Method of filling a seed drill, processor, control device and seed drill

Abstract

The application discloses a kind of seeding machine's filling method, processor, control device and seeding machine, the filling method includes: determine that seeding machine does not implement seeding operation;Determine that driving member is powered and in the length of time accumulated in powered state reaches first preset length;Control driving member drives seed plate to rotate towards first preset direction;Control filling mechanism to execute filling operation;Determine that the length of time accumulated in powered state reaches second preset length in driving member, control driving member to stop driving seed plate rotation, seeding machine completes complete filling operation;Or, determine that driving member is powered off after the length of time accumulated in powered state reaches third preset length in driving member, seeding machine completes partial filling operation and seed plate is partially filled, wherein, third preset length is greater than first preset length and less than second preset length, can make seeding machine according to different job requirements targeted filling, expand the application range of seeding machine.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of seeding machines, and particularly relates to a seeding machine seed filling method, a processor, a control device and a seeding machine. BACKGROUND

[0002] Before the seeding machine is transported from a farmer's house / farm to a farmland for operation, the seed sowing disc of the seeding machine is usually in a static empty disc state. In order to ensure the smooth implementation of the seeding operation, the seed sowing disc should be filled with seeds before the seeding operation is implemented. Due to different operation requirements of different farmland sites, for example, some sites need to be sowed without gaps, and some sites need to be sowed with gaps. However, the existing seeding machine does not have an adaptive seed filling method for different seed filling requirements, which may lead to the situation that the seeds are insufficient or the farmer needs to supplement the seeds for the site with insufficient seeds after the seeding operation is completed, which may affect the crop yield or increase the labor time and labor cost of the farmer. SUMMARY

[0003] The purpose of the present application is to provide a seeding machine seed filling method, a processor, a control device and a seeding machine, which can fill the seeds according to different operation requirements, expand the application range of the seeding machine, and help to ensure the crop yield and reduce the labor cost.

[0004] In order to achieve the above purpose, the first aspect of the present application provides a seeding machine seed filling method, a seeding machine disc, a driving member and a seed filling mechanism. The seed sowing disc is drivingly connected with the driving member, and the seed filling mechanism is used for filling the seed sowing disc. The seed filling method comprises the following steps:

[0005] determining that the seeding machine does not implement the seeding operation;

[0006] determining that the driving member is powered and the accumulated time length of the powered state reaches a first preset time length;

[0007] controlling the driving member to drive the seed sowing disc to rotate in a first preset direction;

[0008] controlling the seed filling mechanism to perform the seed filling operation;

[0009] determining that the accumulated time length of the powered state of the driving member reaches a second preset time length, controlling the driving member to stop driving the seed sowing disc to rotate, and the seeding machine completes the complete seed filling operation; or

[0010] determining that the driving member is powered off after the accumulated time length of the powered state of the driving member reaches a third preset time length, and the seeding machine completes the local seed filling operation and the seed sowing disc is locally filled with seeds, wherein the third preset time length is greater than the first preset time length and less than the second preset time length.

[0011] In the embodiment of the present application, the seeding machine further comprises a seed unloading mechanism for performing a seed unloading operation on the seeds in the seed sowing disc.

[0012] In the embodiments of the present application, the method further comprises:

[0013] Before the seeding machine does not implement the seeding operation, the seeding machine is controlled to enter the unseeding mode, so that the seed plate is in an empty state;

[0014] After the seed plate is in the empty state, it is determined that the driving member is powered on and the accumulated time length of the powered-on state reaches a first preset time length;

[0015] The driving member is controlled to drive the seed plate to rotate in a first preset direction;

[0016] The filling mechanism is controlled to perform the filling operation;

[0017] It is determined that the accumulated time length of the powered-on state of the driving member reaches a second preset time length, and the driving member is controlled to stop driving the seed plate to rotate, and the seeding machine completes the complete filling operation.

