Miss-seeding compensation method and device

Abstract

The invention discloses a miss-seeding compensation device, which comprises a speed measurement module, a main controller, a miss-seeding monitoring sensor, a pneumatic seed-metering device, a seed guide pipe, a single-grain precise seed feeding device and a centrifugal emission device, and is characterized in that the speed measurement module is used for obtaining an advancing speed signal of a seeding machine and sending the advancing speed signal to the main controller; the miss-seeding monitoring sensor is used for monitoring whether a seed-metering disc of the pneumatic seed-metering device is filled with seeds or not and sending a monitoring signal to the main controller; the seed guide pipe is mounted at the bottom of the pneumatic seed-metering device; the upper end of the single-grain precise seed throwing device is connected with the pneumatic seed sowing device, and the lower end of the single-grain precise seed throwing device is connected with the upper end of the centrifugal launching device;

Description

Technical Field

[0001] The present invention relates to the field of intelligent agricultural machinery, and in particular to a method and device for compensating for missed planting. Background Art

[0002] From the perspective of mechanized production, sowing quality is the core factor affecting the yield level, especially missed sowing has a very significant impact on yield. Production practice shows that the yield loss caused by missed sowing is more than 15%. Therefore, missed sowing compensation is an important measure to improve sowing quality and yield level.

[0003] At present, the commonly used method of compensation for missed seeding is to manually replant seedlings after seeding. This method requires a lot of manpower and time, is costly, and inefficient. In addition, the replanted seedlings grow unevenly and are weak, making it difficult to guarantee yield. Therefore, an effective solution to compensate for missed seeding is to replant during the sowing process. Summary of the invention

[0004] The purpose of the invention is to provide a method and device for compensating for missed seeding, which can accurately monitor missed seeding in advance and start the compensation system according to the collaborative control strategy, shorten the response time, solve the problem of uneven seed spacing caused by delayed reseeding, and improve the sowing quality and yield level.

[0005] In order to achieve the purpose of the present invention, the following technical solutions are adopted:

[0006] A missed seeding compensation device comprises a speed measuring module, a main controller, a missed seeding monitoring sensor, a pneumatic seed metering device, a seed guide tube, a single-grain precision seeding device and a centrifugal launch device, wherein: the speed measuring module is used to obtain the forward speed signal of the seeder and send it to the main controller; the missed seeding monitoring sensor is used to monitor whether the seeding disc of the pneumatic seed metering device is full of seeds, and send the monitoring signal to the main controller; the seed guide tube is installed at the bottom of the pneumatic seed metering device; the upper end of the single-grain precision seeding device is connected to the pneumatic seed metering device, and the lower end is connected to the upper end of the centrifugal launch device, and the lower end of the centrifugal launch device is connected to the upper end of the seed guide tube.

[0007] The missed seeding compensation device, wherein: the single-grain precision seeding device includes a seeding device outer shell, a steering gear, a seeding wheel, and a seed cleaning brush.

[0008] The missed broadcast compensation device, wherein: the centrifugal launching device includes a centrifugal launching device outer shell, a motor, and a centrifugal launching impeller.

[0009] The missed seeding compensation device, wherein: the seed guide tube includes a seed guide tube body and a compensation seed injection channel, the compensation seed injection channel is installed at the lower part of the seed guide tube body, and the lower end of the compensation seed injection channel is connected to the seed guide tube body.

[0010] The missed seeding compensation device, wherein: the outer shell of the seeding device has two upper and lower square channels, the upper channel is connected to the pneumatic seed metering device, the lower channel is connected to the upper end of the centrifugal launch device, and the lower end of the centrifugal launch device is connected to the upper end of the compensation seed injection channel.

[0011] The missed seeding compensation device, wherein: a contoured seed filling hole is evenly distributed on the circular side wall of the seeding wheel, one of which is distributed every 60 degrees.

[0012] The missed seeding compensation device, wherein: a square hole is provided at the upper part of the outer shell of the centrifugal launch device, which is used to be tightly connected with the square channel at the lower end of the outer shell of the seed dropping device; a seed guide pipe is provided at the lower part of the outer shell of the centrifugal launch device, which is connected with the compensation seed injection channel of the seed guide pipe.

