Seeding machine

Abstract

The invention provides a seeding machine which comprises a plurality of seeding modules with the same structure, and the seeding modules are arranged in parallel; each seeding module comprises a motor controller, a motor and a seeding plate; the motor controller is used for controlling the rotating speed of the motor; the motor is used for driving the seed-metering disc to rotate; a plurality of holes are uniformly formed in the circumferential direction of the seed metering disc and are used for carrying seeds to a seed feeding point to fall down so as to realize seeding; when the seeder is used for seeding, the plurality of seeding modules comprise a first seeding module and at least one second seeding module. The motor controller of the second seeding module is also used for determining a seeding relative rotation angle of a second seeding plate of the second seeding module, and taking a difference value of the seeding relative rotation angles of the second seeding plate and the first seeding plate as an actual seed throwing phase angle; and controlling the rotating speed of the motor to enable the actual seed feeding phase angle to be equal to the target seed feeding phase angle. The seeder provided by the invention can realize flexible seeding of seeds, and meets the agronomic requirements of different crops.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment control, in particular to a seeder. Background Art

[0002] There are two common ways for a seeder to control the distribution of seeds between rows: Method 1: The single seeding device uses a double-row staggered hole seed tray and ancillary devices. The two rows of seeds are diverted to two seeding tubes through the diversion device to achieve staggered planting of adjacent rows.

[0003] Method 2: Use a GPS (Global Positioning System) receiver to collect the tractor's forward speed, and adjust the seed meter drive motor speed in real time based on the preset plant spacing, so as to achieve real-time matching of the seed disk speed and the tractor's forward speed, and achieve the purpose of uniform distribution of seeds in the row.

[0004] However, in method 1, staggered planting is achieved by mechanical means, and the sowing spacing cannot be flexibly adjusted, and other distribution planting methods cannot be achieved. In method 2, each seeding device is independently driven by a motor, which can only achieve accurate distribution of seeds in the row, but cannot achieve coordinated control of the drive motors of each seeding device to achieve the purpose of seed distribution control between sowing rows. Summary of the invention

[0005] The present invention provides a seeder, which is used to solve the defect of inflexible seed distribution mode in the prior art, and realizes flexible selection of seed planting mode, thereby meeting the agronomic requirements of different crops.

[0006] The seed drill provided by the present invention may include: a plurality of seeding modules with the same structure, and the seeding modules are arranged in parallel with each other; Each sowing module includes a motor controller, a motor and a seeding disc; the motor controller is used to control the speed of the motor, and the motor is used to drive the seeding disc to rotate; The seeding disc is evenly provided with a plurality of holes in the circumference, and the holes are used to carry seeds to the seeding point and drop them to achieve sowing; When the seed drill is sowing, the multiple sowing modules include a first sowing module and at least one second sowing module, and the motor speed of the first sowing module remains unchanged; The motor controller of the second sowing module is also used for: Determine a relative rotation angle of the second seeding disc of the second sowing module, wherein the relative rotation angle is the difference between the rotation angle of the seeding disc when subsequent seeds fall from the seeding point and the initial rotation angle of the seeding, wherein the initial rotation angle of the seeding disc is the rotation angle of the seeding disc when the first seed falls from the seeding point; The difference between the relative rotation angles of the second seeding disc and the first seeding disc of the first sowing module is used as the actual seeding phase angle; Determining a target planting phase angle between the first seed row disk and the second seed row disk based on a target planting pattern; The rotation speed of the motor is controlled so that the actual seeding phase angle is equal to the target seeding phase angle.

[0007] In one embodiment, the motor controller of the second sowing module is further used for: Determine a first actual longitudinal distance between a seed landing point of a driven sowing row of the second sowing module and a seed landing point of a reference sowing row of the first sowing module; Determining a first seeding phase angle of the second seed row disk based on a difference between the first actual longitudinal spacing and a first target longitudinal spacing corresponding to the target planting pattern; The rotation speed of the motor is controlled so that the first seeding phase angle is 0.

