sowing machine

Abstract

The application provides a seeding machine, comprising multiple seeding modules which are parallel to each other and have the same structure; each seeding module comprises a motor controller, a motor and a seed plate; the motor controller is used to control the rotating speed of the motor, and the motor is used to drive the seed plate to rotate; multiple type holes are uniformly arranged on the circumference of the seed plate, and the type holes are used to carry seeds to the seed dropping point to realize seeding; when the seeding machine is seeding, the multiple seeding modules comprise a first seeding module and at least one second seeding module; the motor controller of the second seeding module is further used to: determine the relative rotating angle of the seed plate of the second seeding module, take the difference between the relative rotating angles of the seed plates of the first and second seeding modules as the actual seed dropping phase angle; and control the rotating speed of the motor so that the actual seed dropping phase angle is equal to the target seed dropping phase angle. The seeding machine provided by the application can realize flexible seeding of seeds and meet the agronomic requirements of different crops.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural equipment control, and particularly relates to a seeding machine. BACKGROUND

[0002] There are two common ways for the row-to-row seed distribution control of the seeding machine:

[0003] Way 1: A single-row seed sowing device uses double-row staggered hole seed plates and auxiliary devices, and two rows of seeds are guided into two seed sowing pipes through a flow guide device to realize staggered distribution planting of adjacent rows.

[0004] Way 2: A GPS (Global Positioning System) receiver is used to collect the forward speed of a tractor, and a preset plant spacing is used to adjust the rotation speed of a seed sowing device driving motor in real time, so as to realize real-time matching of the rotation speed of the seed sowing plate and the forward speed of the tractor, and achieve the purpose of uniform distribution of seeds in a row.

[0005] However, in way 1, staggered distribution planting is realized by a mechanical method, and the seed spacing cannot be flexibly adjusted, and other distribution planting modes cannot be realized. In way 2, motors are used to independently drive the seed sowing devices, and only the accurate distribution of seeds in a row can be realized, and the driving motors of the seed sowing devices cannot be cooperatively controlled to realize the row-to-row seed distribution control. SUMMARY

[0006] The present application provides a seeding machine to solve the defect of the inflexible seed distribution mode in the prior art, realize flexible selection of the seed planting mode, and meet the agricultural requirements of different crops.

[0007] The seeding machine provided by the present application can include a plurality of seeding modules which are the same in structure and are arranged in parallel with each other.

[0008] Each seeding module includes a motor controller, a motor and a seed sowing plate. The motor controller is used to control the rotation speed of the motor, and the motor is used to drive the seed sowing plate to rotate.

[0009] The seed sowing plate is uniformly provided with a plurality of type holes in the circumferential direction, and the type holes are used to carry seeds to the seed dropping point to realize seed sowing.

[0010] When the seeding machine is sowing seeds, the plurality of seeding modules include a first seeding module and at least one second seeding module, and the rotation speed of the motor of the first seeding module is constant.

[0011] The motor controller of the second seeding module is further used to:

[0012] determining a second seed drop position of a second seed drop of the second seeding module, the second seed drop position being a position of a seed drop of the second seeding module at a second seed drop time, the second seed drop time being a time when the second seed drop of the second seeding module occurs;

[0013] determining a second seed drop position of a second seed drop of the second seeding module, the second seed drop position being a position of a seed drop of the second seeding module at a second seed drop time, the second seed drop time being a time when the second seed drop of the second seeding module occurs;

[0014] determining a second seed drop position of a second seed drop of the second seeding module, the second seed drop position being a position of a seed drop of the second seeding module at a second seed drop time, the second seed drop time being a time when the second seed drop of the second seeding module occurs;

[0015] determining a second seed drop position of a second seed drop of the second seeding module, the second seed drop position being a position of a seed drop of the second seeding module at a second seed drop time, the second seed drop time being a time when the second seed drop of the second seeding module occurs;

[0016] In one embodiment, the motor controller of the second seeding module is further configured to:

[0017] determining a first actual longitudinal distance between the seed drop position of the driven seed row of the second seeding module and the seed drop position of the reference seed row of the first seeding module;

[0018] determining a first actual longitudinal distance between the seed drop position of the driven seed row of the second seeding module and the seed drop position of the reference seed row of the first seeding module;

