Seeding depth and suppression control method and control device for seeding monomer

Abstract

The invention discloses a seeding monomer seeding depth and suppression control method and a control device thereof.The method comprises the steps that control parameter data are obtained, and the control parameter data comprise a seeding mode and / or suppression / pressing parameters; determining an operation mode based on the control parameter data; when the operation mode is a downward pressing mode and a pressing mode, a pressing hydraulic cylinder and a downward pressing hydraulic cylinder are adjusted to stretch and retract in real time based on data collected by a pressing force sensor and data collected by a downward pressing force sensor, so that target pressing force and target downward pressing force are kept; and when the operation mode is a pressing / pressing cooperation mode, data collected by the pressing force sensor and the pressing force sensor are obtained at the same time, and the pressing hydraulic cylinder and the pressing hydraulic cylinder stretch out and draw back at the same time, so that the target pressing force and the target pressing force are kept. According to the scheme, on-demand switching of the pressing mode, the pressing mode and the pressing / pressing cooperation mode can be achieved, and compared with a fixed mode in the prior art, higher adaptability and flexibility are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of control of seeding machinery, and in particular to a seeding depth and suppression control method for a seeding unit and a control device thereof. Background Art

[0002] The quality of seed furrows affects the growth and development of crop seeds, and the performance of the seeder is a direct factor in determining the quality of seed furrows. Precise sowing depth and post-sowing soil compaction determine the emergence rate, uniformity of emergence, seedling status and subsequent growth and development, which ultimately affect crop yields. Appropriate sowing depth and soil compaction can not only effectively ensure the emergence rate of seeds, but also improve the uniformity and lodging resistance of plants. Too deep or too shallow sowing depth and inconsistent sowing depth will lead to reduced yields. The degree of soil compaction will affect the emergence rate of seeds. The existing sowing unit adjusts the sowing depth through the sowing depth adjustment structure, adopts passive profiling to ensure consistent sowing depth, and adopts mechanical springs to set different gears to adjust the pressing force of the pressing wheel. In this way, when the seeder encounters soil undulations and different soil compaction, the sowing depth and pressing strength will be inconsistent.

[0003] The existing sowing depth and suppression have the following technical problems:

[0004] (1) The existing sowing units have the problem of a single sowing mode and cannot meet the diverse sowing needs.

[0005] (2) When the seeder encounters soil undulations and different soil compaction degrees, the depth consistency decreases. The parallel four-bar linkage, furrow opener and depth-limiting wheel are key mechanical structures in sowing depth control, but the current profiling is mainly passive profiling, including position profiling and force profiling. Passive profiling will lead to inconsistent sowing depth when the soil is undulating. In application number 202010284248.0, a downward pressure hydraulic cylinder is used to achieve the downward pressure of the sowing unit, but in order to fix the downward pressure hydraulic cylinder, redundant mechanisms are added. At the same time, the pin sensor used in the sowing depth adjustment mechanism ignores the fact that changes in the angle of the depth limit block will cause changes in the downward force detection direction, making the downward force detection inaccurate.

[0006] (3) When the seeder encounters soil undulations and different soil compactions, inconsistent suppression occurs. Suppression is the last process of sowing by the seeder. The suppression effect of the seeder affects the compaction of the seed bed. The higher the compaction of the seed bed, the smaller the soil voids, the seeds cannot come into contact with water and air, and the germination rate is reduced. The seed bed has a low compaction degree, the seeds do not fully contact the seed bed, and the seed root system is poorly developed. In application number 202010284248.0, the suppression pressure is adjusted by pushing the adjusting handle on the suppression wheel through the suppression hydraulic cylinder to stretch the spring to change the size of the suppression pressure, and the suppression pressure is obtained by measuring the spring through the tension sensor. There are some problems with this method. First, the expansion and contraction amount of the adjustment spring will change due to plastic deformation. This method actually adjusts the size of the pressing force through the spring. After long-term use, the spring will produce plastic deformation, and the spring life is short after long-term use; second, the mechanical spring adjustment handle adjusts the size of the pressing force through the spring. When the seeder is working, the seeder group vibrates, which will cause the problem of unstable pressing force; third, the movement of the hydraulic cylinder and the adjustment handle is complicated, and there is movement interference, which may cause the hydraulic rod to bend or fail to achieve the pressing effect when the hydraulic cylinder is extended. Summary of the invention

[0007] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a sowing depth and suppression control method and a control device for a sowing unit with diverse modes that can adapt to different sowing requirements.