[0008] In one embodiment, the motor controller of the first sowing module is further used for: Determine a second actual longitudinal spacing between a seed placement position of a reference sowing row within a current working width and a seed placement position of a reference sowing row within an adjacent working width; Determining a second seeding phase angle of the first seeding disk based on a difference between the second actual longitudinal spacing and a second target longitudinal spacing corresponding to the target planting pattern; The rotation speed of the motor is controlled so that the second seeding phase angle is 0.

[0009] In one embodiment, the motor controller is further configured to: The initial rotation angle is determined as follows: Controlling the motor to rotate at a first speed until the seeds in the first-shaped holes fall from the seeding point, and then controlling the motor to stop rotating; Controlling the motor to rotate at a second speed, and determining a first rotation angle of the seeding disc when seeds in a second-type hole adjacent to the first-type hole fall from the seeding point; Using the first rotation angle as the initial rotation angle of the seeding disc; Wherein, the first speed is greater than the second speed.

[0010] In one embodiment, the motor controller is further configured to: Determine the seed drop lag distance according to the time it takes for the seeds to fall from the seed drop point into the seed furrow and the travel speed of the seed drill; The seed landing position is corrected according to the seed landing lag distance.

[0011] In one embodiment, the motor controller is further configured to: The rotation speed of the motor is controlled according to the travel speed of the seeder, the sowing spacing, the transmission ratio of the motor reduction group and the number of holes on the seeding disc.

[0012] In one embodiment, the target planting mode and the target planting phase angle include any one of the following: The target planting mode is a parallel planting mode, and the target planting phase angle is 0; The target planting mode is an alternating planting mode, and the target seeding phase angle is π / n, wherein n is the number of holes of the seeding disk.

[0013] In one embodiment, the rotation angle of the seed disc and the rotation angle of the motor satisfy: in, a p is the turning angle of the seeding disc; a m is the rotation angle of the motor; i Indicates the transmission ratio of the reduction group of the motor.

[0014] In one embodiment, the actual seeding phase angle is calculated by the following formula: in, β represents the actual seeding phase angle; a p1 , a p2 are the turning angles of the first row seed disc and the second row seed disc respectively; t 1 Indicates time.

[0015] In one embodiment, the speed of the motor is calculated by the following formula: in, r represents the speed of the motor, rpm; v represents the travel speed of the seeder, km / h; i Indicates the transmission ratio of the reduction group of the motor; n Indicates the number of holes of the seed plate; D Represents the sowing spacing, cm.

[0016] The seeder provided by the present invention can ensure that the plant spacing between the reference sowing row and the driven sowing row meets the requirements of the target planting mode by determining the actual sowing phase angle between the seeding discs corresponding to the reference sowing row and the driven sowing row, and by controlling the motor speed and then controlling the rotation of the seeding disc so that the actual sowing phase angle is equal to the target sowing phase angle required by the target planting mode, thereby achieving precise control of seed distribution. Furthermore, through this control method, no matter what target planting mode is used, the seed distribution can meet the requirements of the target planting mode, so flexible seeding of seeds can be achieved, meeting the agronomic requirements of different crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 The diagram is a structural diagram of the seeder provided by the present invention.

[0019] Figure 2 It is a structural schematic diagram of the seeding disc provided by the present invention.