[0019] determining a first actual longitudinal distance between the seed drop position of the driven seed row of the second seeding module and the seed drop position of the reference seed row of the first seeding module;

[0020] In one embodiment, the motor controller of the first seeding module is further configured to:

[0021] determining a second actual longitudinal distance between the seed drop position of the reference seed row in a current working width and the seed drop position of the reference seed row in a neighboring working width;

[0022] determining a second actual longitudinal distance between the seed drop position of the reference seed row in a current working width and the seed drop position of the reference seed row in a neighboring working width;

[0023] determining a second actual longitudinal distance between the seed drop position of the reference seed row in a current working width and the seed drop position of the reference seed row in a neighboring working width;

[0024] In one embodiment, the motor controller is further configured to:

[0025] determining the initial rotation angle by:

[0026] controlling the motor to rotate at the first speed until the seed in the first seed drop hole is dropped from the seed drop point;

[0027] controlling the motor to rotate at a second speed, determining a first rotation angle of the seed plate when a seed in a second type hole adjacent to the first type hole falls from the seed dropping point;

[0028] taking the first rotation angle as a seed dropping initial rotation angle of the seed plate;

[0029] wherein the first speed is greater than the second speed.

[0030] In one embodiment, the motor controller is further configured to:

[0031] determining a seed dropping lag distance according to a time length that a seed takes to fall into a seed furrow from the seed dropping point and a traveling speed of the seeding machine;

[0032] correcting the seed dropping position according to the seed dropping lag distance.

[0033] In one embodiment, the motor controller is further configured to:

[0034] controlling a rotation speed of the motor according to a traveling speed of the seeding machine, a seed dropping plant distance, a reduction gear ratio of the motor, and a type hole number of the seed plate.

[0035] In one embodiment, the target planting mode and the target seed dropping phase angle include any one of the following:

[0036] the target planting mode is a parallel planting mode, and the target seed dropping phase angle is 0;

[0037] the target planting mode is an alternate planting mode, and the target seed dropping phase angle is π / n, wherein n is the type hole number of the seed plate.

[0038] In one embodiment, a rotation angle of the seed plate and a rotation angle of the motor satisfy:

[0039]

[0040] wherein, a p is the rotation angle of the seed plate; a m is the rotation angle of the motor; i denotes the reduction gear ratio of the motor.

[0041] In one embodiment, the actual seed dropping phase angle is calculated by the following formula:

[0042]

[0043] wherein, β denotes the actual seed dropping phase angle; ap1 、 a p2 respectively represent the rotation angle of the first seed plate and the second seed plate; t 1 represents the time.

[0044] In one embodiment, the rotation speed of the motor is calculated by the following formula:

[0045]

[0046] wherein, r represents the rotation speed of the motor, rpm; v represents the traveling speed of the seeding machine, km / h; i represents the transmission ratio of the reduction gear of the motor; n represents the number of the seed plate holes; D represents the seeding plant spacing, cm.

[0047] The seeding machine provided by the present application can ensure that the plant spacing between the reference seeding row and the driven seeding row meets the requirements of the target planting mode by determining the actual planting phase angle between the seed plates corresponding to the reference seeding row and the driven seeding row, and by controlling the rotation speed of the motor to control the rotation of the seed plate so that the actual planting phase angle is equal to the target planting phase angle required by the target planting mode, thereby realizing accurate control of seed distribution. Further, the control method can make the seed distribution meet the requirements of the target planting mode under any target planting mode, so that flexible seeding of seeds can be realized, and the agronomic requirements of different crops can be met. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0049] Figure 1 is a structural schematic diagram of the seeding machine provided by the present application.

[0050] Figure 2 is a structural schematic diagram of the seed plate provided by the present application.

[0051] Figure 3 is a schematic diagram of the actual planting phase angle in the embodiment of the present application.

[0052] Figure 4 is a schematic diagram of the target planting phase angle corresponding to the parallel planting mode in the embodiment of the present application.

