-shaped tee, a paddle is arranged in the Y-shaped tee, an inlet of the Y-shaped tee is connected to the seeding grid plate, and two outlets of the Y-shaped tee are respectively a seed cleaning channel and a sowing channel;

[0012] A seed sorting device, which guides the seeds discharged from the sowing channel to the sowing furrows opened by the furrow opening device;

[0013] A furrowing device for forming a sowing furrow on the ground; and

[0014] An automatic control system for controlling the actions of an automatic seed supply device, a seed storage device, a seed discharge device, a seed cleaning device, a seed separation device and a furrowing device, wherein the automatic control system is installed on the fixed platform.

[0015] Furthermore, the automatic seed supply device also includes an electric seed supply push rod and a screw slide;

[0016] The telescopic end of the electric seed supply push rod is equipped with a push rod fork;

[0017] A seed cup box is installed on the screw slide, and the seed cup box can be spliced ​​in multiple sections. A screw slide motor is arranged at one end of the screw slide, and the screw slide motor drives the screw slide to move, thereby driving the seed cup box to move;

[0018] A feeding port is arranged on one side of the seed supply tray, the direction of the feeding port is perpendicular to the front cross beam, and the movement route of the electric seed supply push rod is consistent with the direction of the feeding port.

[0019] Furthermore, the electric seed supply push rod is fixedly connected to the rear cross beam, and the screw slide is fixedly connected to the middle support plate;

[0020] The middle support plate is fixedly connected between the front crossbeam and the rear crossbeam;

[0021] The front crossbeam and the rear crossbeam are both fixedly connected and arranged on the fixed platform through supporting legs;

[0022] The seed supply tray is fixedly mounted on the front crossbeam of the seed supply bracket.

[0023] Furthermore, the upper portion of the seed storage cylinder is funnel-shaped;

[0024] The seeding grid plate is rotatably mounted on the bottom plate, and the support rod frame on the bottom plate is used to fix the seed storage cylinder so that the seed storage cylinder is located between the seed drop port and the seeding grid plate;

[0025] The electromagnetic telescopic rod is mounted on an L-shaped plate on the bottom plate.

[0026] Furthermore, the other end of the lifting lever has a connecting channel, and the sliding column at the telescopic end of the electromagnetic telescopic rod is slidably connected in the connecting channel.

[0027] Furthermore, the seeding device further comprises a supporting box body, the supporting box body is fixedly mounted on a fixed platform, and the bottom plate is fixedly mounted on the supporting box body;

[0028] A stepper motor is installed on one side of the support box, and the stepper motor is used to drive the seed grid to rotate.

[0029] Furthermore, the seed cleaning device also includes a seed cleaning electric push rod, which is drivingly connected to the paddle and is used to rotate the paddle to control the seeds entering the Y-shaped tee to be discharged through the seed cleaning channel or through the sowing channel.

[0030] Further, the automatic control system includes a satellite receiver and an airborne control terminal;

[0031] The automatic control system also includes a data conversion module for converting signals recognizable by the airborne control terminal;

[0032] The automatic control system also includes a communication module for data transmission;

[0033] The automatic control system also includes a display screen electrically connected to the onboard control terminal;

[0034] The airborne control terminal is also electrically connected to the seed storage control module, the seed discharge control module, the seed supply control module, the seed cleaning control module, the seed separation control module, and the furrowing control module, wherein:

[0035] The seed storage control module is used to control the attraction of the electromagnetic telescopic rod to achieve the lifting and lowering of the seed storage cylinder;

[0036] The seeding control module is used to control the speed and direction of the stepper motor;

[0037] The seed supply control module is used to control the electric seed supply push rod, the seed supply tray stepping motor, and the screw slide motor to achieve automatic seed supply;

[0038] The seed cleaning control module is used to control the seed cleaning electric push rod to achieve the switching between the seed cleaning channel and the sowing channel;

[0039] The seed separation control module is used to control the rotation speed of the motor of the seed separation device;

[0040] The trenching control module is used to control the lifting and lowering of the trenching device.

[0041] In another embodiment of the present disclosure, a sowing method implemented by the intelligent plot seeder provided in the above embodiment is provided, and the sowing method includes:

[0042] Step S1: Determine the sowing start point and end point of each sowing area according to the length and width of each sowing area and the width of the isolation belt. The satellite receiver obtains the geographical location information of the sowing start point and end point of each sowing area and transmits it to the airborne control terminal through the data conversion module and the communication module;

[0043] Step S21: The onboard control terminal sends a work instruction to the seed supply control module, and the lead screw slide motor performs zero adjustment operation, so that the lead screw slide is located at the zero point position close to the side of the lead screw slide motor; the lead screw slide motor works, driving the lead screw slide to move , so that the seed cup of the first sowing area is facing the feeding port; at the same time, the onboard control terminal sends a working instruction to the seed separation control module, and the motor of the seed separation device rotates at a constant speed;

[0044] Step S22: the electric seed supply push rod extends to push the seed cup from the seed cup box through the feed port to the slideway, the adjacent forks of the seed supply tray are spaced 60° apart, one fork of the seed supply tray fork is coaxial with the seed drop port, at this time the electric seed supply push rod is fully extended, and then the electric seed supply push rod is retracted; when the electric seed supply push rod is fully retracted, the seed supply tray stepper motor starts to rotate 60°, driving the seed cup in the slideway to rotate around the axis of the seed supply tray, and the inner side of the seed supply tray fork is tightly fitted with the outer side of the seed cup; then the screw slide motor rotates, driving the screw slide to move h, so that the seed cup of the next sowing area is facing the feed port;