[0020] Figure 3 Schematic diagram of the actual seeding phase angle in the embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of the target planting phase angle corresponding to the parallel planting mode in an embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of the target planting phase angle corresponding to the staggered planting mode in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Figure 1 It is one of the structural schematic diagrams of the seed drill provided by the present invention, such as Figure 1 As shown, the seed drill may include: a plurality of seeding modules 100 with the same structure, and each seeding module 100 is arranged parallel to each other; Each sowing module includes a motor controller 110, a motor 120 and a seeding disc 130; the motor controller 110 is used to control the speed of the motor, and the motor 120 is used to drive the seeding disc 130 to rotate; The seeding disc 130 is evenly provided with a plurality of holes 131 in the circumferential direction, and the holes 131 are used to carry seeds to the seeding point and drop them to achieve sowing; When the seed drill sows, the multiple seeding modules 100 include a first seeding module 100' and at least one second seeding module 100'', and the motor 120' of the first seeding module 100' has a constant rotation speed; The motor controller 110 ″ of the second sowing module 100 ″ is also used for: Determine the relative rotation angle of the second seeding disc 130'' of the second sowing module 100'', the relative rotation angle of the seeding is the difference between the rotation angle of the seeding disc when the subsequent seeds fall from the seeding point and the initial rotation angle of the seeding, the initial rotation angle of the seeding is the rotation angle of the seeding disc when the first seed falls from the seeding point; The difference between the relative rotation angles of the second seeding disc 130'' and the first seeding disc 130' of the first sowing module 100' is used as the actual seeding phase angle; Determine a target planting phase angle between the first seed row disk 130' and the second seed row disk 130" based on the target planting mode; The rotation speed of the motor 120 ″ of the second sowing module 100 ″ is controlled so that the actual sowing phase angle is equal to the target sowing phase angle.

[0025] It should be noted that the sowing modules 100 are arranged parallel to each other, which means that when the seeder is working, the sowing points of each sowing module 100 are located on the same straight line, and the straight line is usually perpendicular to the moving direction of the seeder, thereby ensuring that after each sowing module 100 drops the seeds, the positions of various seeds in the seed furrow remain regular as a whole.

[0026] Understandably, Figure 1 Only two sowing modules 100 of the sowing machine are shown, but the sowing machine may include more than two sowing modules 100 in actual operation. Figure 1 It is only used as an example and is not used to limit the specific structure of the seed drill provided by the present invention.

[0027] Further, each sowing module 100 may include a motor controller 110, which is connected to the motor 120 for controlling the rotation speed of the motor 120. The motor 120 is connected to the seeding disc 130 through a mechanical structure (such as various transmission structures, etc.) for driving the seeding disc 130 to rotate.

[0028] like Figure 2As shown, the seed plate 130 is evenly provided with a plurality of holes 131 in the circumferential direction, and the holes 131 are used to carry seeds to the seeding point and drop the seeds, so that the seeds fall into the seed groove to achieve sowing.

[0029] When the seed drill performs a seeding task, the plurality of seeding modules 100 may be divided into a first seeding module 100 ′ and at least one second seeding module 100 ″.

[0030] The sowing row corresponding to the first sowing module 100' when sowing can be the reference sowing row, and the sowing row corresponding to the second sowing module 100' when sowing can be the slave sowing row. The second sowing module '100' can refer to the plant spacing of the reference sowing row to adjust the plant spacing of its slave sowing row. Furthermore, the motor controller 110' of the reference sowing row can control the motor 120' to rotate at a target speed, that is, to keep the plant spacing in the reference sowing row consistent.

[0031] It should be noted that the first sowing module 100' and the second sowing module 100'' are only used to distinguish the sowing modules 100 when the sowing machine performs the sowing task, rather than limiting the structure or control process of the sowing module 100. In different situations, different sowing modules 100 can serve as the first sowing module 100' or the second sowing module 100''.

[0032] Specifically, when the seed drill is sowing, the motor speed of the first sowing module 100' can remain unchanged. The motor controller 110'' of the second sowing module 100'' can adjust the plant spacing of the driven sowing row to be consistent with the plant spacing of the reference sowing row through the following steps: Step 110, determining a relative rotation angle of the second seeding disc 130" of the second sowing module 100"; Step 120, taking the difference between the relative rotation angles of the second seeding disc 130'' and the first seeding disc 130'' of the first sowing module 100' as the actual seeding phase angle; Step 130, determining a target seeding phase angle between the first seed row disk 130' and the second seed row disk 130" based on a target planting mode; Step 140 , controlling the rotation speed of the motor 120 ″ so that the actual seeding phase angle is equal to the target seeding phase angle.