[0053] Figure 5 is a schematic diagram of a target seed-throwing phase angle corresponding to the staggered planting mode in the embodiment of the present application. DETAILED DESCRIPTION

[0054] To make the objects, technical solutions, and advantages of the present application clearer, the technical solutions in the present application will be described below in connection with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0055] Figure 1 is a structural schematic diagram of a seeding machine provided by the present application, as shown in the figure, the seeding machine can include: a plurality of structurally identical seeding modules 100, and each seeding module 100 is arranged in parallel with each other; Figure 1

[0056] Each seeding module includes a motor controller 110, a motor 120, and a seed plate 130; the motor controller 110 is used to control the rotating speed of the motor, and the motor 120 is used to drive the seed plate 130 to rotate;

[0057] The seed plate 130 is uniformly provided with a plurality of type holes 131 in the circumferential direction, and the type hole 131 is used to carry the seeds to the seed-throwing point to fall down to realize seeding;

[0058] When the seeding machine is seeding, a first seeding module 100' and at least one second seeding module 100'' are included in the plurality of seeding modules 100, and the rotating speed of the motor 120' of the first seeding module 100' is unchanged;

[0059] The motor controller 110'' of the second seeding module 100'' is further used to:

[0060] determine the relative seed-throwing rotation angle of the second seed plate 130'' of the second seeding module 100'', the relative seed-throwing rotation angle being the difference between the rotation angle of the seed plate when the subsequent seed falls from the seed-throwing point and the initial seed-throwing rotation angle, and the initial seed-throwing rotation angle being the rotation angle of the seed plate when the first seed falls from the seed-throwing point;

[0061] the difference between the relative seed-throwing rotation angle of the second seed plate 130'' and the relative seed-throwing rotation angle of the first seed plate 130' of the first seeding module 100' as the actual seed-throwing phase angle;

[0062] determine the target seed-throwing phase angle between the first seed plate 130' and the second seed plate 130'' based on the target planting mode;

[0063] control the rotating speed of the motor 120'' of the second seeding module 100'' so that the actual seed-throwing phase angle is equal to the target seed-throwing phase angle.​

[0064] It should be noted that the plurality of seeding modules 100 are arranged in parallel, which means that the seeding points of the plurality of seeding modules 100 are located on the same straight line when the seeding machine is working, and the straight line is usually perpendicular to the advancing direction of the seeding machine, so as to ensure that the positions of the seeds in the seed furrows are regular as a whole after the seeds are dropped by the plurality of seeding modules 100.

[0065] It can be understood that, Figure 1 Only two seeding modules 100 of the seeding machine are shown, but the seeding machine can include more than two seeding modules 100 in actual operation, and therefore Figure 1 The specific structure of the seeding machine provided by the present application is only used for example and does not limit the specific structure of the seeding machine provided by the present application.

[0066] Further, each of the plurality of seeding modules 100 can include a motor controller 110, which is in communication connection with the motor 120 and is used to control the rotating speed of the motor 120. The motor 120 is connected with the seed plate 130 through a mechanical structure (for example, various transmission structures, etc.) and is used to drive the seed plate 130 to rotate.

[0067] As Figure 2 shown, the seed plate 130 is uniformly provided with a plurality of type holes 131 in the circumferential direction, and the type holes 131 are used to carry the seeds to the seeding points and drop the seeds into the seed furrows to achieve seeding.

[0068] When the seeding machine performs the seeding task, the plurality of seeding modules 100 can be divided into a first seeding module 100' and at least one second seeding module 100''.

[0069] The corresponding seeding row of the first seeding module 100' when seeding can be a reference seeding row, and the corresponding seeding row of the second seeding module 100'' when seeding can be a driven seeding row. The second seeding module 100'' can adjust the plant spacing of the driven seeding row with reference to the plant spacing of the reference seeding row. Further, the motor controller 110' of the reference seeding row can control the motor 120' to rotate at a target rotating speed, that is, to keep the plant spacing in the reference seeding row consistent.

[0070] It should be noted that the first seeding module 100' and the second seeding module 100'' are only used to distinguish the plurality of seeding modules 100 when the seeding machine performs the seeding task, and do not limit the structure or control flow of the seeding module 100. In different cases, different seeding modules 100 can act as the first seeding module 100' or the second seeding module 100''.

[0071] Specifically, the motor speed of the first seeding module 100' can remain unchanged when the seeding machine is seeding. The motor controller 110" of the second seeding module 100" can adjust the plant spacing of the driven seeding row to be consistent with the plant spacing of the reference seeding row by the following steps:

[0072] Step 110, determine the relative rotation angle of the second seeding disc 130" of the second seeding module 100";

[0073] Step 120, the difference between the relative rotation angle of the second seeding disc 130" and the relative rotation angle of the first seeding disc 130" of the first seeding module 100' is taken as the actual planting phase angle;

[0074] Step 130, determine the target planting phase angle between the first seeding disc 130' and the second seeding disc 130" based on the target planting pattern;

[0075] Step 140, control the speed of the motor 120" to make the actual planting phase angle equal to the target planting phase angle.