[0013] The leakage compensation device, wherein: the motor shaft is connected to the centrifugal launch impeller, the centrifugal launch impeller has four blades, each of which is 90 degrees apart.

[0014] The missed seeding compensation device, wherein: the seed cleaning brush is installed on the inner side wall of the outer shell of the seeding device and forms an angle of 60° with the vertical direction.

[0015] The leakage compensation device, wherein: the inner diameter of the compensation seed injection channel is 18mm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall composition of the missed broadcast compensation device;

[0017] Figure 2 This is a schematic diagram of the seed guide tube;

[0018] Figure 3 This is a schematic diagram of a single-seed precision seeding device;

[0019] Figure 4 This is a schematic diagram of a profiled seed filling hole;

[0020] Figure 5 It is a schematic diagram of a centrifugal launch device;

[0021] Figure 6 This is a timing diagram of the missed broadcast compensation method;

[0022] Figure 7 It is a schematic diagram of the collaborative association model of the missed broadcast compensation method;

[0023] Figure 8 Schematic diagram of seed discharge. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1-8, the specific implementation modes of the present invention are described in detail. The implementation modes are exemplary and are only used to explain the present invention, and should not be understood as limiting the present invention. Obviously, the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0025] "One embodiment" or "some embodiments" described in this specification means that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, in this specification, the terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0026] like Figure 1 As shown, the missed seeding compensation device of the present invention includes a GNSS (Global Satellite Navigation System) speed measurement module 1, a main controller 2, a missed seeding monitoring sensor 3, a pneumatic seed metering device 4, a seed guide tube 5, a single-grain precision seeding device 6, and a centrifugal launch device 7.

[0027] Among them, the GNSS speed measurement module 1 is used to obtain the forward speed signal of the seed drill and provide speed information for the establishment of the missed seeding compensation collaborative association model. The GNSS speed measurement module 1 is electrically connected to the main controller 2 by wire or wireless means.

[0028] The main controller 2 mainly includes a sealing box 201, an STM32 single-chip microcomputer 202, and a driver 203. The STM32 single-chip microcomputer 202 and the driver 203 are encapsulated in the sealing box 201 and electrically connected to the power supply and other electrical devices through wires. The core functions of the main control 2 mainly include three aspects. One is to use the STM32 single-chip microcomputer 202 to collect and capture the signal of the missed seeding monitoring sensor 3, and judge whether missed seeding occurs according to the missed seeding recognition algorithm: the missed seeding monitoring sensor 3 uses a distance sensor, which can measure the distance between the target point and the sensor. When there are seeds, the target point is the seed. The monitoring position of the missed seeding monitoring sensor 3 can be the position where the pneumatic seed metering device 4 just starts to fill the seeds. Starting from the first seed filling hole, the fifth seed filling hole is the target monitoring point. Selecting this point can gain more reaction time for the subsequent replanting process, which has "advanced" nature, and can also avoid the interference of the seeds at the initial filling position of the filling stage on the monitoring sensor.

[0029] When seeds are discharged from the pneumatic seed metering device 4, the sensor 3 detects that the distance between the seeds and the sensor is L. When seeds are missed, the target point detected by the sensor 3 is the shell of the pneumatic seed metering device 4. At this time, the detected distance L' is much larger than L. Therefore, once the monitored distance L' is much larger than L, it can be determined as missed seeds, that is, missed sowing. Secondly, according to the missed sowing compensation collaborative association model and the movement characteristics of the seeds, the relationship between the main parameters (speed, time, position) between the compensation seeds and the original seed flow is established. The mathematical model of the movement process of the original seed flow from the "missing seed monitoring point" to the "soil seeding point" is as shown in the following formulas (1) and (2). Based on the speed-time-position model of the original seed flow, the seed speed of the original seed from the "missing seed monitoring point" to the "set reseeding point" can be calculated. Vi and time Ti, in order to make the compensation seeds accurately integrated into the original seed flow, the time for the compensation seeds to arrive at the reseeding point cannot exceed Ti, and the instantaneous speed, movement angle and direction of the compensation seeds at the reseeding point should be as consistent as possible with those of the original seeds. At the key reseeding time node, the STM32 single-chip microcomputer 202 is used to start the servo 602 of the single-grain precision seeding device 6 to rotate 60°, and at the same time, the driver 203 is started to make the motor 702 of the centrifugal launching device 7 rotate according to the target speed; the third is to parse the speed signal of the GNSS speed measurement module 1, and calculate the forward speed of the seeder based on the message data: parse the speed signal (nautical miles) in the GNSS message signal, and according to the conversion formula of nautical miles and kilometers, 1 nautical mile = 1.852 kilometers, the forward speed (km / h) can be obtained.