[0008] Technical solution: To achieve the above-mentioned purpose, the present invention provides a method for controlling the sowing depth and suppression of a sowing unit, the method comprising:

[0009] Acquiring control parameter data, wherein the control parameter data includes a sowing mode and / or a suppression / downward pressure parameter;

[0010] Determine an operation mode based on the control parameter data, the operation mode including a pressing mode, a suppressing mode, and a pressing / suppressing cooperative mode;

[0011] When the operation mode is the downward pressure mode, the pressure hydraulic cylinder is at a fixed length or the pressure wheel is in a raised state, and the extension and retraction of the pressure hydraulic cylinder is adjusted in real time based on the data collected by the downward pressure sensor to maintain the target downward pressure;

[0012] When the operation mode is the suppression mode, the downward hydraulic cylinder is at a fixed length, and the extension and retraction of the suppression hydraulic cylinder is adjusted in real time based on the data collected by the suppression pressure sensor to maintain the target suppression pressure;

[0013] When the operation mode is the downward pressure / suppression coordination mode, the data collected by the downward pressure sensor and the suppression force sensor are obtained at the same time, and the downward pressure hydraulic cylinder and the suppression hydraulic cylinder are conditioned to extend and retract at the same time to maintain the target downward pressure and the target suppression force.

[0014] Further, the real-time adjustment of the extension and retraction of the downforce hydraulic cylinder based on the data collected by the downforce sensor to maintain the target downforce includes:

[0015] When the real-time downforce value collected by the downforce sensor decreases, the downforce hydraulic cylinder is controlled to shorten;

[0016] When the real-time downward force value collected by the downward force sensor increases, the downward pressure hydraulic cylinder is controlled to extend.

[0017] Furthermore, the real-time adjustment of the extension and contraction of the suppression hydraulic cylinder based on the data collected by the suppression pressure sensor to maintain the target suppression pressure includes:

[0018] When the real-time pressing force value collected by the pressing force sensor decreases, the pressing hydraulic cylinder is controlled to extend;

[0019] When the real-time pressing force value collected by the pressing force sensor increases, the pressing hydraulic cylinder is controlled to shorten.

[0020] Furthermore, when the operation mode is the downward pressure / suppression cooperation mode, the data collected by the downward pressure sensor and the suppression force sensor are simultaneously acquired, and the downward pressure hydraulic cylinder and the suppression hydraulic cylinder are simultaneously conditioned to extend and retract to maintain the target downward pressure and the target suppression force, including:

[0021] Acquire the real-time downforce and the real-time holding force respectively acquired by the downforce sensor and the holding force sensor, and acquire the target downforce and the target holding force;

[0022] Calculating a first target extension amount corresponding to the pressing hydraulic cylinder based on the difference between the real-time pressing force and the target pressing force; determining a relative extension amount corresponding to the pressing hydraulic cylinder based on the real-time pressing force and the target pressing force;

[0023] The relative telescopic amount is compensated based on the first target telescopic amount to obtain a second target telescopic amount corresponding to the suppression hydraulic cylinder;

[0024] The operations of the pressing hydraulic cylinder and the suppressing hydraulic cylinder are controlled based on the first target extension and contraction amount and the second target extension and contraction amount, respectively.

[0025] A sowing depth and suppression control system for a sowing unit, the system comprising:

[0026] The mechanical structure includes a traction frame, a machine base, and a floating connection mechanism connecting the traction frame and the machine base; a double disc furrow opener, a depth limiting wheel, and a pressing wheel are installed on the machine base; the pressing wheel is connected to the machine base through a rotating frame;

[0027] A hydraulic system, comprising a downward pressure hydraulic cylinder connected between the traction frame and the machine base, and a suppression hydraulic cylinder connected between the machine base and the rotating frame;

[0028] The measurement and control system includes a control unit and a detection system; the detection system includes a downward pressure sensor, a pressing force sensor, and also includes a downward pressure cylinder linear sensor and a pressing cylinder linear sensor for detecting the extension and contraction amount of the downward pressure hydraulic cylinder and the pressing hydraulic cylinder respectively; the control unit is used to implement the above-mentioned sowing depth and suppression control method for the sowing unit.

[0029] Furthermore, the floating connection mechanism is a parallelogram connecting rod structure, the downward pressure hydraulic cylinder connects two diagonal points of the connecting rod structure, and is arranged on the side of the connecting rod structure.