[0076] It should be noted that a seeding monitoring sensor can be arranged at the planting point and a rotation speed sensor can be arranged for the seeding disc.

[0077] In step 110, when the first seed falls from the planting point, the motor controller 110" can obtain the initial rotation angle of the second seeding disc 130" at this time from the rotation speed sensor, and obtain the rotation angle of the second seeding disc 130" when the subsequent seed falls from the planting point. The relative rotation angle of the second seeding disc 130" can be obtained by subtracting the initial rotation angle from the rotation angle.

[0078] In step 120, the motor controller 110" can subtract the relative rotation angle of the second seeding disc 130" from the relative rotation angle of the first seeding disc 130", and take the angle difference as the actual planting phase angle, as shown in Figure 3 .

[0079] Specifically, the actual planting phase angle can be calculated by the following formula:

[0080]

[0081] wherein, β the actual planting phase angle; a p1 、 a p2 the rotation angles of the first seeding disc 130' and the second seeding disc 130", respectively; t 1 denotes the time.

[0082] In step 130, the motor controller 110'' can determine a target planting phase angle between the first seed plate 130' and the second seed plate 130'' according to the target planting mode.

[0083] For example, when the target planting mode is a parallel planting mode, i.e., the projected plant spacing D' of each plant to each other in the lateral direction is 0, the target planting phase angle β t is 0, as shown in FIG. 2. Figure 4

[0084] When the target planting mode is a staggered planting mode, i.e., the projected plant spacing of each plant to each other in the lateral direction is 0.5D (D is the plant spacing in the sowing row, hereinafter referred to as the sowing plant spacing), the target planting phase angle β t is π / n, where n is the number of seed plate holes, as shown in FIG. 3. Figure 5

[0085] Of course, the target planting mode can also be any other mode according to planting requirements, for example, the projected plant spacing of each plant to each other in the lateral direction is 0.3D, 0.6D, etc., which is not limited in the present application.

[0086] In step 140, the motor controller 110'' controls the speed of the motor 120'' to make the actual planting phase angle equal to the target planting phase angle.

[0087] It can be understood that when the speed of the motor 120'' changes, the rotation speed of the seed plate 130'' will change, and in the case that the rotation speed of the seed plate 130' of the reference sowing row does not change, the rotation speed of the seed plate 130'' will change the actual planting phase angle between the second seed plate 130'' and the first seed plate 130', thereby achieving the adjustment of the plant spacing in the driven sowing row.

[0088] 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 mode.

[0089] The sowing machine provided by the present application can determine the actual planting phase angle between the seed plates corresponding to the reference sowing row and the driven sowing row, and control the rotation of the seed plate by controlling the speed of the motor, so that the actual planting phase angle is equal to the target planting phase angle required by the target planting mode, which can ensure that the plant spacing between the reference sowing row and the driven sowing row meets the requirements of the target planting mode, thereby achieving precise control of seed distribution. Further, through this control method, the seed distribution can meet the requirements of the target planting mode under any target planting mode, so that flexible sowing of seeds can be realized, and the agronomic requirements of different crops can be met.

[0090] ​​In one embodiment, the motor controller 110’’ of the second seeding module 100’’ can be further configured to:

[0091] determine a first actual longitudinal distance between the seed drop position of the driven seeding row of the second seeding module 100’’ and the seed drop position of the reference seeding row of the first seeding module 100’;

[0092] determine a first seeding phase angle of the second seed plate 130’’ based on a difference between the first actual longitudinal distance and a first target longitudinal distance corresponding to the target planting pattern;

[0093] control the rotation speed of the motor 120’’ to make the first seeding phase angle be 0.

[0094] It should be noted that the motor controller 110’’ can calculate the seed drop position based on the positioning information of the satellite positioning system and the triggering signal of the seed monitoring sensor. That is, when the seed monitoring sensor triggers, the motor controller 110’’ can obtain the positioning information of the satellite positioning system to determine the seed drop position.