[0030] The missed seeding monitoring sensor 3 adopts the laser monitoring principle. The laser has good penetration, fast response speed and stable signal. The missed seeding monitoring sensor 3 is installed on the transparent shell of the pneumatic seed metering device 4. The transparent shell is designed with a round hole seat. The missed seeding monitoring sensor 3 can be directly inserted into the round hole seat to achieve a fixed effect. In order to ensure that the reseeding system has sufficient response time, the missed seeding monitoring point should have "advancedness". Therefore, the direct monitoring method is adopted in the present invention: monitoring whether the seeding disk of the pneumatic seed metering device is full of seeds is used as the basis for judging missed seeding, rather than indirectly judging whether missed seeding is caused by monitoring the seed interval time at the seeding port or the seed guide tube. As mentioned above, the present invention collects and analyzes the output signal of the sensor 3, and proposes a missed seeding recognition and judgment algorithm based on signal characteristics, which improves the recognition speed and accuracy.

[0031] The seed guide tube 5 is installed at the bottom of the pneumatic seed metering device 4, and is used to receive the seeds discharged by the pneumatic seed metering device 4 and discharge the seeds into the field to be planted. Figure 2As shown, the seed guide tube 5 includes a seed guide tube main body and a compensation seed injection channel 501. The compensation seed injection channel 501 is installed at the lower part of the seed guide tube main body and has an inner diameter of 18 mm, which can ensure that corn or soybean seeds pass through smoothly. The lower end of the compensation seed injection channel 501 is connected to the seed guide tube main body, and the incident angle formed by the compensation seed injection channel 501 and the left side wall of the seed guide tube main body is 5°, which ensures that the compensation seeds can be smoothly integrated into the original seed flow as much as possible.

[0032] like Figure 3 As shown, the single-seed precision seeding device 6 includes a seeding device outer shell 601, a steering gear 602, a steering gear bearing 603, a seeding device outer shell cover 604, a seeding wheel 605, a contoured seed filling hole 606, and a seed cleaning brush 607. The seeding device outer shell 601 has two upper and lower square channels. The upper channel is connected to the pneumatic seed metering device 4 to achieve seed replenishment and ensure the continuity of the compensation seeds. The lower channel is connected to the upper end of the centrifugal launch device 7 so that the compensated seeds fall smoothly into the centrifugal launch device 7. The lower end of the centrifugal launch device 7 is connected to the upper end of the compensation seed injection channel 501. The seeding device outer shell cover 604 is arranged between the upper channel and the lower channel of the seeding device outer shell 601.

[0033] The outer shell 601 of the seed dropping device, the outer shell 701 of the centrifugal launching device and the seed guide tube 5 are an integrated structure.

[0034] The steering engine 602 is fixed on the cover 604 of the outer shell of the seeding device by screws. The shaft of the steering engine 602 passes through the steering engine bearing 603 and is connected to the seeding wheel 605. The steering engine 602 can realize the rotation of the precise angle. In the present invention, the steering engine 602 is rotated 60 degrees at a time to ensure that the seeds are smoothly cast. The cover 604 of the outer shell of the seeding device is fixed on the outer shell 601 of the seeding device by screws. The seed cleaning brush 607 is installed on the inner side wall of the outer shell 601 of the seeding device and forms an angle of 60° with the vertical direction. It can brush off the excess seeds and ensure that the single seed is cast. There are 6 contoured seed filling holes 606 evenly distributed on the circular side wall of the seeding wheel 605, one at every 60°. The diameter of the contoured seed filling hole 606 is 14mm, the depth is 5mm, and the inner bottom edge is rounded to ensure that the single seed is filled.