[0018] In the embodiments of the present application, the method further comprises:

[0019] After it is determined that the seeding machine does not implement the seeding operation, it is determined that the driving member is powered on and loses power within a first preset time length after being powered on;

[0020] The accumulated number of times that the driving member loses power after being powered on is obtained;

[0021] It is determined that the accumulated number of times is not less than two, and the interval time length between the adjacent two powered-on states is less than a preset interval time length;

[0022] The seeding machine is controlled to enter the unseeding mode.

[0023] In the embodiments of the present application, the method further comprises:

[0024] After the seeding machine enters the unseeding mode, the seed plate is controlled to rotate in a second preset direction;

[0025] The unseeding mechanism is controlled to perform the unseeding operation;

[0026] It is determined that the unseeding mechanism has completed the unseeding;

[0027] The seed plate is controlled to stop rotating and the unseeding mechanism is controlled to stop performing the unseeding operation.

[0028] In the embodiments of the present application, the second preset time length is the time length required for the driving member to drive the seed plate to rotate one circle at a preset speed.

[0029] In the embodiments of the present application, the seeding machine further comprises a sprocket mechanism for transmitting power between the driving member and the seed plate, and the preset speed is determined according to the following manner:

[0030]

[0031] wherein, r is the rotating speed of the driving member; is the time for the seed plate to rotate one circle when the driving member is powered; is the first preset time length; is the speed ratio of the first coaxial gear on the driving member and the gear of the input end of the chain wheel mechanism; is the speed ratio between the gear of the input end of the chain wheel mechanism and the gear of the output end of the chain wheel mechanism; is the speed ratio between the gear of the output end of the chain wheel mechanism and the second coaxial gear on the seed plate.

[0032] The second aspect of the present application provides a processor configured to execute the seed filling method of the seeding machine.

[0033] The third aspect of the present application provides a control device comprising the processor described above.

[0034] The fourth aspect of the present application provides a seeding machine comprising the control device described above.

[0035] According to the above technical solution, the seed filling method comprises: determining that the seeding machine does not implement the seeding operation; determining that the driving member is powered and the accumulated time length of the powered state reaches the first preset time length; controlling the driving member to drive the seed plate to rotate in the first preset direction; controlling the seed filling mechanism to perform the seed filling operation; determining that the accumulated time length of the powered state of the driving member reaches the second preset time length, and controlling the driving member to stop driving the seed plate to rotate, so that the seeding machine completes the complete seed filling operation; or, determining that the driving member is powered off after the accumulated time length of the powered state of the driving member reaches the third preset time length, and the seeding machine completes the partial seed filling operation and the seed plate is partially filled, wherein the third preset time length is greater than the first preset time length and less than the second preset time length. The seed filling method is simple and easy to operate, and the seed filling mode is flexible, so that the seed plate can be completely filled or partially filled. The operator can select the appropriate seed filling mode according to the actual situation and operation demand, thereby expanding the application range of the seeding machine, and being beneficial to guarantee the crop yield and reduce the labor time and labor cost of the farmers.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained from the structures shown in the drawings without creative labor. In the drawings:

[0038] Figure 1 A flowchart of the method for filling seeds in the embodiment of the present application is shown in the figure.

[0039] Figure 2 A flowchart of the method for filling seeds in the embodiment of the present application is shown in the figure.

[0040] Figure 3 A flowchart of the method for filling seeds in the embodiment of the present application is shown in the figure.

[0041] Explanation of reference signs

[0042] 1 - driving member; 2 - seed plate; 3 - power supply; 4 - switch; 5 - sprocket mechanism. DETAILED DESCRIPTION

[0043] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0044] The embodiment of the present application provides a method for filling seeds in a seeding machine, the seeding machine comprising a seed plate 2, a driving member 1 and a seed filling mechanism, the seed plate 2 being drivingly connected to the driving member 1, and the seed filling mechanism being configured to fill seeds in the seed plate 2, as shown in the figure, the method comprising the following steps: Figure 2

[0045] Step S101: determining that the seeding machine is not performing a seeding operation.