[0033] It should be noted that a seeding monitoring sensor may be provided at the seeding point and a rotation speed sensor may be provided for the seeding disc.

[0034] In step 110, when the first seed falls from the sowing point, the motor controller 110'' can obtain the initial sowing angle of the second seed disc 130'' from the speed sensor, and obtain the rotation angle of the second seed disc 130'' when subsequent seeds fall from the sowing point. The relative sowing angle of the second seed disc 130'' can be obtained by subtracting the rotation angle from the initial sowing angle.

[0035] In step 120, the motor controller 110'' can make a difference between the relative rotation angle of the second seeding disc 130'' and the relative rotation angle of the first seeding disc 130'', and use the angle difference as the actual seeding phase angle, such as Figure 3 shown.

[0036] Specifically, the actual seeding phase angle can be calculated by the following formula: in, β Indicates the actual seeding phase angle; a p1 , a p2 They are the turning angles of the first row seed disc 130' and the second row seed disc 130'' respectively; t 1 Indicates time.

[0037] In step 130 , the motor controller 110 ″ may determine a target seeding phase angle between the first seeding disc 130 ′ and the second seeding disc 130 ″ according to the target planting mode.

[0038] For example, when the target planting mode is a parallel planting mode, that is, the projection distance D' between the plants in the horizontal direction is 0, the target planting phase angle is β t is 0, such as Figure 4 shown.

[0039] When the target planting pattern is the staggered planting pattern, that is, the horizontal projection spacing between the plants is 0.5D (D is the spacing in the sowing row, hereinafter referred to as the sowing spacing), the target sowing phase angle is β t =π / n, where n is the number of holes in the seeding disc, such as Figure 5 shown.

[0040] Of course, the target planting pattern can also be any other pattern according to the planting requirements, for example, the projection spacing between the plants in the lateral direction is 0.3D, 0.6D, etc., and the present invention does not make any specific limitation to this.

[0041] In step 140 , the motor controller 110 ″ controls the rotation speed of the motor 120 ″ so that the actual seeding phase angle is equal to the target seeding phase angle.

[0042] It can be understood that when the rotation speed of the motor 120'' changes, the rotation speed of the seed disk 130'' will be driven to change. When the rotation speed of the seed disk 130' of the reference sowing row remains unchanged, the rotation speed of the seed disk 130'' will cause the actual seeding phase angle between the second seed disk 130'' and the first seed disk 130' to change, thereby realizing the adjustment of the plant spacing within the driven sowing row.

[0043] When the actual planting phase angle is equal to the target planting phase angle, it can be ensured that the plant spacing between the reference sowing row and the driven sowing row meets the requirements of the target planting pattern.

[0044] The seeder provided by the present invention can ensure that the plant spacing between the reference sowing row and the driven sowing row meets the requirements of the target planting mode by determining the actual sowing phase angle between the seeding discs corresponding to the reference sowing row and the driven sowing row, and by controlling the motor speed and then controlling the rotation of the seeding disc so that the actual sowing phase angle is equal to the target sowing phase angle required by the target planting mode, thereby achieving precise control of seed distribution. Furthermore, through this control method, no matter what target planting mode is used, the seed distribution can meet the requirements of the target planting mode, so flexible seeding of seeds can be achieved, meeting the agronomic requirements of different crops.

[0045] In one embodiment, the motor controller 110 ″ of the second sowing module 100 ″ can also be used to: Determine a first actual longitudinal distance between a seed landing position of a driven sowing row of the second sowing module 100' and a seed landing position of a reference sowing row of the first sowing module 100'; Determine a first seeding phase angle of the second seeding disk 130'' based on a difference between the first actual longitudinal spacing and a first target longitudinal spacing corresponding to the target planting pattern; The rotation speed of the motor 120 ″ is controlled so that the first seeding phase angle is 0.