[0045] Step S23: Repeat step S22 until the seed cup of the first sowing plot is located at the seed drop port, and stop the execution. At this stage, the electromagnetic telescopic rod is disconnected, the seed storage cylinder is in a seed storage state, and the seeds of the first sowing plot fall into the seed storage cylinder;

[0046] Step S3: The satellite receiver receives the satellite signal, obtains the real-time position coordinates and operating speed of the seed drill in real time, and transmits them to the airborne control terminal through the data conversion module and the communication module; the real-time position and operating speed of the seed drill are displayed on the display screen; wherein the data conversion module converts the real-time position coordinate format of the seed drill into a data format that can be processed by the airborne control terminal;

[0047] Step S41: The planter moves down a little bit. When it reaches the starting point of sowing, the satellite measures the real-time speed of the planter. , the onboard control terminal adjusts the speed of the stepper motor so that the seeder rotates from the starting point to the end point of the current sowing plot, and the seeding grid of the seeding device rotates one circle; the relationship between the speed of the stepper motor of the seeding device and the real-time speed of the seeder and the length of the plot is: ; The onboard control terminal sends a command to the seed cleaning control module, and the seed cleaning electric push rod is retracted, driving the handle fixed to the seed cleaning electric push rod on the seed cleaning device to rotate, and the other end of the handle is fixedly connected to the paddle, so that the paddle rotates clockwise to open the sowing channel and close the seed cleaning channel; then the onboard control terminal sends a command to the furrowing control module and the seed storage control module to engage the electromagnetic telescopic rod, so that the seed storage cylinder is lifted for seed supply;

[0048] Step S42: When the distance between the current position of the planter and the end point is measured When the onboard control terminal sends instructions to the seed supply control module and the seed storage control module, the electric seed supply push rod At the same time, the electromagnetic telescopic rod is disconnected to make the seed storage barrel drop down and enter the seed storage working state; the electric seed supply push rod retracts at the same speed immediately after reaching the stroke; when the electric seed supply push rod is fully retracted, the seed supply tray stepper motor moves at After turning 60°, the seeds of the next sowing plot will fall into the seed storage cylinder from the seed drop port. Then the screw slide motor will start to make the screw slide Within the time, move a distance of h so that the seed cup of the next sowing plot is facing the feed inlet;

[0049] Step S5: When the end point of the current plot is reached, the airborne control terminal sends instructions to the seed clearing control module and the furrowing control module to extend the seed clearing electric push rod, so that the paddle rotates counterclockwise, the sowing channel is closed, and the seed clearing channel is opened; at the same time, the furrowing device is lifted; the airborne control terminal adjusts the speed of the stepper motor according to the real-time speed of the seeder measured by the satellite, so that the seeder moves from the end point of the current sowing plot to the starting point of the next sowing plot, and the seeding grid of the seeding device can rotate clockwise and counterclockwise for one circle each. At this time, the relationship between the speed of the stepper motor of the seeding device and the real-time speed of the seeder and the length of the isolation belt is: ;

[0050] Step S61: Repeat steps S41 to S5 until the planter is at the end point of a certain planting area and the distance to the next positioning point is When the seeder reaches the next positioning point, it turns on the spot and then moves forward to a certain position downward. After reaching the point, it turns on the spot to a certain position downward.

[0051] Step S62: the seeder moves a little bit downward, and when it reaches the next point, steps S41 to S61 are repeated once; the seeder stops working, and then steps S21 to S62 are repeated once;

[0052] Step S7: When the planter reaches the last positioning point, it stops operating.

[0053] The intelligent plot seeder and the sowing method of the present invention have the following beneficial effects:

[0054] The intelligent plot seeder of the present invention eliminates the need for manual seed supply through an automatic seed supply device and is easy to use; the automatic seed clearing device cooperates with a speed control system to achieve automatic seed clearing operations without stopping the machine; the sowing method of the intelligent plot seeder of the present invention utilizes satellite positioning, speed measurement and speed regulation of an airborne control terminal to ensure the accuracy of mechanized sowing operations in the plot and improve the accuracy of breeding experiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0056] Figure 1 A schematic diagram of the structure of an intelligent plot seeding machine provided by one embodiment of the present invention;

[0057] Figure 2 A schematic diagram of the structure of an automatic seed supply device provided by an embodiment of the present invention;

[0058] Figure 3 A schematic diagram of the structure of a seed discharging device and a seed storage device provided in one embodiment of the present invention;

[0059] Figure 4 A schematic diagram of the structure of a seeding grid provided in one embodiment of the present invention;

[0060] Figure 5 A cross-sectional view of a seed cleaning device provided in one embodiment of the present invention;

[0061] Figure 6 A schematic diagram of the structure of a seed separation device provided in one embodiment of the present invention;

[0062] Figure 7 A schematic diagram of the structure of a trenching device provided in one embodiment of the present invention;

[0063] Figure 8 This is a schematic diagram of the distribution of breeding and sowing plots of the intelligent plot seeder of the present invention;

[0064] Fig. 9 A principle block diagram of an automatic control system provided by an embodiment of the present invention;

[0065] Fig.10 A schematic flow chart of a sowing method provided in another embodiment of the present invention.