[0095] Further, when the motor controller 110’’ determines that the first actual longitudinal distance between the seed drop position of the driven seeding row of the second seeding module 100’’ and the seed drop position of the reference seeding row of the first seeding module 100’ deviates from the first target longitudinal distance corresponding to the target planting pattern, the motor controller 110’’ can convert the deviation into the first seeding phase angle of the second seed plate 130’’ based on parameters such as seeding plant distance and number of holes (as shown in the following formula), and control the number of rotations of the motor 120’’ to make the first seeding phase angle be 0, so as to realize the closed-loop adjustment of the plant position between the rows within the working width.

[0096]

[0097] In the formula, φ is the seeding phase angle calculated by the rotation angle of the seed plate, β is the first seeding phase angle, and △ represents the longitudinal distance deviation, n is the number of holes of the seed plate, and D is the seeding plant distance. d

[0098] In one embodiment, the motor controller 110’ of the first seeding module 100’ can be further configured to:

[0099] determine a second actual longitudinal distance between the seed drop position of the reference seeding row in the current working width and the seed drop position of the reference seeding row in the adjacent working width;

[0100] determine a second seeding phase angle of the first seed plate 130’ based on a difference between the second actual longitudinal distance and a second target longitudinal distance corresponding to the target planting pattern;

[0101] ​The rotation speed of the motor 120' is controlled to make the second seed dropping phase angle 0.

[0102] It should be noted that considering the multiple operations of the seeding machine, the plant spacing position between the operation widths may be deviated.

[0103] Therefore, the motor controller 110' of the first seeding module 100' corresponding to the reference row will obtain the second actual longitudinal spacing between the seed drop position of the reference row in the current operation width and the seed drop position of the reference row in the adjacent operation width, calculate the deviation of the second actual longitudinal spacing from the second target longitudinal spacing corresponding to the target planting pattern, and convert the deviation into the second seed dropping phase angle of the first seed plate 130' based on the preset plant spacing, the number of holes, and other parameters, and control the number of rotations of the motor 120' to make the second seed dropping phase angle 0, so as to realize the plant spacing position adjustment between the rows between the operation widths.

[0104] In one embodiment, the motor controller 110 can also be used to:

[0105] The initial rotation angle is determined by:

[0106] The motor 120 is controlled to rotate at a first speed until the seed in the first hole drops from the seed dropping point, and the motor 120 stops rotating;

[0107] The motor 120 is controlled to rotate at a second speed, and when the seed in the second hole adjacent to the first hole drops from the seed dropping point, the first rotation angle of the seed plate 130 is determined;

[0108] The first rotation angle is taken as the initial rotation angle of the seed plate 130;

[0109] The first speed is greater than the second speed.

[0110] When the initial rotation angle of the seed plate 130 is determined, the seeder will first perform a pre-seeding operation, that is, the motor controller 110 controls the motor 120 to rotate at a faster first speed, and after the first seed (the hole carrying the seed is called the first hole) drops, 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 controls the motor 120 to rotate at a slower second speed until the seed in the second hole adjacent to the first hole drops from the seed dropping point. At this time, the motor controller 110 obtains the first rotation angle of the seed plate 130 from the rotation speed sensor, and takes the first rotation angle as the initial rotation angle of the seed plate 130.

[0111] It can be understood that the motor controller 110 controls the motor 120 to rotate at a faster first speed, which can make the seed plate 130 carry seeds quickly, thereby reducing the pre-seeding time.

[0112] Further, when the seed is close to the drop point, the motor controller 110 can also appropriately reduce the rotation speed until the signal of the seed monitoring sensor triggers, which can further reduce the error of the initial rotation angle of the seed.

[0113] After the seed plate 130 is pre-seeded 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 plate 130, which can make the seed plate 130 and the drop point as high as possible when the seed monitoring sensor signal triggers, thereby improving the accuracy of the initial rotation angle of the seed.

[0114] In one embodiment, the motor controller 110 can also be used to:

[0115] According to the time length of the seed falling into the seed furrow from the drop point and the travel speed of the seeding machine, the seed drop lag distance is determined;

[0116] According to the seed drop lag distance, the seed drop point position is corrected.