[0046] It should be noted that the motor controller 110'' can calculate the seed drop location based on the positioning information of the satellite positioning system and the trigger signal of the seeding monitoring sensor. That is, when the seeding monitoring sensor is triggered, the motor controller 110'' can obtain the positioning information of the satellite positioning system to determine the seed drop location.

[0047] Furthermore, when the motor controller 110'' determines that the first actual longitudinal spacing between the seed landing position of the driven sowing row and the seed landing position of the reference sowing row deviates from the first target longitudinal spacing corresponding to the target planting pattern, the motor controller 110'' can convert the deviation into a first seeding phase angle of the second seed disk 130'' (as shown in the following formula) based on parameters such as the sowing spacing and the number of holes, and control the number of revolutions of the motor 120'' to make the first seeding phase angle 0, thereby realizing closed-loop adjustment of the spacing between the sowing rows within the operating width.

[0048] In the formula β is the seeding phase angle calculated by the seeding disc rotation angle, is the first seeding phase angle, △ d It represents the longitudinal spacing deviation, n is the number of holes in the seed tray, and D is the sowing spacing.

[0049] In one embodiment, the motor controller 110' of the first sowing module 100' can also be used to: Determine a second actual longitudinal spacing between a seed placement position of a reference sowing row within a current working width and a seed placement position of a reference sowing row within an adjacent working width; Determine a second seeding phase angle of the first seeding disk 130' based on a difference between the second actual longitudinal spacing and a second target longitudinal spacing corresponding to the target planting pattern; The rotation speed of the motor 120' is controlled so that the second seeding phase angle is zero.

[0050] It should be noted that, considering that the seeder operates multiple times, the spacing between rows may deviate between the operating widths.

[0051] Therefore, the motor controller 110' of the first sowing module 100' corresponding to the reference sowing row will obtain the second actual longitudinal spacing between the seed landing position of the reference sowing row within the current working width and the seed landing position of the reference sowing row within the adjacent working width, and calculate the deviation between the second actual longitudinal spacing and the second target longitudinal spacing corresponding to the target planting mode, and then convert the deviation into the second sowing phase angle of the first seed disk 130' based on the preset plant spacing, number of holes and other parameters, and control the number of revolutions of the motor 120' to make the second sowing phase angle 0, thereby realizing the plant spacing position adjustment between the sowing rows within the working width.

[0052] In one embodiment, the motor controller 110 may also be used to: The initial rotation angle is determined as follows: The motor 120 is controlled to rotate at a first speed until the seeds in the first-shaped holes fall from the seeding point and the motor 120 is controlled to stop rotating; Control the motor 120 to rotate at a second speed, and determine a first rotation angle of the seeding disc 130 when the seeds in the second-type holes adjacent to the first-type holes fall from the seeding point; The first rotation angle is used as the initial rotation angle of the seeding disc 130; The first speed is greater than the second speed.

[0053] When determining the initial rotation angle of the seeding disc 130, the seed drill will first perform a pre-seeding operation, that is, the motor controller 110 controls the motor 120 to rotate at a faster first speed until the seeding monitoring sensor detects that the first seed (the hole carrying the seed is called the first hole) falls, and then the motor controller 110 controls the motor 120 to stop rotating to complete the pre-seeding. After the motor 120 stops rotating for a certain period of time, the motor controller 110 will control the motor 120 to rotate at a slower second speed until the seeds in the second hole adjacent to the first hole fall from the seeding point. At this time, the motor controller 110 will obtain the first rotation angle of the seeding disc 130 from the speed sensor, and use the first rotation angle as the initial rotation angle of the seeding disc 130.