[0030] Furthermore, the depth limiting wheel is connected to the machine base via a sowing depth adjustment mechanism; the sowing depth adjustment mechanism comprises an adjustment screw rotatably mounted relative to the machine base, a motor driving the adjustment screw to rotate, and a nut in a spiral pair with the adjustment screw;

[0031] The sowing depth adjustment mechanism also includes a rotating arm connecting the depth limiting wheel and the machine base, a first connecting member rotatably installed relative to the nut, a depth limiting block acting on the rotating arm, and a second connecting member connecting the connecting member and the depth limiting block; the down force sensor is a pin sensor that fixedly connects the first connecting member and the second connecting member;

[0032] Furthermore, the sowing depth adjustment mechanism also includes a pin body fixed relative to the rotating arm, and the base is provided with an arc groove for the pin body to move therein, and a return spring sensor is installed at one end of the arc groove.

[0033] Furthermore, the pressure sensor is a pin sensor that establishes a rotational relationship between the pressure hydraulic cylinder and the rotating frame.

[0034] Beneficial effects: The sowing depth and suppression control method and control device of the sowing unit of the present invention have the following beneficial effects:

[0035] (1) The solution of the present invention realizes intelligent switching among the pressing mode, the suppressing mode and the pressing / suppressing collaborative mode by obtaining user input or the system automatically determining control parameters. Compared with the fixed mode in the prior art, the solution of the present invention has higher adaptability and flexibility.

[0036] (2) In the downward pressure / suppression coordination mode, the extension and retraction of the downward pressure hydraulic cylinder and the suppression hydraulic cylinder can be reasonably adjusted at the same time to prevent the suppression force of the suppression wheel from being affected by the extension and retraction of the downward pressure hydraulic cylinder.

[0037] (3) It is easy to transform the traditional sowing unit, which can reduce structural changes and has low cost.

[0038] (4) By setting the first connecting member and the second connecting member and making the pin sensor act as a fastening connecting member between the two, the downforce pin sensor can always be subjected to a vertical force in the same direction, and the vertical force can better reflect the magnitude of the pressure. In comparison, in the prior art cited in the background technology, the depth limit block will constantly change direction during the adjustment process, so the direction of the vertical force on the pin is also constantly changing, which will affect the availability of the collected data.

[0039] (5) The control unit can control the operation of the motor. When the pin touches the switch of the reset spring sensor, the reset spring sensor generates a trigger signal, so that the depth limiting wheel can be reset. After resetting, the motor operation can be controlled by controlling the number of pulses to accurately adjust the height of the depth limiting wheel, that is, the target sowing depth can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is the structural diagram of the sowing depth and suppression control system of the sowing unit;

[0041] Figure 2 It is a schematic diagram of the composition of the hydraulic system;

[0042] Figure 3 It is the structural diagram of the floating connection mechanism and the downward pressure hydraulic cylinder;

[0043] Figure 4 It is a top view of the structure of the floating connection mechanism and the downward pressure hydraulic cylinder;

[0044] Figure 5 This is the structural diagram of the sowing depth adjustment mechanism;

[0045] Figure 6 It is a structural diagram of the auxiliary reset part in the sowing depth adjustment mechanism;

[0046] Figure 7 It is a cross-sectional structural diagram of the sowing depth adjustment mechanism;

[0047] Figure 8 It is a three-dimensional structural diagram of the sowing depth adjustment mechanism;

[0048] Fig. 9 This is the structural diagram of the pressure wheel part;

[0049] Fig.10 It is a flow chart of the sowing depth and suppression control method of the sowing unit.

[0050] In the figure: 1. traction frame; 2. machine base; 3. floating connection mechanism; 4. double disc furrow opener; 5. suppression wheel; 6. rotating frame; 7. downward pressure hydraulic cylinder; 8. suppression hydraulic cylinder; 9. downward pressure sensor; 10. suppression pressure sensor; 11. downward pressure cylinder linear sensor; 12. suppression cylinder linear sensor; 13. sowing depth adjustment mechanism; 131. adjusting screw; 132. motor; 133. nut; 134. rotating arm; 135. first connecting piece; 136. depth limit block; 137. second connecting piece; 138. pin body; 139. reset spring sensor; 14. depth limit wheel. DETAILED DESCRIPTION

[0051] The present invention will be further described below in conjunction with the accompanying drawings.