[0066] The reference numerals in the figures indicate the following:

[0067] 1. Chassis;

[0068] 2. Automatic seed supply device; 201. Seed supply bracket; 202. Seed supply tray; 203. Seed cup; 204. Seed supply tray fork; 205. Seed supply tray stepper motor; 206. Screw slide motor; 207. Screw slide; 208. Seed cup box; 209. Electric seed supply push rod; 210. Push rod fork; 211. Front crossbeam; 212. Middle support plate; 213. Rear crossbeam; 214. Slideway; 215. Seed drop port; 216. Cup drop port; 217. Feed port;

[0069] 3. Seed storage device; 301. Seed storage cylinder; 302. Lifting lever; 303. Electromagnetic telescopic rod;

[0070] 4. Seeding device; 401. bottom plate; 402. seeding grid plate; 4021. cone; 4022. grid plate; 403. stepping motor; 404. supporting box;

[0071] 5. Seed cleaning device; 501. Y-shaped tee; 502. paddle; 503. seed cleaning electric push rod; 504. seed cleaning channel; 505. sowing channel;

[0072] 6. Seed sorting device; 61. Six-row distribution head; 62. Centrifugal seed sorter; 63. Seed sorting motor;

[0073] 7. Furrowing device; 71. Seeding port; 72. Double disc furrow opener; 73. Pressing wheel;

[0074] 8. Automatic control system; 801. Satellite receiver; 802. Data conversion module; 803. Communication module; 804. Airborne control terminal; 805. Seed storage control module; 806. Seed arrangement control module; 807. Seed supply control module; 808. Seed cleaning control module; 809. Seed separation control module; 810. Furrowing control module; 811. Display screen. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0076] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0077] Please refer to Figure 1In one embodiment of the present disclosure, an intelligent plot seeder is provided, including a chassis 1, wherein the chassis 1 has a moving device, and the moving device is used to move the seeder implemented in the present disclosure; optionally, the moving device may be a moving wheel or a crawler structure, which is not specifically limited.

[0078] Furthermore, a fixed platform is installed on the chassis 1 through a support frame; the automatic control system 8 of the intelligent plot seeding machine provided in the embodiment of the present disclosure is installed on the fixed platform;

[0079] Please continue to refer to Figure 1 and Figure 2 The intelligent plot seeder of the disclosed embodiment further includes an automatic seed supply device 2 arranged on the fixed platform. The automatic seed supply device 2 eliminates the need for manual seed supply, making it easy to use.

[0080] The automatic seed supply device 2 includes a seed supply tray 202, which is fixedly mounted on the front crossbeam 211 of the seed supply bracket 201; a seed supply tray stepper motor 205 is installed at the bottom of the seed supply tray 202, and the output shaft of the seed supply tray stepper motor 205 coaxially passes through the seed supply tray 202, and the output shaft of the seed supply tray stepper motor 205 extends to the top of the seed supply tray 202, and a plurality of seed supply tray shift forks 2 are arranged in a circular array at equal intervals on the output shaft of the seed supply tray stepper motor 205. 04. The upper surface of the seed tray 202 has a slideway 214 with a concentric circle structure. The seed tray fork 204 is used to push the seed cup 203 to move along the slideway 214. The slideway 214 has a seed drop port 215 and a cup drop port 216 along the moving direction of the seed cup 203. The seed tray stepper motor 205 drives the seed tray fork 204 to push the seed cup 203 through rotation. When the slideway 214 moves to the seed drop port 215, the seeds fall, and when it moves to the cup drop port 216, the seed cup 203 falls.

[0081] Please continue to refer to Figure 1 and Figure 2 In the disclosed embodiment, the automatic seed supply device 2 further includes an electric seed supply push rod 209 and a screw slide 207, wherein the electric seed supply push rod 209 is fixedly connected to the rear cross beam 213, the screw slide 207 is fixedly connected to the middle support plate 212, and the middle support plate 212 is fixedly connected between the front cross beam 211 and the rear cross beam 213; the front cross beam 211 and the rear cross beam 213 are both fixedly connected and arranged on the fixed platform through support legs;

[0082] The telescopic end of the electric seed supply push rod 209 is equipped with a push rod fork 210;

[0083] A seed cup box 208 is installed on the screw slide 207. The seed cup box 208 can be spliced ​​in multiple sections. A screw slide motor 206 is provided at one end of the screw slide 207. The screw slide motor 206 drives the screw slide 207 to move, thereby driving the seed cup box 208 to move.

[0084] A feed port 217 is provided on one side of the seed supply tray 202. The direction of the feed port 217 is perpendicular to the front crossbeam 211. The movement path of the electric seed supply push rod 209 is consistent with the direction of the feed port 217.

[0085] When in use, the seed cup 203 is placed in the seed cup box 208, and after being turned over, the mouth of the seed cup 203 is placed downward, and the seed cup box 208 is spliced ​​in multiple sections and fixed on the screw slide 207; the screw slide motor 206 is started to move the seed cup box 208 so that the seed cup 203 placed in the target seed cup box 208 is aligned with the feed inlet 217; the electric seed supply push rod 209 works, and when the push rod fork 210 pushes the seed cup 203 to the feed inlet 217 and enters the seed supply tray 202, the electric seed supply push rod 209 is quickly retracted to complete the feeding into the seed supply tray 202. Furthermore, the seed supply tray stepper motor 205 drives the seed supply tray fork 204 to push the seed cup 203 to move to the seed drop port 215 on the slide 214, and the seeds fall when it moves to the cup drop port 216, so as to complete the automatic seed supply operation.