[0046] Specifically, the seeding machine in the embodiment can be a mechanical seeding machine, and the seeding machine further comprises a seeding mechanism and a processor, the processor being in communication connection with the seeding mechanism, the seed filling mechanism and the driving member 1, the seeding mechanism sending a corresponding signal to the processor before (or while) performing a seeding operation, and the processor determining that the seeding machine enters a seeding mode after receiving the signal; on the contrary, if the processor does not receive the signal, it is determined that the seeding machine is not performing a seeding operation.

[0047] Step S102: determining that the driving member 1 is powered and the time length accumulated in the powered state reaches a first preset time length.

[0048] ​Furthermore, the driving member 1 in this embodiment may be selected as a driving motor, and the seed drill also includes a power supply 3 (in this embodiment, the power supply 3 may be selected as a vehicle-mounted battery of the seed drill), a first connecting wiring harness, a second connecting wiring harness, a third connecting wiring harness and a switch 4, the first end of the first connecting wiring harness is electrically connected to the positive pole of the power supply 3, the second end of the first connecting wiring harness is electrically connected to the first connecting end of the switch 4, the first end of the second connecting wiring harness is electrically connected to the second connecting end of the switch 4, the second end of the second connecting wiring harness is connected to the positive pole of the driving member 1, the first end of the third connecting wiring harness is electrically connected to the negative pole of the driving member 1, and the second end of the third connecting wiring harness is electrically connected to the negative pole of the power supply 3. The switch 4 can be selected as a button or a knob. In this embodiment, preferably, the switch 4 is selected as a button. The button is a self-resetting normally open button. When no external force is applied, the contact is disconnected. In this case, the electrical connection between the power supply 3 and the driver 1 is in a disconnected state, and the driver 1 is not powered at this time; when the button is pressed and kept in effect, the contact is closed. In this case, the electrical connection between the power supply 3 and the driver 1 is in a conductive state, and the driver 1 is powered at this time.

[0049] In this embodiment, after the driving member 1 is powered on, a corresponding signal is sent to the processor. After the processor receives the above signal, it can determine that the driving member 1 is powered on; or, the button is communicated with the processor, and after the button is pressed, a corresponding signal is sent to the processor. After the processor receives the above signal, it can determine that the button is pressed, and then determine that the driving member 1 is powered on.

[0050] The processor is equipped with a timing module, such as Figure 1 As shown, after the processor determines that the driver 1 is powered on, the timing module starts to accumulate timing to obtain the cumulative time that the driver 1 is in the powered state (this time is the time that the button is pressed continuously), and compares the above time with the first preset time t1 (such as 1s). If the above time is greater than or equal to the first preset time t1, it is determined that the cumulative time that the driver 1 is in the powered state reaches the first preset time t1, wherein the first preset time t1 is pre-stored in the processor and can be retrieved when needed.

[0051] Step S103: controlling the driving member 1 to drive the seed disc 2 to rotate in a first preset direction.

[0052] Specifically, when the accumulated time that the driving member 1 is in the energized state reaches a first preset time t1, the processor controls the driving member 1 to drive the seed disc 2 to rotate in a first preset direction. In this embodiment, the first preset direction is counterclockwise.

[0053] Step S104: Control the seed filling mechanism to perform the seed filling operation.

[0054] Specifically, the step S103 and the step S104 can be performed in sequence, or can be performed simultaneously. In the embodiment, the step S104 is performed simultaneously with the step S104, and when the accumulated duration of the driving member 1 in the powered state reaches the first preset duration t1, the processor controls the seed filling mechanism to perform the seed filling operation so as to fill the seeds in the seed tank to the seed plate 2.