[0052] like Figure 1 The sowing unit sowing depth and suppression control system shown includes:

[0053] The mechanical structure includes a traction frame 1, a machine base 2, and a floating connection mechanism 3 connecting the traction frame 1 and the machine base 2; a double disc furrow opener 4, a depth limiting wheel 14, and a pressing wheel 5 are installed on the machine base 2; the pressing wheel 5 is connected to the machine base 2 through a rotating frame 6;

[0054] The hydraulic system includes a downward pressure hydraulic cylinder 7 connected between the traction frame 1 and the machine base 2, and a suppression hydraulic cylinder 8 connected between the machine base 2 and the rotating frame 6. Fig. 9 As shown; In addition, Figure 2 As shown, the hydraulic system also includes an oil pump, a filter, and an electric proportional reversing valve and a balancing valve provided for each hydraulic cylinder;

[0055] The measurement and control system includes a control unit and a detection system; the detection system includes a downward pressure sensor 9, a pressure sensor 10, and also includes a downward pressure cylinder linear sensor 11 and a pressure cylinder linear sensor 12 for detecting the extension and contraction of the downward pressure hydraulic cylinder 7 and the pressure hydraulic cylinder 8 respectively; the control unit is used to implement the sowing depth and pressure control method of the sowing unit of the present invention. In this embodiment, the control unit includes an STM2 single-chip microcomputer and a host computer. In addition, in order to facilitate users to input data and view the data of the machine, the control unit also includes a control terminal such as a mobile phone, and the host computer and the control terminal are respectively installed with corresponding software.

[0056] Preferably, if Figure 3 The floating connection mechanism 3 is a parallelogram connecting rod structure, the pressing hydraulic cylinder 7 connects the two diagonal points of the connecting rod structure, and is arranged on the side of the connecting rod structure, such as Figure 4As shown. With the above structure, the base 2 will not rotate during the lifting process, which can reduce the difficulty of controlling the height of the double disc opener 4 and the pressing wheel 5. The downward hydraulic cylinder 7 is installed on the side of the connecting rod structure to avoid structural interference, and there is no need to destroy the overall structure of the sowing unit, which is convenient for the modification of the sowing unit.

[0057] Preferably, the depth limiting wheel 14 is connected to the machine base 2 via a sowing depth adjustment mechanism 13; Figures 5 to 7 As shown, the sowing depth adjustment mechanism 13 includes an adjustment screw 131 rotatably mounted relative to the machine base 2, a motor 132 driving the adjustment screw 131 to rotate, and a nut 133 in a spiral pair with the adjustment screw 131;

[0058] The sowing depth adjustment mechanism 13 also includes a rotating arm 134 connecting the depth limiting wheel 14 and the machine base 2, a first connecting member 135 rotatably mounted relative to the nut 133, a depth limiting block 136 acting on the rotating arm 134, and a second connecting member 137 connecting the connecting member 135 and the depth limiting block 136; Figure 8 As shown, the lower pressure sensor 9 is a pin sensor that fixedly connects the first connecting member 135 and the second connecting member 137. Specifically, the pin sensor is a flat cylindrical structure. The first connecting member 135 and the second connecting member 137 both have a molded hole corresponding to the outer contour of the pin sensor. The pin sensor passes through the molded holes on the two connecting members, and the two ends of the pin sensor are prevented from axial movement by retaining springs or screws; the second connecting member 137 is relatively fixed to the depth limit block 136.

[0059] By adopting the above structure, by setting the first connecting member 135 and the second connecting member 137, and making the pin sensor act as a fastening connecting member between the two, the downforce pin sensor 12 can always be subjected to a vertical force in the same direction, and the vertical force can better reflect the magnitude of the downforce. In comparison, in the prior art cited in the background technology, the depth limit block will constantly change direction during the adjustment process, so the direction of the vertical force on the pin is also constantly changing, which will affect the availability of the collected data.

[0060] Preferably, the sowing depth adjustment mechanism 13 further comprises a pin body 138 fixed relative to the rotating arm 134, and the base 2 is provided with an arc groove for the pin body 138 to move therein, and a return spring sensor 139 is installed at one end of the arc groove.

[0061] The control unit can control the operation of the motor 132. When the pin 138 touches the switch of the reset spring sensor 139, the reset spring sensor 139 generates a trigger signal, so that the depth limiting wheel 14 can be reset. After resetting, the operation of the motor 132 can be controlled by controlling the number of pulses to accurately adjust the height of the depth limiting wheel 14, that is, the target sowing depth can be adjusted.

[0062] Preferably, the pressing force sensor 10 is a pin sensor that establishes the rotational relationship between the pressing hydraulic cylinder 8 and the rotating frame 6. With the above structure, for ordinary sowing units, it is only necessary to replace the original ordinary pin with a pin sensor, which is convenient for modification. Compared with the reference documents cited in the prior art, the present invention adopts a method of directly controlling the pressing force by the hydraulic cylinder, and detects the pressing force by the pin sensor, thereby avoiding the problem caused by spring deformation.