[0086] Please continue to refer to Figure 1 and Figure 3 The intelligent plot seeder of the disclosed embodiment also includes a seed storage device 3 and a seed discharge device 4, wherein the seed storage device 3 includes a seed storage barrel 301, and the seeds in the seed cup 203 located at the seed drop port 215 fall into the seed storage barrel 301. Preferably, the upper part of the seed storage barrel 301 is funnel-shaped, which is convenient for catching the seeds falling from the seed cup 203; the seed discharge device 4 includes a seed discharge grid plate 402, and the bottom of the seed storage barrel 301 coaxially extends into the seed discharge grid plate 402, so that the seeds enter the seed discharge grid plate 402; specifically, the seed storage barrel 301 is a hollow structure with a chamfered bottom, and the seed storage barrel 301 just fits with the cone 4021 of the seed discharge grid plate 402, and cooperates with the support to determine the position, such as Figure 3 and Figure 4 shown.

[0087] Please refer to Figure 4The seeding grid plate 402 includes a cone 4021 and a grid plate 4022, wherein the area formed by the top of the cone 4021 and the seed storage cylinder 301 is used to store seeds. When the seed storage cylinder 301 is lifted, the seeds fall evenly into each grid of the grid plate 4022 along the surface of the cone 4021. The stepper motor 403 drives the seed separation grid plate 4022 to rotate. The bottom plate 401 has a notch at the hole where the grid plate 4022 rotates. The seeds in each compartment of the seed separation grid plate 4022 fall into the seed cleaning device 5 after passing through it, and then fall into the seed separation device 6 through the sowing channel 505.

[0088] Furthermore, the seeding grid plate 402 is rotatably mounted on the bottom plate 401, and the support rod frame on the bottom plate 401 is used to fix the seed storage cylinder 301, so that the seed storage cylinder 301 is located between the seed drop port 215 and the seeding grid plate 402;

[0089] The upper outer wall of the seed storage barrel 301 is connected to one end of the lifting lever 302, and the non-end portion of the lifting lever 302 is hinged on the top of the triangular bracket. An electromagnetic telescopic rod 303 is installed on the L-shaped plate on the bottom plate 401, and the other end of the lifting lever 302 is connected to the telescopic end of the electromagnetic telescopic rod 303; preferably, the other end of the lifting lever 302 has a connecting channel, and the sliding column at the telescopic end of the electromagnetic telescopic rod 303 is slidably connected in the connecting channel. When in use, the electromagnetic telescopic rod 303 is extended or shortened, and the seed storage barrel 301 is moved up or down under the action of the lifting lever 302. The upward movement is to separate the seed storage barrel 301 from the seed grid 402, so that the seeds fall evenly from the seed storage barrel 301 along the cone 4021 into each compartment of the seed grid 402.

[0090] Furthermore, in the embodiment of the present disclosure, the seed-metering device 4 further includes a supporting box 404 , which is fixedly mounted on a fixed platform, and the bottom plate 401 is fixedly mounted on the supporting box 404 .

[0091] A stepper motor 403 is installed on one side of the support box 404, and the stepper motor 403 is used to drive the seed grid 402 to rotate.

[0092] Please continue to refer to Figure 1 and Figure 5The intelligent plot seeder of the embodiment of the present disclosure further includes a seed cleaning device 5, which includes a Y-shaped tee 501, the inlet of which is connected to the seeding grid plate 402, and the seeds in the seeding grid plate 402 can enter the Y-shaped tee 501; the two outlets of the Y-shaped tee 501 are respectively a seed cleaning channel 504 and a sowing channel 505; a paddle 502 is arranged in the Y-shaped tee 501; the seed cleaning device 5 further includes a seed cleaning electric push rod 503, which is drivingly connected to the paddle 502 and is used to rotate the paddle 502 to control the seeds entering the Y-shaped tee 501 to be discharged through the seed cleaning channel 504, or discharged through the sowing channel 505;

[0093] For further information, please refer to Figure 1 The intelligent plot seeder of the embodiment of the present disclosure further includes a seed separation device 6 and a furrowing device 7;

[0094] like Figure 6 and Figure 7 As shown, the seeding device 6 includes a six-row distribution head 61, a centrifugal seeding device 62 and a seeding motor 63. The seeding motor 63 rotates at high speed to drive the centrifugal seeding device 62 to rotate. After the seeds fall into the seeding device 6, they are driven to rotate by the centrifugal seeding device 62, enter the channel of the six-row distribution head 61, and then enter the sowing port 71 of the double disc furrow opener 72 through the pipe, fall into the groove opened by the double disc furrow opener 72 in the field, and then are pressed by the pressing wheel 73 to achieve sowing.

[0095] When the seeder is in operation, the seed-clearing electric push rod 503 is retracted, driving the paddle 502 to rotate, the seed-clearing channel 504 is closed, and the sowing channel 505 is opened, so that all the seeds can fall into the seed separation device 6. When the sowing is completed, the seed-clearing electric push rod 503 is quickly extended, driving the paddle 502 to rotate, the sowing channel 505 is closed, and the seed-clearing channel 504 is opened;

[0096] The seed separation device 6 of the disclosed embodiment is used to guide the seeds discharged from the sowing channel 505 to the sowing grooves opened by the furrow opening device 7, thereby completing the sowing.