[0035] like Figure 4 As shown, in order to meet the needs of accommodating corn seeds of different varieties and shapes, and to ensure the seed cleaning effect and the discharge of single seeds, the structural size parameters of the contoured seed filling hole should satisfy the following equation:

[0036]

[0037] w is the seed thickness;

[0038] l is the seed length;

[0039] h i It is the depth of the profiled seed filling hole;

[0040] R i is the radius of the digging sphere;

[0041] Δ0 is the distance between the seed and the lowest point of the contoured seed filling hole.

[0042] like Figure 5 As shown, the centrifugal launching device 7 includes a centrifugal launching device outer shell 701, a motor 702, a motor bearing 703, a centrifugal launching device outer shell cover 704, a fixing bracket 705, a centrifugal launching impeller 706, and a seed guide groove 707. The fixing bracket 705 is arranged in the outer shell 701, and the outer shell cover 704 covers the outer shell 701.

[0043] There is a square hole on the upper part of the centrifugal launch device housing 701, which is used to be tightly connected with the square channel at the lower end of the seed throwing device housing 601. Seeds can enter the centrifugal launch device 7 from the single-grain precision seed throwing device 6. There is a seed guide pipe (seed guide groove 707) at the lower part of the centrifugal launch device housing 701 connected to the compensation seed injection channel 501 of the seed guide pipe 5. The motor 702 is fixed on the fixed bracket 705 by bolts. The motor 702 is driven by the driver 203 and can rotate according to the target speed. The fixed bracket 705 and the centrifugal launch device housing cover 704 are an integrated structure. The motor 702 is connected to the centrifugal launch impeller 706 through the motor bearing 703. The centrifugal launch impeller 706 has four blades, each of which is 90° apart, which can drive the seeds to rotate. Each blade is designed with a seed carrying profiling slot 708, which can carry and lift seeds to prevent seeds from sliding on the blades of the centrifugal launch impeller 706 and fix the seeds. According to the structural dimension parameter design of the above-mentioned profiling seed filling hole, the two sides of the profiling slot hole 708 are hemispherical structures and the middle is a long slot structure, which can meet the needs of seeds of different sizes. The seeds finally enter the compensation seed injection channel 501 along the seed guide slot 707.

[0044] The missed seeding compensation device of the present invention can ensure the accurate replanting of a single seed, and initialize the power of the compensation seed, so that the compensation seed has controllable initial kinetic energy. The present invention adopts the method of profiling seed filling and brush seed cleaning to achieve single seed replanting. In view of the small number of replanting times, the interval of each profiling seed filling hole 606 is 60°, and the steering gear 602 can be used to accurately control the rotation angle to ensure the casting of a single seed; at the same time, the centrifugal launch method is used to give the compensation seed initial kinetic energy, the centrifugal launch impeller 706 drives the seed to rotate, and the motor 702 is used to accurately control the rotation speed.

[0045] The whole process of the original seed flow from rotating with the seed disc in the seed meter to moving in the seed guide tube to falling into the soil is analyzed mathematically, and the movement mathematical model of the original seed flow is established: Figure 8 As shown in the figure, when the seeding disc rotates at a speed of ω, the initial velocity v0 of the original seed flow when it leaves the seeding disc at the seeding port is the linear velocity of the seed rotating with the seeding disc. Formula (1) is used to calculate the acceleration motion of the original seed after it leaves the seeding disc and enters the seed guide tube. Ignoring factors such as seed collision and friction, the speed and time of the original seed at any position in the whole process from the seeding port to the soil sowing point can be calculated according to formula (2), which provides a basis for the compensation seed to be accurately integrated into the original seed flow.

[0046] v0=2πωr (1)

[0047]

[0048] g is the acceleration due to gravity;

[0049] V0 is the initial velocity of the seed in the vertical direction when it comes out of the seed outlet of the seed meter;

[0050] ω is the angular velocity of the seed disc;

[0051] r is the radius of the seed disc;

[0052] h i is the distance the seed moves vertically;

[0053] t i It’s exercise time;

[0054] v i is the speed of the target point seed;

[0055] V i-1 is the current speed of the seed. When i=1, it is V0.