[0063] The sowing depth and suppression control method of the sowing unit is implemented by the control unit, such as Fig.10 As shown, the method includes the following steps S101-S104:

[0064] Step S101, acquiring control parameter data, wherein the control parameter data includes a sowing mode and / or a suppression / downward pressure parameter;

[0065] In this step, the control parameters can be manually input by the user, or they can be automatically determined and switched by the control system according to environmental parameters (such as soil hardness, humidity, etc.) and working condition parameters (such as specific data of downward pressure and pressing force). The sowing mode determines whether it is necessary to perform downward pressure and pressing operations, as well as the specific parameters of downward pressure and pressing. The specific parameters of downward pressure and pressing can be constant and specific downward pressure and pressing height data, or can be the force data corresponding to downward pressure and pressing. The above-mentioned downward pressure height data is the height of the depth limiting wheel 14 from its origin, and the pressing height data is the height of the pressing wheel 5 from its origin. The force data corresponding to downward pressure and pressing are collected by the downward pressure sensor 9 and the pressing force sensor 10, respectively.

[0066] Step S102, determining an operation mode based on the control parameter data, wherein the operation mode includes a pressing mode, a suppressing mode, and a pressing / suppressing cooperative mode; in addition, it also includes a normal working mode;

[0067] Step S103, when the operation mode is the downward pressure mode, the pressing hydraulic cylinder 8 is at a fixed length or the pressing wheel 5 is in a raised state, the downward pressure hydraulic cylinder 7 is adjusted in real time based on the data collected by the downward pressure sensor 9 to maintain the target downward pressure; the target downward pressure can be set to an interval;

[0068] The downward pressure mode of this step is suitable for situations where the suppression demand is not high or for scenarios where the trenching depth needs to be kept stable but no additional suppression is required.

[0069] Step S104, when the operation mode is the suppression mode, the pressing hydraulic cylinder 7 is at a fixed length, and the expansion and contraction of the suppressing hydraulic cylinder 8 is adjusted in real time based on the data collected by the suppression pressure sensor 10 to maintain the target suppression pressure; the target suppression pressure can be set to an interval;

[0070] The compaction mode in this step is suitable for situations where the soil is relatively soft and the compaction pressure needs to be increased to ensure the compaction effect of the soil in the seed furrow, as well as for operating scenarios where the downforce requirement is not high but a high compaction pressure is required when the sowing depth is shallow.

[0071] Step S105, when the operation mode is the downward pressure / suppression cooperative mode, the data collected by the downward pressure sensor 9 and the suppression force sensor 10 are obtained at the same time, and the downward pressure hydraulic cylinder 7 and the suppression hydraulic cylinder 8 are simultaneously conditioned to extend and retract to maintain the target downward pressure and the target suppression force.

[0072] The working mode in this step is suitable for sowing situations with high requirements for both furrowing depth and soil covering. This working mode achieves coordinated optimization of furrowing depth and suppression intensity, avoiding the problem of untimely response that may occur in a single hydraulic cylinder mode.

[0073] In addition, it also includes a normal working mode in which the lengths of the pressing hydraulic cylinder 8 and the pressing hydraulic cylinder 7 are both fixed.

[0074] The solution of the present invention achieves intelligent switching among the push-down mode, the suppression mode and the push-down / suppression collaborative mode by obtaining user input or the system automatically determining control parameters. Compared with the fixed mode in the prior art, the solution has higher adaptability and flexibility.

[0075] In the above step S102, when the control parameter data includes the sowing mode, the operation mode is directly determined; if the control parameter data is the suppression / downward pressure parameter, the operation mode is specifically determined according to the suppression parameter and the downward pressure parameter, specifically: when only the suppression pressure parameter or the downward pressure parameter is included, the operation mode is respectively determined to be the downward pressure mode or the suppression mode; when both the suppression pressure parameter or the downward pressure parameter are included, the operation mode is determined to be the downward pressure / suppression cooperation mode. If there is neither the suppression pressure parameter nor the downward pressure parameter, it is processed according to the normal operation mode.

[0076] Preferably, in the above step S103 and step S105, adjusting the extension and retraction of the down-pressure hydraulic cylinder 7 in real time based on the data collected by the down-pressure sensor 9 to maintain the target down-pressure includes:

[0077] When the real-time downward pressure value collected by the downward pressure sensor 9 decreases, the downward pressure hydraulic cylinder 7 is controlled to shorten;

[0078] When the real-time downward force value collected by the downward force sensor 9 increases, the downward pressure hydraulic cylinder 7 is controlled to extend.