[0097] For further information, please refer to Fig. 9 In the embodiment of the present disclosure, the automatic control system 8 is used to control the actions of the automatic seed supply device 2, the seed storage device 3, the seed discharge device 4, the seed cleaning device 5, the seed separation device 6 and the furrowing device 7; the automatic control system 8 includes a satellite receiver 801 and an airborne control terminal 804; the automatic control system 8 also includes a data conversion module 802 for converting signals recognizable by the airborne control terminal 804; the automatic control system 8 also includes a communication module 803 for data transmission;

[0098] The automatic control system 8 also includes a display screen 811 electrically connected to the onboard control terminal 804;

[0099] The onboard control terminal 804 is also electrically connected to the seed storage control module 805, the seed arrangement control module 806, the seed supply control module 807, the seed cleaning control module 808, the seed separation control module 809, and the furrowing control module 810, wherein:

[0100] The seed storage control module 805 is used to control the suction of the electromagnetic telescopic rod 303 to achieve the lifting and lowering of the seed storage cylinder 301;

[0101] The seeding control module 806 is used to control the speed and direction of the stepping motor 403;

[0102] The seed supply control module 807 is used to control the electric seed supply push rod 209, the seed supply tray stepper motor 205, and the screw slide motor 206 to realize automatic seed supply;

[0103] The seed cleaning control module 808 is used to control the seed cleaning electric push rod 503 to achieve the switching between the seed cleaning channel 504 and the sowing channel 505;

[0104] The seed sorting control module 809 is used to control the speed of the motor of the seed sorting device 6;

[0105] The trenching control module 810 is used to control the lifting and lowering of the trenching device 7.

[0106] like Figure 8-Figure 10 As shown, in another embodiment of the present disclosure, a sowing method implemented by the intelligent cell seeder provided in the above embodiment is provided. The sowing method of the embodiment of the present disclosure includes:

[0107] Step S1: before sowing, the working plot is divided into several sowing plots, and the sowing starting point and ending point of each sowing plot are determined according to the length and width of each sowing plot and the width of the isolation belt. The satellite receiver 801 obtains the geographical location information of the sowing starting point and ending point of each sowing plot, and transmits it to the airborne control terminal 804 through the data conversion module 802 and the communication module 803;

[0108] Step S21: Load the seeds of the plot to be sown into the seed cup 203, place them in the compartments of the seed cup box 208 in order, and fix a seed cup box 208 back and forth on the screw slide 207 after splicing; then the onboard control terminal 804 sends a work instruction to the seed supply control module 807, and the screw slide motor 206 performs zero adjustment operation, so that the screw slide 207 is located at the zero point position close to the side of the screw slide motor 206; the screw slide motor 206 works, driving the screw slide 207 to move , so that the seed cup 203 of the first sowing area is facing the feed port 217, where H is the stroke of the screw slide 207, unit: m; n is the number of seed cup boxes 208 for splicing; h is the distance between two adjacent compartments of the seed cup box 208, unit: m; at the same time, the airborne control terminal 804 sends a work instruction to the seeding control module 809, and the motor of the seeding device 6 rotates at a constant speed;

[0109] Step S22: the electric seed supply push rod 209 extends to push the seed cup 203 from the seed cup box 208 through the feed port 217 to the slideway 214. The adjacent forks of the seed supply disk fork 204 are spaced 60° apart, and one fork of the seed supply disk fork 204 is coaxial with the seed drop port 215. At this time, the electric seed supply push rod 209 is just fully extended, and then the electric seed supply push rod 209 is retracted; when the electric seed supply push rod 209 is fully retracted, the seed supply disk stepper motor 205 starts to rotate 60°, driving the seed cup 203 in the slideway 214 to rotate around the axis of the seed supply disk 202, and the inner side of the seed supply disk fork 204 can fit tightly with the outer side of the seed cup 203; then the screw slide motor 206 rotates, driving the screw slide 207 to move h, so that the seed cup 203 of the next sowing area is facing the feed port 217;

[0110] Step S23: Repeat step S22 until the seed cup 203 of the first sowing plot is located at the seed drop port 215, and stop the execution. In this stage, the electromagnetic telescopic rod 303 is disconnected, the seed storage cylinder 301 is in a seed storage state, and the seeds of the first sowing plot fall into the seed storage cylinder 301;

[0111] Step S3: The satellite receiver 801 receives satellite signals, obtains the real-time position coordinates and operating speed of the seed drill in real time, and transmits them to the airborne control terminal 804 through the data conversion module 802 and the communication module 803; the real-time position and operating speed of the seed drill are displayed on the display screen 811; wherein the data conversion module 802 converts the real-time position coordinate format of the seed drill into a data format that can be processed by the airborne control terminal 804;