[0054] It can be understood that the motor controller 110 controls the motor 120 to rotate at a faster first speed first, so that the seed disc 130 can carry seeds quickly, thereby reducing the pre-seed filling time.

[0055] Furthermore, when the seed is approaching the planting point, the motor controller 110 can also appropriately reduce the rotation speed until the signal of the seeding monitoring sensor is triggered. This method can further reduce the acquisition error of the initial rotation angle of seeding.

[0056] After the seed disc 130 is pre-charged with seeds and stops for a period of time, the motor controller 110 controls the motor 120 to rotate at a slower second speed to drive the seed disc 130, so that the mold hole 131 of the seed disc 130 and the seeding point are as highly coincident as possible when the seeding monitoring sensor signal is triggered, thereby improving the accuracy of obtaining the initial rotation angle of seeding.

[0057] In one embodiment, the motor controller 110 may also be used to: The seed drop lag distance is determined based on the time it takes for the seeds to fall from the seed drop point into the seed furrow and the travel speed of the seeder. The seed drop position is corrected according to the seed drop lag distance.

[0058] It should be noted that since the seeding monitoring sensor triggers a signal when the seeds fall from the planting point, and it takes a certain amount of time for the seeds to fall from the planting point into the seed furrow, there will be a certain deviation between the position information obtained by the satellite positioning system when the seeding monitoring sensor triggers a signal and the actual landing position of the seeds.

[0059] Based on this, it is necessary to perform geometric compensation on the position information obtained through the satellite positioning system to obtain the accurate actual seed landing location.

[0060] Specifically, the time from the triggering signal of the seeding monitoring sensor (seeds falling from the seeding point) to the seeds falling into the seeding trench is relatively fixed, and can be obtained by calibration or calculation based on the height of the seeding point from the seeding trench.

[0061] Then, the motor controller 110 may determine the seed drop delay distance according to the travel speed of the seeder and the time from when the seeds fall from the seed drop point to when the seeds fall into the seed furrow.

[0062] Finally, the motor controller 110 can correct the actual seed landing position according to the seed landing lag distance to obtain the accurate seed landing position.

[0063] The seeder provided by the present invention can improve the accuracy of adjusting the plant spacing position by correcting the landing point position of the seeds.

[0064] In one embodiment, the motor controller 110 is further configured to: The speed of the motor is controlled according to the travel speed of the seeder, the sowing spacing, the transmission ratio of the motor's reduction group and the number of holes on the seed disc.

[0065] It is understandable that for the control of the spacing between plants in a row, the target speed of the motor 120 can be calculated based on the parameters such as the travel speed of the planter, the spacing between plants in a row, the transmission ratio of the motor's reduction group, etc. During the operation, the speed of the motor 120 can be controlled with the speed, thereby driving the seeding disc 130 to rotate and realizing the control of the spacing between plants in a row.

[0066] Specifically, the rotation speed of the motor 120 can be calculated by the following formula: in, r Indicates the speed of the motor, rpm; v Indicates the travel speed of the seeder, km / h; i is the conversion constant between the seed disc and the motor angle, which is determined by the mechanical structure between the seed disc and the motor, for example i It can indicate the transmission ratio of the motor's reduction group; n Indicates the number of holes of the seed plate 130; D Indicates the sowing spacing, cm; 5000 / 3 is the constant generated by unit conversion.

[0067] It can be understood that the travel distance of the seeder per unit time is v / 3.6t (3.6 is the conversion of km / h to m / s, and the unit of unit time t is s), and the sowing distance per unit time is rt / 60*n*d, where rt / 60 is the conversion of rpm to r / s, rt / 60*n is the seeding amount per unit time, and rt / 60*n*d is the sowing distance per unit time.

[0068] In one embodiment, the rotation angle of the seed disc 130 and the rotation angle of the motor 120 satisfy: in, a p It is the corner of the seed tray; a m is the rotation angle of the motor; i is the transmission ratio of the motor’s reduction group.