[0056] In order to obtain sufficient response time and allow the compensation seeds to quickly blend into the original seed flow and fall into the soil, the replanting position should be located at the bottom of the seed guide tube. The present invention designs and models the seed guide tube 5, and based on the mathematical model of the original seed flow movement, finds the key time nodes for the system to execute replanting and the initial velocity of the compensation seeds, and constructs a fusion mechanism for the compensation seeds and the original seed flow, such as Figure 6 As shown: after the missed seeding monitoring sensor 3 detects the missed seeding signal, the single-grain precision seeding device 6 rotates, and the centrifugal launching device 7 is started at the same time. After the single seed falls into it, it rotates with the centrifugal launching impeller 706, reaches the target initial velocity and enters the compensation seed injection channel 501 with the help of centrifugal force. Finally, the compensation seed is integrated into the original seed flow to achieve accurate compensation of the missed seeding position.

[0057] According to the movement characteristics of seeds, the relationship between the main parameters (speed, time, position) of the compensation seeds and the original seed flow is established. The mathematical model of the movement process of the original seed flow from the "missing seed monitoring point" to the "soil seed drop point" is as shown in the above formula (1) and formula (2). Based on the speed-time-position model of the original seed flow, the seed speed Vi and time Ti of the original seed from the "missing seed monitoring point" to the "set reseeding point (theoretically, the point where the compensation seeds enter the original seed flow)" can be calculated. In order to accurately integrate the compensation seeds into the original seed flow, the time for the compensation seeds to arrive at the reseeding point cannot exceed Ti, and the instantaneous speed, movement angle and direction of the compensation seeds at the reseeding point should be as consistent as possible with those of the original seeds.

[0058] Based on the above analysis, a replanting synergy association model was constructed (e.g. Figure 7 As shown): the time and speed of the replanting point of the original seed flow are used as reference values, the initial speed and replanting time node of the compensation seed should be as close to the reference value as possible, so as to ensure the synergistic correlation of the compensation seed, the initial speed and replanting time node of the compensation seed are related to the rotation speed of the centrifugal launching impeller 706 and the migration time and speed of the compensation seed, the migration time and speed of the compensation seed refer to the speed and time required for the seed to move from the single-grain precision seeding device 6 to the centrifugal launching device 7, by adding the fusion coefficient K, the required centrifugal launching speed can be finally calculated, so that the compensation seed can be accurately integrated into the original seed flow, and the missed seeding compensation function is realized.

[0059] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A missed seeding compensation device, comprising a speed measuring module, a main controller, a missed seeding monitoring sensor, a pneumatic seed metering device, a seed guide tube, a single seed precision seeding device and a centrifugal launch device, characterized in that: The speed measurement module is used to obtain the forward speed signal of the seeder and send it to the main controller; the missed seeding monitoring sensor is used to monitor whether the seeding disc of the pneumatic seeder is full of seeds, and send the monitoring signal to the main controller; the seed guide tube is installed at the bottom of the pneumatic seeder; the upper end of the single-grain precision seeding device is connected to the pneumatic seeder, and the lower end is connected to the upper end of the centrifugal launch device, and the lower end of the centrifugal launch device is connected to the upper end of the seed guide tube.

2. The broadcast leakage compensation device according to claim 1, characterized in that: The single-grain precision seeding device comprises an outer shell of the seeding device, a steering gear, a seeding wheel and a seed cleaning brush.

3. The broadcast leakage compensation device according to claim 1, characterized in that: The centrifugal launching device comprises a centrifugal launching device outer shell, a motor and a centrifugal launching impeller.

4. The broadcast leakage compensation device according to claim 1, characterized in that: The seed guide tube comprises a seed guide tube body and a compensation seed injection channel.

5. The broadcast leakage compensation device according to claim 1, characterized in that: The circular side wall of the seeding wheel is evenly distributed with a contoured seed filling hole, one of which is distributed every 60 degrees.

6. The broadcast leakage compensation device according to claim 3, characterized in that: The motor shaft is connected to a centrifugal impeller having four blades, each spaced 90° apart.

7. The broadcast leakage compensation device according to claim 2, characterized in that: The seed cleaning brush is installed on the inner side wall of the outer shell of the seed dropping device and forms an angle of 60° with the vertical direction.

8. The broadcast leakage compensation device according to claim 4, characterized in that: The inner diameter of the compensation seed injection channel is 18 mm.

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