[0055] The step S10510: determining that the accumulated duration of the driving member 1 in the powered state reaches the second preset duration t2, and controlling the driving member 1 to stop driving the seed plate 2 to rotate, and the seeding machine completes the complete seed filling operation.

[0056] Specifically, after the seed plate 2 rotates and the seed filling mechanism performs the seed filling operation, the timing module still accumulates the timing, and at this time, the accumulated duration of the driving member 1 in the powered state is compared with the second preset duration t2 (such as 2s). If the above duration is greater than or equal to the second preset duration t2, it is determined that the accumulated duration of the driving member 1 in the powered state reaches the second preset duration t2, wherein the second preset duration t2 is pre-stored in the processor and can be recalled when needed. In the embodiment, the second preset duration t2 is greater than the first preset duration t1.

[0057] When the accumulated duration of the driving member 1 in the powered state reaches the second preset duration t2, the seed plate 2 rotates a whole circle, and in the process of the seed plate 2 rotating a whole circle, the seed filling mechanism performs the seed filling operation. After the seed plate 2 rotates a whole circle, all the seed filling areas on the seed plate 2 are filled with seeds, that is, the seed plate 2 is completely filled with seeds. In order to avoid wasting energy and seeds, after the seed plate 2 is completely filled with seeds, the processor controls the driving member 1 to stop driving the seed plate 2, and the seed plate 2 stops rotating. The processor simultaneously controls the seed filling mechanism to stop the seed filling operation. In the embodiment, the complete seed filling operation is suitable for the case that the seed plate 2 is completely empty and the case that there is no gap at the head of the land under the normal environment.

[0058] In another embodiment of the present application, the processor performs the following steps after the step S104 is performed:

[0059] The step S10520: determining that after the accumulated duration of the driving member 1 in the powered state reaches the third preset duration, the driving member 1 loses power, and the seeding machine completes the partial seed filling operation and the seed plate 2 is partially filled with seeds, wherein the third preset duration is greater than the first preset duration t1 and less than the second preset duration t2.

[0060] Specifically, after the filling mechanism performs the filling operation, the processor determines that the driving member 1 is powered off, and the length of time that the driving member 1 is in the powered-on state before being powered off is greater than the first preset length t1 and less than the second preset length t2, after the driving member 1 is powered off, the driving of the seed plate 2 is stopped, the seed plate 2 stops rotating, and at the same time the processor controls the filling mechanism to stop the filling operation, and after the seed plate 2 and the filling mechanism stop moving, only a part of the filling areas on the seed plate 2 are filled in the above process, and thus the local filling operation is completed.

[0061] The operator can operate the keys according to actual needs to select the local filling of the seed plate 2, which is simple and improves the use flexibility of the seeding machine. The local filling mode is suitable for the non-empty seed plate 2, special geographical environment, and the situation of leaving a gap at the head of the field.

[0062] The filling method is simple and easy to operate, and the filling mode is flexible, so that the seed plate can be completely filled or locally filled. The operator can select the appropriate filling mode according to the actual situation and operation needs, which expands the application range of the seeding machine, is beneficial to guarantee the crop yield, and is beneficial to reduce the labor time and labor cost of farmers.

[0063] In an embodiment of the present application, the seeding machine further comprises an unloading mechanism for performing unloading operation on the seeds in the seed plate 2, and the unloading mechanism is in communication connection with the processor.

[0064] In an embodiment of the present application, the filling method further comprises:

[0065] Before the seeding machine performs the seeding operation, the seeding machine is controlled to enter the unloading mode, so that the seed plate 2 is in the empty state;

[0066] After the seed plate 2 is in the empty state, it is determined that the driving member 1 is powered on and the length of time that the driving member 1 is in the powered-on state reaches the first preset length;

[0067] The driving member 1 is controlled to drive the seed plate 2 to rotate in the first preset direction;

[0068] The filling mechanism is controlled to perform the filling operation;

[0069] It is determined that the length of time that the driving member 1 is in the powered-on state reaches the second preset length, and the driving member 1 is controlled to stop driving the seed plate 2 to rotate, and the seeding machine completes the complete filling operation.