[0069] The following is a specific application example to illustrate the seed drill provided by the present invention: In the application example, the seed drill consists of a satellite positioning system, a terminal, a motor controller, a motor, a speed sensor, a seeding disc, a seeding monitoring sensor, etc. The satellite positioning system provides the operating speed and position of the seed drill; the terminal performs parameter setting and working condition display; the motor controller is used to drive the motor, receive the motor speed detected by the speed sensor, and receive the trigger signal of the seeding monitoring sensor. The satellite positioning system, the terminal, and the motor controller communicate through the CAN bus to achieve data interaction.

[0070] Application example 1: The terminal sets the planting mode to staggered planting, with the plant spacing within the row being 25 cm and the projected plant spacing between adjacent rows being 12.5 cm.

[0071] When the seeder starts pre-charging seeds, the seeding disc rotates at a speed of 0.5r / s. After about 1.5s, the seeding monitoring sensor triggers a signal, and the seeding disc stops rotating, completing the pre-charging. After 3 seconds, the seeding disc rotates at a speed of 0.02r / s. After about 1 second, the seeding monitoring sensor triggers a signal, and the seeding stops. The current seeding disc rotation angle is the initial seeding rotation angle.

[0072] When sowing begins, the first row is used as the reference row. The target seeding phase angle between the seeding disk of the odd-numbered slave row and the reference row is π / 26 (the number of holes in the seeding disk is 26), and the target seeding phase angle between the seeding disk of the even-numbered slave row and the reference row is 0. The actual seeding phase angle between the slave row and the reference row is calculated based on the initial seeding angle of the seeding disk, and the difference is calculated from the target seeding phase angle to obtain the phase angle deviation. Based on the phase angle deviation, the rotation speed of the seeding disk of the slave row is fine-tuned to make the phase angle deviation 0. After a certain distance of control, the seeds of each sowing row are staggered. The seeder turns around to perform adjacent sowing operations. The seeds of adjacent sowing rows of two working widths are staggered, and the seeds of other sowing rows are staggered.

[0073] Application Example 2: The planting mode is set to parallel planting, the plant spacing within the row is 25cm, and the projected plant spacing between adjacent rows is 0cm.

[0074] When the seeder starts pre-charging seeds, the seeding disc rotates at a speed of 0.5r / s. After about 1.5s, the seeding monitoring sensor triggers a signal, and the seeding disc stops rotating, completing the pre-charging. After 3 seconds, the seeding disc rotates at a speed of 0.02r / s. After about 1 second, the seeding monitoring sensor triggers a signal, and the seeding stops. The current seeding disc rotation angle is the initial seeding rotation angle.

[0075] When sowing begins, the first row is taken as the reference row, and the target seeding phase angle between the driven row seeding disc and the reference row seeding disc is 0. The actual seeding phase angle between the driven row and the reference row is calculated based on the initial seeding angle of the seeding disc, and the difference is calculated from the target seeding phase angle to obtain the phase angle deviation. Based on the phase angle deviation, the seeding disc speed of the driven row is fine-tuned to make the phase angle deviation 0. After a certain distance of control, the seeds in each sowing row are distributed in parallel. The seeder turns around to perform adjacent sowing operations, and the seeds in adjacent sowing rows of two operating widths are distributed in parallel, and the seeds in other sowing rows are distributed in parallel.