[0117] It should be noted that since the seed monitoring sensor triggers the signal when the seed falls from the drop point, and it takes a certain time for the seed to fall into the seed furrow, there will be a certain deviation between the position information obtained by the satellite positioning system and the actual seed drop point position when the seed monitoring sensor triggers the signal.

[0118] Therefore, the position information obtained by the satellite positioning system needs to be geometrically compensated to obtain the accurate actual seed drop point position.

[0119] Specifically, the time length from the seed monitoring sensor triggering the signal (the seed falling from the drop point) to the seed falling into the seed furrow is relatively fixed, which can be obtained by calibration or based on the height of the drop point from the seed furrow.

[0120] Then, the motor controller 110 can determine the seed drop lag distance according to the travel speed of the seeding machine and the time length of the seed falling from the drop point to the seed falling into the seed furrow.

[0121] Finally, the motor controller 110 can correct the actual seed drop point position according to the seed drop lag distance to obtain the accurate seed drop point position.

[0122] The seeding machine provided by the present application can improve the accuracy of the plant spacing position adjustment by correcting the seed drop point position.

[0123] In one embodiment, the motor controller 110 can also be used to:

[0124] According to the traveling speed of the seeding machine, the seeding plant spacing, the reduction gear transmission ratio of the motor and the number of the type holes of the seed plate, the rotating speed of the motor is controlled.

[0125] It can be understood that for the plant spacing control in the row, the target rotating speed of the motor 120 can be calculated according to the parameters such as the traveling speed of the seeding machine, the seeding plant spacing, the reduction gear transmission ratio of the motor, etc. During the operation, the rotating speed of the motor 120 can be controlled at speed, so as to drive the seed plate 130 to rotate, and realize the plant spacing control in the row.

[0126] Specifically, the rotating speed of the motor 120 can be calculated by the following formula:

[0127]

[0128] wherein, r represents the rotating speed of the motor, rpm; v represents the traveling speed of the seeding machine, km / h; i is the conversion constant of the rotating angle of the seed plate and the motor, which is determined by the mechanical structure between the seed plate and the motor, for example i may represent the reduction gear transmission ratio of the motor; n represents the number of the type holes of the seed plate 130; D represents the seeding plant spacing, cm; 5000 / 3 is the constant generated by unit conversion.

[0129] It can be understood that the driving distance of the seeding machine per unit time is v / 3.6t, (3.6 is the conversion from km / h to m / s, and the unit of time t is s), and the seeding distance per unit time is rt / 60*n*d, wherein rt / 60 is the conversion from rpm to r / s, rt / 60*n is the seed amount per unit time, and rt / 60*n*d is the seeding distance per unit time.

[0130] In one embodiment, the rotating angle of the seed plate 130 and the rotating angle of the motor 120 satisfy:

[0131]

[0132] wherein, a p is the rotating angle of the seed plate; a m is the rotating angle of the motor; i is the reduction gear transmission ratio of the motor.

[0133] The seeding machine provided by the present application is described below by taking a specific application example:

[0134] In the application example, the seeding machine is composed of a satellite positioning system, a terminal, a motor controller, a motor, a rotating speed sensor, a seed plate, and a seed monitoring sensor. The satellite positioning system provides the working speed and position of the seeding machine; the terminal sets parameters and displays working conditions; the motor controller drives the motor, receives the motor rotating speed detected by the rotating speed sensor, and receives the trigger signal of the seed monitoring sensor. The satellite positioning system, the terminal, and the motor controller communicate through a CAN bus to realize data interaction.

[0135] Application Example One

[0136] The terminal sets the planting mode as staggered planting, the in-row plant spacing as 25 cm, and the adjacent projected row plant spacing as 12.5 cm.

[0137] When the seeding machine starts pre-seeding, the seed plate rotates at a speed of 0.5 r / s, and after about 1.5 s, the seed monitoring sensor triggers a signal, the seed plate stops rotating, and the pre-seeding is completed. After 3 s, the seed plate rotates at a speed of 0.02 r / s, and after about 1 s, the seed monitoring sensor triggers a signal, the seed plate stops seeding, and the current seed plate rotation angle is the initial seed plate rotation angle.