[0112] Step S41: The planter moves down a little bit. When it reaches the starting point of sowing, the satellite measures the real-time speed of the planter. , the onboard control terminal 804 adjusts the speed of the stepper motor 403 so that the seeding machine rotates from the starting point to the end point of the current seeding plot, and the seeding grid 402 of the seeding device 4 rotates exactly one circle; wherein, the speed of the stepper motor 403 of the seeding device 4 and the real-time speed of the seeding machine and the length of the plot are related to each other as follows: ; is the rotation speed of the stepping motor 403 during sowing operation, unit: r / min; is the real-time speed of the sowing operation of the seeder, in m / s; L is the length of the plot, in m; the onboard control terminal 804 sends a command to the seed cleaning control module 808, the seed cleaning electric push rod 503 is retracted, driving the handle fixed to the seed cleaning electric push rod 503 on the seed cleaning device 5 to rotate, and the other end of the handle is fixedly connected to the paddle 502, so that the paddle 502 rotates clockwise, opens the sowing channel 505, and closes the seed cleaning channel 504; then the onboard control terminal 804 sends a command to the furrowing control module 810 and the seed storage control module 805 that the electromagnetic telescopic rod 303 is attracted, so that the seed storage cylinder 301 is lifted for seed supply;

[0113] Step S42: When the distance between the current position of the planter and the end point is measured When the onboard control terminal 804 sends a command to the seed supply control module 807 and the seed storage control module 805, the electric seed supply push rod 209 The speed of stretching out; is the speed of the electric seed supply push rod 209, unit: m / s; d is the push rod stroke, unit: m; is the real-time speed of the sowing operation of the seeder, in m / s; s is the distance from the current position of the seeder to the end point, in m; at the same time, the electromagnetic telescopic rod 303 is disconnected to make the seed storage cylinder 301 descend, and enter the seed storage working state; the electric seed supply push rod 209 immediately retracts at the same speed after reaching the stroke; when the electric seed supply push rod 209 is fully retracted, the seed supply disk stepping motor 205 is Rotate 60° and stop, so that the seeds of the next sowing plot fall into the seed storage cylinder 301 from the seed drop port 215; is the speed of the seed tray stepper motor 205, unit: r / min; then the screw slide motor 206 works, so that the screw slide 207 Within the time, the distance h is moved so that the seed cup 203 of the next sowing area faces the feed inlet 217; h is the distance between two adjacent compartments of the seed cup box 208;

[0114] Step S5: When the end point of the current plot is reached, the airborne control terminal 804 sends instructions to the seed clearing control module 808 and the furrowing control module 810 to extend the seed clearing electric push rod 503, so that the paddle 502 rotates counterclockwise, the sowing channel 505 is closed, and the seed clearing channel 504 is opened; at the same time, the furrowing device 7 is lifted; the airborne control terminal 804 adjusts the speed of the stepper motor 403 according to the real-time speed of the sowing machine measured by the satellite, so that the sowing machine moves from the end point of the current sowing plot to the starting point of the next sowing plot, and the seeding grid 402 of the seeding device 4 can rotate clockwise and counterclockwise for one circle each. At this time, the relationship between the speed of the stepper motor 403 of the seeding device 4 and the real-time speed of the sowing machine and the length of the isolation belt is: ; is the speed of the stepper motor 403 during seed cleaning operation, unit: r / min; is the real-time speed of the seeder during seed clearing operation, unit: m / s; S is the length of the isolation belt, unit: m;

[0115] Step S61: Repeat steps S41 to S5 until the planter is at the end point of a certain planting area and the distance to the next positioning point is When the seeder reaches the next positioning point, i.e., the turning point, it turns in situ and then moves to a certain position downward, and after reaching the point, it turns in situ to a certain position downward;

[0116] Step S62: the seeder moves a little bit downward, and when it reaches the next point, steps S41 to S61 are repeated once; the seeder stops working, and then steps S21 to S62 are repeated once;

[0117] Step S7: When the planter reaches the last positioning point, it stops operating.

[0118] The above solutions are only an illustration of a preferred example, but are not limited thereto. When implementing the present invention, appropriate replacement and / or modification can be performed according to user needs.