[0079] Preferably, in the above steps S104 and S105, adjusting the extension and retraction of the pressing hydraulic cylinder 8 in real time based on the data collected by the pressing force sensor 10 to maintain the target pressing force includes:

[0080] When the real-time pressing force value collected by the pressing force sensor 10 decreases, the pressing hydraulic cylinder 8 is controlled to extend;

[0081] When the real-time pressing force value collected by the pressing force sensor 10 increases, the pressing hydraulic cylinder 8 is controlled to shorten.

[0082] Preferably, in the above step S105, when the operation mode is the downward pressure / suppression cooperation mode, the data collected by the downward pressure sensor 9 and the suppression force sensor 10 are simultaneously acquired, and the downward pressure hydraulic cylinder 7 and the suppression hydraulic cylinder 8 are simultaneously conditioned to extend and retract to maintain the target downward pressure and the target suppression force, including the following steps S201-S202:

[0083] Step S201, obtaining the real-time downforce and the real-time holding force respectively collected by the downforce sensor 9 and the holding force sensor 10, and obtaining the target downforce and the target holding force;

[0084] Step S202, calculate the first target extension and contraction amount corresponding to the downward pressure hydraulic cylinder 7 based on the difference between the real-time downward force and the target downward force; determine the relative extension and contraction amount corresponding to the suppression hydraulic cylinder 8 based on the real-time suppression force and the target suppression force; here, the relative extension and contraction amount is the extension and contraction amount corresponding to the suppression hydraulic cylinder 8 in order to maintain the target suppression force assuming that the frame height remains unchanged.

[0085] Step S203, compensating the relative telescopic amount based on the first target telescopic amount to obtain a second target telescopic amount corresponding to the suppression hydraulic cylinder 8; in this step, the compensation amount is calculated based on a geometric relationship;

[0086] Step S204: Control the operation of the pressing hydraulic cylinder 7 and the suppressing hydraulic cylinder 8 based on the first target telescopic amount and the second target telescopic amount, respectively.

[0087] By adopting the above control method, the extension and retraction amounts of the pressing hydraulic cylinder 7 and the suppressing hydraulic cylinder 8 can be reasonably adjusted at the same time, so as to avoid the suppressing force of the suppressing wheel 5 being affected by the extension and retraction of the pressing hydraulic cylinder 7 .

[0088] In addition, in the downward pressure / suppression cooperation mode, the control of the suppression wheel 5 can be pre-processed based on the downward pressure data collected by the downward pressure sensor 9, so as to improve the accuracy of the control of the suppression wheel 5 and further ensure the suppression force, which specifically includes the following steps S301-S304:

[0089] Step S301, obtaining depth limiting wheel data, machine travel speed and real-time pressing force data collected by the pressing force sensor 10; the depth limiting wheel data includes downforce data collected by the downforce sensor 9, height adjustment data of the pressing wheel 5 according to the downforce data and adjusted downforce data;

[0090] In this step, based on the depth limiting wheel data, the downforce data fed back to the downforce sensor 9 by the pressing wheel 5 before and after each height adjustment of the pressing wheel 5 can be obtained, and the effect of each height adjustment of the pressing wheel 5 can be evaluated accordingly;

[0091] Step S302, based on the distance between the depth-limiting wheel 14 and the pressing wheel 5 and the travel speed of the machine, the interval time for the pressing wheel 5 to reach the current position of the depth-limiting wheel 14 is calculated;

[0092] Step S303, forming a height adjustment plan for the pressing wheel 5 based on the depth-limiting wheel data and the interval time; in this step, for the depth-limiting wheel data, if the downforce data meets the target downforce, the depth-limiting wheel height at this time is directly used as the reference height when the pressing wheel 5 subsequently travels to this position; when the adjusted downforce data does not meet the target downforce, the depth-limiting wheel height at this time is compensated according to the offset amount and offset direction of the downforce data and used as the reference height, specifically, if the downforce data is higher than the target downforce, the depth-limiting wheel height is compensated upward as the reference height, and if the downforce data is lower than the target downforce, the depth-limiting wheel height is compensated downward as the reference height. The height adjustment plan for the pressing wheel 5 is planned based on the reference height, and generally the reference height is adjusted downward by a preset value as the pre-planned pressing wheel height, and the preset value is determined based on parameters such as the pressing strength requirement and soil looseness.