[0070] Specifically, if the seed tray 2 is fully filled with seeds while there are still seeds in the filling area, this will result in seed waste (because when a seed enters a previously filled area, the seeds in that area will fall from the filling area to the ground). Therefore, to avoid this situation, if the operator observes that there are still seeds in the filling area of ​​the seed tray 2, before the seeder performs the full filling operation, the seeder will first enter the unloading mode and unload the seeds on the seed tray 2, so that the seeds already on the seed tray 2 are first unloaded into the collection box. If the seeder does not perform the sowing operation and the unloading mechanism completes the unloading operation, the control step returns to step S102, and the seed tray 2 is fully filled with seeds after being unloaded through steps S102-S10510.

[0071] In one embodiment of the present application, the seed filling method further comprises the following steps:

[0072] Step S201: after determining that the seed drill is not performing a seeding operation, determining that the driving member 1 is powered on and loses power within a first preset time period after being powered on;

[0073] Step S202: Obtain the cumulative number of times the driving element 1 loses power after being powered on;

[0074] Step S203: Determine that the cumulative number of times is not less than two, and the interval between two adjacent power-on states is less than a preset interval;

[0075] Step S204: Control the seeder to enter the seed unloading mode.

[0076] Specifically, if Figure 1 As shown, the operator first presses the button and then releases the button, then the driver 1 will be powered on and then powered off. After the driver 1 loses power, the timing module sends the accumulated power-on time of the driver 1 to the processor, and the processor then compares the above time with the first preset time t1 (such as 1s). If the above time is less than the first preset time t1, it is determined that the driver 1 loses power within the first preset time t1 after being powered on.

[0077] The processor accumulates the number of times the driving member 1 loses power within the first preset time duration t1 after being powered on, and the interval between two adjacent times in the powered state is less than the preset interval duration (e.g., 1s), and compares the above number with the preset number (e.g., 2 times). If the above number is greater than or equal to the preset number, it is determined that the accumulated number has reached the preset number, and then it is determined that the seed tray 2 needs to be unloaded. The processor controls the seeder to enter the unloading mode, wherein the preset number and the preset interval duration are pre-stored in the processor and can be retrieved when needed. Through the above-mentioned seed charging method, the operator only needs to perform multiple intermittent button operations on the switch 4 according to the actual situation to make the seeder enter the unloading mode so that the seeds on the subsequent seed tray 2 can be unloaded. In addition, the settings of steps S201-step S204 can also prevent the seeder from accidentally entering the unloading mode due to operator error.

[0078] In an embodiment of the present application, steps S201 to S204 are seed unloading logic. The processor executes steps S201 to S204 once, which is to execute the seed unloading logic once. After the processor executes the seed unloading logic 2n times, the seed tray 2 is in a seed-filling state; after executing the seed unloading logic 2n+1 times, the seed tray 2 is in a seed unloading state, where n is a natural number.

[0079] In one embodiment of the present application, the seed filling method further comprises the following steps:

[0080] Step S301: After the seeder enters the seed unloading mode, the seed disc 2 is controlled to rotate in a second preset direction;

[0081] Step S302: controlling the seed unloading mechanism to perform the seed unloading operation;

[0082] Step S303: Determine whether the seed unloading mechanism has completed seed unloading;

[0083] Step S304: Control the seeding disc 2 to stop rotating and control the seed unloading mechanism to stop performing the seed unloading operation.