[0076] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0077] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seed drill, characterized in that: It comprises a plurality of seeding modules with the same structure, and each seeding module is arranged in parallel with each other; Each sowing module includes a motor controller, a motor and a seeding disc; the motor controller is used to control the speed of the motor, and the motor is used to drive the seeding disc to rotate; The seeding disc is evenly provided with a plurality of holes in the circumference, and the holes are used to carry seeds to the seeding point and drop them to achieve sowing; When the seed drill is sowing, the multiple sowing modules include a first sowing module and at least one second sowing module, and the motor speed of the first sowing module remains unchanged; The motor controller of the second sowing module is also used for: Determine a relative rotation angle of the second seeding disc of the second sowing module, wherein the relative rotation angle is the difference between the rotation angle of the seeding disc when subsequent seeds fall from the seeding point and the initial rotation angle of the seeding, wherein the initial rotation angle of the seeding disc is the rotation angle of the seeding disc when the first seed falls from the seeding point; The difference between the relative rotation angles of the second seeding disc and the first seeding disc of the first sowing module is used as the actual seeding phase angle; Determining a target planting phase angle between the first seed row disk and the second seed row disk based on a target planting pattern; The rotation speed of the motor is controlled so that the actual seeding phase angle is equal to the target seeding phase angle.

2. The seed drill according to claim 1, characterized in that: The motor controller of the second sowing module is also used for: Determine a first actual longitudinal distance between a seed landing point of a driven sowing row of the second sowing module and a seed landing point of a reference sowing row of the first sowing module; Determining a first seeding phase angle of the second seed row disk based on a difference between the first actual longitudinal spacing and a first target longitudinal spacing corresponding to the target planting pattern; The rotation speed of the motor is controlled so that the first seeding phase angle is 0.

3. The seed drill according to claim 2, characterized in that: The motor controller of the first sowing module is also used for: Determine a second actual longitudinal spacing between a seed placement position of a reference sowing row within a current working width and a seed placement position of a reference sowing row within an adjacent working width; Determining a second seeding phase angle of the first seeding disk based on a difference between the second actual longitudinal spacing and a second target longitudinal spacing corresponding to the target planting pattern; The rotation speed of the motor is controlled so that the second seeding phase angle is 0.

4. The seed drill according to claim 1, characterized in that: The motor controller is also used for: The initial rotation angle is determined as follows: Controlling the motor to rotate at a first speed until the seeds in the first-shaped holes fall from the seeding point, and then controlling the motor to stop rotating; Controlling the motor to rotate at a second speed, and determining a first rotation angle of the seeding disc when seeds in a second-type hole adjacent to the first-type hole fall from the seeding point; Using the first rotation angle as the initial rotation angle of the seeding disc; Wherein, the first speed is greater than the second speed.

5. The seed drill according to claim 3, characterized in that: The motor controller is also used for: Determine the seed drop lag distance according to the time it takes for the seeds to fall from the seed drop point into the seed furrow and the travel speed of the seed drill; The seed landing position is corrected according to the seed landing lag distance.

6. The seed drill according to claim 1, characterized in that: The motor controller is also used for: The rotation speed of the motor is controlled according to the travel speed of the seeder, the sowing spacing, the transmission ratio of the motor reduction group and the number of holes on the seeding disc.

7. The seed drill according to any one of claims 1 to 6, characterized in that: The target planting mode and the target planting phase angle include any of the following: The target planting mode is a parallel planting mode, and the target planting phase angle is 0; The target planting mode is an alternating planting mode, and the target seeding phase angle is π / n, wherein n is the number of holes of the seeding disk.

8. The seed drill according to claim 1, characterized in that: The rotation angle of the seeding disc and the rotation angle of the motor satisfy: in, a p is the turning angle of the seeding disc; a m is the rotation angle of the motor; i Indicates the transmission ratio of the reduction group of the motor.

9. The seed drill according to claim 1, characterized in that: The actual seeding phase angle is calculated by the following formula: in, β represents the actual seeding phase angle; a p1 , a p2 are the turning angles of the first row seed disc and the second row seed disc respectively; t 1 Indicates time.

10. The seed drill according to claim 6, characterized in that: The speed of the motor is calculated by the following formula: in, r represents the speed of the motor, rpm; v represents the travel speed of the seeder, km / h; i Indicates the transmission ratio of the reduction group of the motor; n Indicates the number of holes of the seed plate; D Represents the sowing spacing, cm.

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