[0093] Step S304: pre-adjust the height of the pressing wheel 5 based on the height adjustment plan, and fine-tune the height of the pressing wheel 5 based on the pressing wheel data to maintain the target pressing force.

[0094] The above method performs pre-processing on the control of the pressing wheel 5 through the depth limiting wheel data collected by the downforce sensor 9, which greatly improves the accuracy and real-time performance of the control of the pressing wheel 5. Based on the distance between the depth limiting wheel 14 and the pressing wheel 5, the time interval for calculating the driving speed, and the adjustment data of the depth limiting wheel 14, the height adjustment planning of the pressing wheel 5 is carried out. By compensating for the target downforce deviation and planning the reference height, the height requirement of the pressing wheel 5 can be predicted in advance. This method introduces the pressure requirements and soil characteristic parameters in the adjustment process, making the pre-adjustment plan more targeted. Furthermore, fine-tuning is performed through the real-time pressure data fed back by the pressure sensor 10 to ensure that the suppression effect always meets the target pressure requirements. The overall method effectively improves the accuracy, stability and operation quality of the control of the pressing wheel 5 in the downforce / suppression collaborative mode.

[0095] In addition, the process in which the control parameters are automatically determined and switched by the control system according to the environmental parameters and the operating parameters specifically includes: the control system collects environmental data in real time through sensors, including parameters such as soil hardness, soil moisture and terrain undulation, wherein the soil hardness is obtained by a pressure sensor or a cone resistance meter, the soil moisture is detected by a humidity sensor, and the terrain undulation is obtained by an inclination sensor or a terrain scanner; at the same time, the control system also monitors the data of the current operating status of the machine, including the real-time downforce collected by the downforce sensor 9, the real-time pressing force collected by the pressing force sensor 10, and the current lengths of the downforce hydraulic cylinder 7 and the pressing hydraulic cylinder 8 obtained by the hydraulic cylinder linear sensor. The control system inputs the above environmental parameters and working condition parameters into the preset algorithm model, and dynamically determines the operation mode and control parameters: when the soil hardness is high, the humidity is moderate, the real-time compaction pressure is lower than the requirement, and the machine is mainly used to maintain the furrowing depth, it is determined to be in the downward pressure mode, and the target downward pressure range is set; when the soil is soft, the humidity is high, the real-time compaction pressure is lower than the target value, and the compaction effect of the seed furrow soil is the main requirement, it is determined to be in the suppression mode, and the target compaction pressure range is set; when the soil conditions are complex, the hardness and humidity are uneven, and the sowing depth and soil compaction strength need to be maintained at the same time, it is determined to be in the downward pressure / suppression cooperation mode, and the target downward pressure and target compaction pressure are set; if the environmental parameters and working condition parameters are within the acceptable range and there is no need to adjust the suppression or downward pressure hydraulic cylinder 7, then enter the normal working mode and maintain the fixed length of the hydraulic cylinder. The control system generates the target downward pressure and target compaction pressure according to the mode determination result, maps the optimal pressure range through the soil hardness and humidity, and combines the real-time pressure data for correction, and generates the target expansion and contraction amount of the hydraulic cylinder to realize the dynamic adjustment of the pressure. During the operation process, the control system monitors the changes in environmental parameters and operating parameters in real time. If a parameter exceeds the set range, the system automatically switches the operation mode and updates the target pressure range and hydraulic cylinder control logic. At the same time, it optimizes the pressure regulation strategy through feedback to ensure the accuracy and stability of the operation effect.

[0096] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the sowing depth and suppression of a sowing unit, characterized in that: The method comprises: Acquiring control parameter data, wherein the control parameter data includes a sowing mode and / or a suppression / downward pressure parameter; Determine an operation mode based on the control parameter data, the operation mode including a pressing mode, a suppressing mode, and a pressing / suppressing cooperative mode; When the operation mode is the downward pressure mode, the pressure hydraulic cylinder is at a fixed length or the pressure wheel is in a raised state, and the extension and retraction of the pressure hydraulic cylinder is adjusted in real time based on the data collected by the downward pressure sensor to maintain the target downward pressure; When the operation mode is the suppression mode, the downward hydraulic cylinder is at a fixed length, and the extension and retraction of the suppression hydraulic cylinder is adjusted in real time based on the data collected by the suppression pressure sensor to maintain the target suppression pressure; When the operation mode is the downward pressure / suppression coordination mode, the data collected by the downward pressure sensor and the suppression force sensor are obtained at the same time, and the downward pressure hydraulic cylinder and the suppression hydraulic cylinder are conditioned to extend and retract at the same time to maintain the target downward pressure and the target suppression force.