[0084] Specifically, step S301 can be executed after step S204. After the processor determines that the seeder has entered the seed unloading mode, it controls the drive member 1 to drive the seed disc 2 to rotate in a second preset direction. In this embodiment, the second preset direction is clockwise. In this embodiment, preferably, controlling the seed disc 2 to rotate in the second preset direction and controlling the seed unloading mechanism to perform the seed unloading operation are performed simultaneously. When the seed disc 2 rotates one circle in the second preset direction, it can be determined that the seed unloading mechanism has completed the seed unloading operation, and the seeds on the seed disc 2 are unloaded into the collection box. Thereafter, the processor controls the seed disc 2 to stop rotating and controls the seed unloading mechanism to stop performing the seed unloading operation, so as to avoid wasting energy.

[0085] In an embodiment of the present application, the second preset time length is the time length required for the driving member 1 to drive the seed plate 2 to rotate one circle at the preset speed.

[0086] In an embodiment of the present application, the seeding machine further comprises a sprocket mechanism 5 for transmitting power between the driving member 1 and the seed plate 2, and the preset speed is determined according to the following manner:

[0087] (1)

[0089] wherein r is the rotating speed of the driving member 1; is the time for the seed plate 2 to rotate one circle when the driving member 1 is powered; is the first preset time length; is the speed ratio of the first coaxial gear on the driving member 1 to the gear at the input end of the sprocket mechanism 5; is the speed ratio between the gear at the input end of the sprocket mechanism 5 and the gear at the output end of the sprocket mechanism 5; is the speed ratio of the gear at the output end of the sprocket mechanism 5 to the second coaxial gear on the seed plate 2.

[0090] Specifically, as shown in Figure 3 the seeding machine further comprises a mounting seat and a sprocket mechanism 5 for transmitting power between the driving member and the seed plate 2, the mounting seat is detachably mounted on the main beam of the seeding machine and is used for detachably mounting the driving member, the mounting seat is mounted on the main beam of the seeding machine through a half-meter beam buckle to facilitate the disassembly of the mounting seat; the driving member is connected together with the driving member through bolts and spring washers. The output end of the driving member is provided with a first coaxial gear, the seed plate 2 is provided with a second coaxial gear, the input end of the sprocket mechanism 5 is connected with the first coaxial gear, and the output end of the sprocket mechanism 5 is connected with the second coaxial gear. Further, in order to simplify the relationship between the rotating speed of the driving member and the rotating speed of the seed plate 2, the speed ratio between each gear is 1 or an even value, so as to eliminate conversion error and improve calculation accuracy.

[0091] In an embodiment of the present application, the driving member can be selected as a brush motor (or other types of motors), which is beneficial to reduce the overall cost of the seeding machine. Further, in the present embodiment, the driving motor and the processor are integrated, and the rotating speed of the driving motor is equal to the number of revolutions of the driving motor shaft under the time consumed by the seed plate 2 to rotate one circle.

[0092] Further, the driving motor further comprises a rotary encoder for detecting the rotary position of the driving motor, the rotary encoder, the driving motor and the processor can be designed as an integrated structure to improve the sealing performance and have the advantages of dustproof and waterproof. The rotary encoder can feed the actual position signal of the driving motor detected by the rotary encoder to the processor, and the processor can realize accurate control of the position of the driving motor by comparing the actual position of the driving motor with the theoretical position of the driving motor, thereby ensuring the rotary accuracy of the seed plate 2.

[0093] Specifically, the processor sends a rotating speed instruction to the driving motor, the driving motor rotates according to the rotating speed instruction, the rotary encoder sends the actual position to the processor during the rotation of the driving motor, and the processor compares the actual position of the driving motor with the theoretical position of the driving motor. In the case that the actual position of the driving motor is consistent, the processor sends a stop rotating signal to the driving motor, and the driving motor stops rotating after receiving the stop rotating signal.

[0094] Another embodiment of the present application provides a processor configured to execute the seed sowing method of the seeding machine in the above embodiment.

[0095] Another embodiment of the present application provides a control device comprising the processor in the above embodiment.

[0096] Another embodiment of the present application provides a seeding machine comprising the control device in the above embodiment.