[0119] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0120] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. An intelligent plot seeding machine, characterized in that: include: A chassis (1), a fixed platform being mounted on the chassis (1) via a support frame; An automatic seed supply device (2) is arranged on the fixed platform, the automatic seed supply device (2) comprising a seed supply tray (202); the upper surface of the seed supply tray (202) has a slideway (214) with a concentric circle structure; a seed supply tray stepper motor (205) is installed at the bottom of the seed supply tray (202); the output shaft of the seed supply tray stepper motor (205) coaxially penetrates the seed supply tray (202), the output shaft of the seed supply tray stepper motor (205) extends above the seed supply tray (202), and a plurality of seed supply tray shifting forks (204) for pushing the seed cup (203) to move along the slideway (214) are arranged at equal intervals in a circular array on the output shaft of the seed supply tray stepper motor (205); and a seed drop opening (215) and a cup drop opening (216) are respectively provided on the slideway (214) along the moving direction of the seed cup (203); A seed storage device (3), the seed storage device (3) comprising a seed storage cylinder (301), the upper outer wall of the seed storage cylinder (301) being connected to one end of a lifting lever (302), the non-end portion of the lifting lever (302) being hinged to the top end of a triangular bracket, and the other end of the lifting lever (302) being connected to the telescopic end of an electromagnetic telescopic rod (303); A seeding device (4), the seeding device (4) comprising a seeding grid plate (402), the bottom of the seed storage cylinder (301) coaxially extending into the seeding grid plate (402); A seed cleaning device (5), the seed cleaning device (5) comprising a Y-shaped tee (501), a paddle (502) being arranged inside the Y-shaped tee (501), an inlet of the Y-shaped tee (501) being connected to a seed discharging grid plate (402), and two outlets of the Y-shaped tee (501) being a seed cleaning channel (504) and a sowing channel (505); A seed sorting device (6), the seed sorting device (6) directs the seeds discharged from the sowing channel (505) to the sowing grooves opened by the furrow opening device (7); A furrowing device (7) for forming a sowing furrow on the ground; and An automatic control system (8) for controlling the actions of the automatic seed supply device (2), the seed storage device (3), the seed discharge device (4), the seed cleaning device (5), the seed separation device (6) and the furrowing device (7), wherein the automatic control system (8) is installed on the fixed platform; The automatic seed supply device (2) further comprises an electric seed supply push rod (209) and a screw slide (207); A push rod fork (210) is installed at the telescopic end of the electric seed supply push rod (209); A seed cup box (208) is installed on the screw slide (207), and the seed cup box (208) is a multi-section splicing structure. A screw slide motor (206) is provided at one end of the screw slide (207), and the screw slide motor (206) drives the screw slide (207) to move, thereby driving the seed cup box (208) to move; A feed opening (217) is provided on one side of the seed supply tray (202), the direction of the feed opening (217) is perpendicular to the front crossbeam (211), and the movement path of the electric seed supply push rod (209) is consistent with the direction of the feed opening (217); The electric seed supply push rod (209) is fixedly connected to the rear cross beam (213), and the screw slide (207) is fixedly connected to the middle support plate (212); The middle support plate (212) is fixedly connected between the front crossbeam (211) and the rear crossbeam (213); The front crossbeam (211) and the rear crossbeam (213) are both fixedly connected and arranged on the fixed platform via support legs; The seed supply tray (202) is fixedly mounted on the front crossbeam (211) of the seed supply bracket (201); The upper portion of the seed storage cylinder (301) is funnel-shaped; The seed dispensing grid plate (402) is rotatably mounted on the bottom plate (401), and the support rod frame on the bottom plate (401) is used to fix the seed storage cylinder (301); The electromagnetic telescopic rod (303) is mounted on an L-shaped plate on the bottom plate (401); The other end of the lifting lever (302) has a connecting channel, and the sliding column at the telescopic end of the electromagnetic telescopic rod (303) is slidably connected in the connecting channel; The seeding device (4) further comprises a supporting box (404), wherein the supporting box (404) is fixedly mounted on a fixed platform, and the bottom plate (401) is fixedly mounted on the supporting box (404); A stepper motor (403) is installed on one side of the support box (404), and the stepper motor (403) is used to drive the seed grid plate (402) to rotate.

2. The intelligent plot seeder according to claim 1, characterized in that: The seed cleaning device (5) further comprises a seed cleaning electric push rod (503), which is drivingly connected to the paddle (502).

3. The intelligent plot seeder according to claim 2, characterized in that: The automatic control system (8) comprises a satellite receiver (801) and an airborne control terminal (804); The automatic control system (8) further comprises a data conversion module (802) for converting a signal recognizable by the onboard control terminal (804); The automatic control system (8) further comprises a communication module (803) for data transmission; The automatic control system (8) further comprises a display screen (811) electrically connected to the onboard control terminal (804); The onboard control terminal (804) is also electrically connected to the seed storage control module (805), the seed discharge control module (806), the seed supply control module (807), the seed cleaning control module (808), the seed separation control module (809), and the furrowing control module (810), respectively, wherein: The seed storage control module (805) is used to control the suction of the electromagnetic telescopic rod (303) to achieve the lifting and lowering of the seed storage cylinder (301); The seeding control module (806) is used to control the rotation speed and direction of the stepping motor (403); The seed supply control module (807) is used to control the electric seed supply push rod (209), the seed supply tray stepping motor (205), and the screw slide motor (206) to achieve automatic seed supply; The seed cleaning control module (808) is used to control the seed cleaning electric push rod (503) to achieve the switching between the seed cleaning channel (504) and the sowing channel (505); The seed sorting control module (809) is used to control the rotation speed of the motor of the seed sorting device (6); The ditching control module (810) is used to control the lifting and lowering of the ditching device (7).