2. The method for controlling the sowing depth and suppression of a sowing unit according to claim 1, characterized in that: The real-time adjustment of the extension and retraction of the downforce hydraulic cylinder based on the data collected by the downforce sensor to maintain the target downforce includes: When the real-time downforce value collected by the downforce sensor decreases, the downforce hydraulic cylinder is controlled to shorten; When the real-time downward force value collected by the downward force sensor increases, the downward pressure hydraulic cylinder is controlled to extend.

3. The method for controlling the sowing depth and suppression of a sowing unit according to claim 1, characterized in that: The real-time adjustment of the extension and contraction of the suppression hydraulic cylinder based on the data collected by the suppression pressure sensor to maintain the target suppression pressure includes: When the real-time pressing force value collected by the pressing force sensor decreases, the pressing hydraulic cylinder is controlled to extend; When the real-time pressing force value collected by the pressing force sensor increases, the pressing hydraulic cylinder is controlled to shorten.

4. The method for controlling the sowing depth and suppression of a sowing unit according to claim 1, characterized in that: When the operation mode is the downward pressure / suppression coordination mode, the data collected by the downward pressure sensor and the suppression pressure sensor are simultaneously acquired, and the downward pressure hydraulic cylinder and the suppression hydraulic cylinder are simultaneously extended and retracted to maintain the target downward pressure and the target suppression pressure, including: Acquire the real-time downforce and the real-time holding force respectively acquired by the downforce sensor and the holding force sensor, and acquire the target downforce and the target holding force; Calculating a first target extension amount corresponding to the pressing hydraulic cylinder based on the difference between the real-time pressing force and the target pressing force; determining a relative extension amount corresponding to the pressing hydraulic cylinder based on the real-time pressing force and the target pressing force; The relative telescopic amount is compensated based on the first target telescopic amount to obtain a second target telescopic amount corresponding to the suppression hydraulic cylinder; The operations of the pressing hydraulic cylinder and the suppressing hydraulic cylinder are controlled based on the first target extension and contraction amount and the second target extension and contraction amount, respectively.

5. A sowing depth and suppression control system for a sowing unit, characterized in that: The system includes: The mechanical structure includes a traction frame, a machine base, and a floating connection mechanism connecting the traction frame and the machine base; a double disc furrow opener, a depth limiting wheel, and a pressing wheel are installed on the machine base; the pressing wheel is connected to the machine base through a rotating frame; A hydraulic system, comprising a downward pressure hydraulic cylinder connected between the traction frame and the machine base, and a suppression hydraulic cylinder connected between the machine base and the rotating frame; The measurement and control system includes a control unit and a detection system; the detection system includes a downward pressure sensor, a pressing force sensor, and also includes a downward pressure cylinder linear sensor and a pressing cylinder linear sensor for detecting the extension and contraction amount of the downward pressure hydraulic cylinder and the pressing hydraulic cylinder respectively; the control unit is used to implement the sowing depth and suppression control method of the sowing unit described in any one of claims 1-4.

6. The sowing depth and suppression control device for a sowing unit according to claim 5, characterized in that: The floating connection mechanism is a parallelogram connecting rod structure, the downward pressure hydraulic cylinder connects two diagonal points of the connecting rod structure, and is arranged on the side of the connecting rod structure.

7. The sowing depth and suppression control device for a sowing unit according to claim 5, characterized in that: The depth limiting wheel is connected to the machine base through a sowing depth adjustment mechanism; the sowing depth adjustment mechanism includes an adjustment screw rotatably mounted relative to the machine base, a motor driving the adjustment screw to rotate, and a nut that forms a spiral pair with the adjustment screw; The sowing depth adjustment mechanism also includes a rotating arm connecting the depth limiting wheel and the machine base, a first connecting member rotatably installed relative to the nut, a depth limiting block acting on the rotating arm, and a second connecting member connecting the connecting member and the depth limiting block; the down pressure sensor is a pin shaft sensor that fixedly connects the first connecting member and the second connecting member.

8. The sowing depth and suppression control device for a sowing unit according to claim 7, characterized in that: The sowing depth adjustment mechanism also includes a pin body fixed relative to the rotating arm, and the machine base is provided with an arc groove for the pin body to move therein, and a return spring sensor is installed at one end of the arc groove.

9. The sowing depth and suppression control device for a sowing unit according to claim 5, characterized in that: The pressing force sensor is a pin sensor that establishes a rotational relationship between the pressing hydraulic cylinder and the rotating frame.

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