[0097] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0098] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0099] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0100] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A seed filling method for a seed drill, the seed drill comprising a seeding disc (2), a driving member (1) and a seed filling mechanism, the seeding disc (2) being drivingly connected to the driving member (1), the seed filling mechanism being used to fill the seeding disc (2) with seeds, characterized in that: The seed filling method comprises: Determining that the seed drill is not performing a seeding operation; After determining that the seed drill has not performed the seeding operation, determining that the driving member (1) is powered and loses power within a first preset time after being powered; Obtaining the cumulative number of times the driving member (1) loses power after being powered on; Determining that the cumulative number of times is not less than two, and the interval between two adjacent power-on states is less than a preset interval; Controlling the seeder to enter a seed unloading mode; Determining that the driving member (1) is powered and the accumulated time in the powered state reaches a first preset time; Controlling the driving member (1) to drive the seeding disc (2) to rotate in a first preset direction; Controlling the seed filling mechanism to perform a seed filling operation; Determining that the accumulated time length of the driving member (1) in the powered state reaches a second preset time length, controlling the driving member (1) to stop driving the seeding disc (2) to rotate, and the seeder completes a full seed filling operation; or, It is determined that after the accumulated time length of the driving member (1) in the powered state reaches a third preset time length, the driving member (1) loses power, and when the driving member (1) loses power, the seeder completes the partial seed filling operation and the seed disc (2) is partially filled with seeds, wherein the third preset time length is greater than the first preset time length and less than the second preset time length.

2. The seed filling method of the seeder according to claim 1, characterized in that: The seeder further comprises a seed unloading mechanism for unloading the seeds in the seed tray (2).

3. The seed filling method of the seeder according to claim 2, characterized in that: The seed filling method further comprises: Before the seeder performs the sowing operation, the seeder is controlled to enter a seed unloading mode so that the seed tray (2) is in an empty tray state; After the seed disc (2) is in the empty disc state, determining that the driving member (1) is powered and the accumulated time in the powered state reaches the first preset time; Controlling the driving member (1) to drive the seeding disc (2) to rotate in the first preset direction; controlling the seed filling mechanism to perform the seed filling operation; It is determined that the accumulated time length of the driving member (1) in the powered state reaches the second preset time length, the driving member (1) is controlled to stop driving the seeding disc (2) to rotate, and the seeder completes the full seed filling operation.

4. The seed filling method of a seeder according to claim 3, characterized in that: The seed filling method further comprises: After the seeder enters the seed unloading mode, controlling the seed disc (2) to rotate in a second preset direction; Controlling the seed unloading mechanism of the seeder to perform a seed unloading operation; Determining that the seed unloading mechanism has completed seed unloading; The seeding disc (2) is controlled to stop rotating and the seed unloading mechanism is controlled to stop performing the seed unloading operation.

5. The seed filling method of a seeder according to claim 1, characterized in that: The second preset time length is the time length required for the driving member (1) to drive the seed disc (2) to rotate one circle at a preset speed.

6. The seed filling method of a seeder according to claim 5, characterized in that: The seed drill further comprises a sprocket mechanism (5) for transmitting power between the driving member (1) and the seed disc (2), wherein the preset speed is determined according to the following method: wherein r is the rotational speed of the driving member (1); The time required for the seed disc (2) to rotate one circle when the driving member (1) is energized; The first preset duration; is the speed ratio between the first coaxial gear on the driving member (1) and the gear at the input end of the sprocket mechanism (5); is the speed ratio between the gear at the input end of the sprocket mechanism (5) and the gear at the output end of the sprocket mechanism (5); It is the speed ratio between the gear at the output end of the sprocket mechanism (5) and the second coaxial gear on the seed disc (2).

7. A processor, characterized in that: The processor is configured to execute the seed filling method of the seed drill according to any one of claims 1-6.

8. A control device, characterized in that: The control device comprises a processor according to claim 7.

9. A seed drill, characterized in that: The seed drill comprises a control device according to claim 8.

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