4. A sowing method using an intelligent plot seeder as claimed in any one of claims 1 to 3, characterized in that: The seeding method includes: Step S1: Determine the sowing start point and end point of each sowing area according to the length and width of each sowing area and the width of the isolation zone. The satellite receiver (801) obtains the geographical location information of the sowing start point and end point of each sowing area and transmits it to the airborne control terminal (804) through the data conversion module (802) and the communication module (803); Step S21: The onboard control terminal (804) issues a work instruction to the seed supply control module (807), and the screw slide motor (206) performs a zero adjustment operation, so that the screw slide (207) is located at the zero point position close to the side of the screw slide motor (206); the screw slide motor (206) works, driving the screw slide (207) to move , so that the seed cup (203) of the first sowing plot is directly opposite to the feed inlet (217), wherein H is the stroke of the screw slide (207); n is the number of seed cup boxes (208) used for splicing; and h is the distance between two adjacent compartments of the seed cup box (208); at the same time, the onboard control terminal (804) sends a working instruction to the seed separation control module (809), and the motor of the seed separation device (6) rotates at a constant speed; Step S22: The electric seed supply push rod (209) extends to push the seed cup (203) from the seed cup box (208) through the feed port (217) to the slideway (214), and the adjacent forks of the seed supply plate fork (204) are spaced 60 degrees apart, and one fork of the seed supply plate fork (204) is coaxial with the seed drop port (215). At this time, the electric seed supply push rod (209) is fully extended, and then the electric seed supply push rod (209) is retracted; when the electric seed supply When the push rod (209) is fully retracted, the seed tray stepper motor (205) starts to rotate 60°, driving the seed cup (203) in the slideway (214) to rotate around the axis of the seed tray (202), and the inner side of the seed tray fork (204) is tightly fitted with the outer side of the seed cup (203); then the screw slide motor (206) rotates, driving the screw slide (207) to move h, so that the seed cup (203) of the next sowing area is directly opposite to the feed inlet (217); Step S23: Repeat step S22 until the seed cup (203) of the first sowing plot is located at the seed drop opening (215), and then stop the execution of the action. In this stage, the electromagnetic telescopic rod (303) is disconnected, the seed storage cylinder (301) is in a seed storage state, and the seeds of the first sowing plot fall into the seed storage cylinder (301); Step S3: The satellite receiver (801) receives satellite signals, obtains the real-time position coordinates and operating speed of the seed drill in real time, and transmits them to the airborne control terminal (804) through the data conversion module (802) and the communication module (803); the real-time position and operating speed of the seed drill are displayed on the display screen (811); wherein the data conversion module (802) converts the real-time position coordinate format of the seed drill into a data format that can be processed by the airborne control terminal (804); Step S41: The planter moves down a little bit. When it reaches the starting point of sowing, the satellite measures the real-time speed of the planter. , the onboard control terminal (804) adjusts the speed of the stepper motor (403) so that the seeding machine moves from the starting point to the end point of the current seeding plot, and the seeding grid (402) of the seeding device (4) rotates one circle; wherein the relationship between the speed of the stepper motor (403) of the seeding device (4) and the real-time speed of the seeding machine and the plot length is: , is the rotation speed of the stepping motor (403) during sowing operation; is the real-time speed of the sowing operation of the seed drill; L is the length of the plot; the onboard control terminal (804) sends a command to the seed cleaning control module (808), the seed cleaning electric push rod (503) is retracted, driving the handle on the seed cleaning device (5) fixedly connected to the seed cleaning electric push rod (503) to rotate, and the other end of the handle is fixedly connected to the paddle (502), so that the paddle (502) rotates clockwise, opens the sowing channel (505), and closes the seed cleaning channel (504); then the onboard control terminal (804) sends a command to the furrowing control module (810) and the seed storage control module (805) to attract the electromagnetic telescopic rod (303), so that the seed storage cylinder (301) is lifted to supply seeds; Step S42: When the distance between the current position of the planter and the end point is measured When the onboard control terminal (804) issues a command to the seed supply control module (807) and the seed storage control module (805), the electric seed supply push rod (209) is The speed reaches out, is the speed of the electric seed supply push rod (209); d is the push rod stroke; is the real-time speed of the sowing operation of the sowing machine; s is the distance between the current position of the sowing machine and the end point; at the same time, the electromagnetic telescopic rod (303) is disconnected to make the seed storage cylinder (301) descend, and enter the seed storage working state; the electric seed supply push rod (209) is retracted at the same speed immediately after reaching the stroke; when the electric seed supply push rod (209) is fully retracted, the seed supply disk stepping motor (205) is The rotation is stopped at 60°, so that the seeds of the next sowing plot fall into the seed storage cylinder (301) from the seed drop opening (215). is the speed of the seed tray stepper motor (205); then the screw slide motor (206) works, causing the screw slide (207) to rotate at Within a certain time, the distance h is moved, where h is the distance between two adjacent compartments of the seed cup box (208), so that the seed cup (203) of the next sowing plot is directly opposite to the feed inlet (217); Step S5: When the end point of the current plot is reached, the airborne control terminal (804) sends a command to the seed clearing control module (808) and the furrowing control module (810), so that the seed clearing electric push rod (503) extends, so that the paddle (502) rotates counterclockwise, the sowing channel (505) is closed, and the seed clearing channel (504) is opened; at the same time, the furrowing device (7) is lifted; the airborne control terminal (804) adjusts the speed of the stepper motor (403) according to the real-time speed of the sowing machine measured by the satellite, so that the sowing machine moves from the end point of the current sowing plot to the starting point of the next sowing plot, and the seeding grid plate (402) of the sowing device (4) can rotate clockwise and counterclockwise for one circle each. At this time, the relationship between the speed of the stepper motor (403) of the sowing device (4) and the real-time speed of the sowing machine and the length of the isolation belt is: , is the speed of the stepping motor (403) during the seed cleaning operation; is the real-time speed of the seeder during seed clearing operation; S is the length of the isolation belt; Step S61: Repeat steps S41 to S5 until the planter is at the end point of a certain planting area and the distance to the next positioning point is When the seed drill reaches the next positioning point, the seeder turns in situ and then moves to a predetermined position downward, and after reaching the next positioning point, it turns in situ and then moves to a predetermined position downward; after reaching the next positioning point, the seeder turns in situ and then moves to a predetermined position downward; Step S62: the seeder moves a little bit downward, and when it reaches the next point, steps S41 to S61 are repeated once; the seeder stops working, and then steps S21 to S62 are repeated once; Step S7: When the planter reaches the last positioning point, it stops operating.

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