[0138] When the seeding starts, the first row is taken as the reference row, the target seed planting phase angle of the seed plate of the odd driven row and the seed plate of the reference row is π / 26 (the seed plate has 26 holes), and the target seed planting phase angle of the seed plate of the even driven row and the seed plate of the reference row is 0. The actual seed planting phase angle of the driven row and the reference row is calculated based on the initial seed plate rotation angle, and the difference between the actual seed planting phase angle and the target seed planting phase angle is obtained. Based on the phase angle deviation, the seed plate rotating speed of the driven row is adjusted to make the phase angle deviation 0. After a distance of control, the seeds of each row are staggered. The seeding machine turns around to work on the adjacent rows, and the seeds of the two working widths of the adjacent rows are staggered, and the seeds of the other rows are staggered.

[0139] Application Example Two

[0140] The terminal sets the planting mode as parallel planting, the in-row plant spacing as 25 cm, and the adjacent projected row plant spacing as 0 cm.

[0141] When the seeding machine starts pre-seeding, the seed plate rotates at a speed of 0.5 r / s, and after about 1.5 s, the seed monitoring sensor triggers a signal, the seed plate stops rotating, and the pre-seeding is completed. After 3 s, the seed plate rotates at a speed of 0.02 r / s, and after about 1 s, the seed monitoring sensor triggers a signal, the seed plate stops seeding, and the current seed plate rotation angle is the initial seed plate rotation angle.

[0142] When starting seeding, the actual seeding phase angle of the driven row and the reference row is calculated from the seeding initial angle of the seeding disc, with the first row as the reference row, the target seeding phase angle of the driven row and the reference row seeding disc being 0, and the phase angle deviation is obtained by subtracting the target seeding phase angle. Based on the phase angle deviation, the seeding disc rotation speed of the driven row is fine-tuned so that the phase angle deviation is 0. After a distance of control, the seeds of each seeding row are distributed in parallel. The seeder turns around to perform adjacent seeding row operation, and the seeds of the adjacent seeding rows of the two operation widths are distributed in parallel, and the seeds of other seeding rows are distributed in parallel.

[0143] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0144] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and the necessary general hardware platform, and of course, it can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the method described in each embodiment or some parts of the embodiment.

[0145] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A planter characterized by, The plurality of seeding modules are arranged in parallel with each other; Each of the seeding modules comprises a motor controller, a motor and a seed plate; the motor controller is configured to control the rotating speed of the motor, and the motor is configured to drive the seed plate to rotate; The seed plate is provided with a plurality of holes in the circumferential direction, and the holes are configured to carry seeds to the seed dropping point to achieve seeding; During the seeding process, the plurality of seeding modules comprise a first seeding module and at least one second seeding module, and the rotating speed of the motor of the first seeding module is constant; The motor controller of the second seeding module is further configured to: determine the relative rotation angle of the second seed plate of the second seeding module, wherein the relative rotation angle is the difference between the rotation angle of the seed plate when the subsequent seed drops from the seed dropping point and the initial rotation angle of the seed plate when the first seed drops from the seed dropping point; determine the difference between the relative rotation angle of the first seed plate of the first seeding module and the relative rotation angle of the second seed plate as the actual seed dropping phase angle; determine the target seed dropping phase angle between the first seed plate and the second seed plate based on the target planting mode; control the rotating speed of the motor to make the actual seed dropping phase angle equal to the target seed dropping phase angle; The target planting mode and the target seed dropping phase angle comprise any one of the following: the target planting mode is a parallel planting mode, and the target seed dropping phase angle is 0; the target planting mode is an alternating planting mode, and the target seed dropping phase angle is π / n, wherein n is the number of holes in the seed plate; The actual seed dropping phase angle is calculated by the following formula: Wherein, β represents the actual sowing phase angle; a p1 , a p2 Respectively, the first seed plate and the second seed plate rotation angle; t1 represents the time.

2. The planter of claim 1, wherein, The motor controller of the second seeding module is further configured to: determine the first actual longitudinal distance between the seed dropping position of the driven seed row of the second seeding module and the seed dropping position of the reference seed row of the first seeding module; determine the first seed dropping phase angle of the second seed plate based on the difference between the first actual longitudinal distance and the first target longitudinal distance corresponding to the target planting mode; control the rotating speed of the motor to make the first seed dropping phase angle 0.

3. The planter of claim 2, wherein, The motor controller of the first seeding module is further configured to: determine the second actual longitudinal distance between the seed dropping position of the reference seed row in the current working width and the seed dropping position of the reference seed row in the adjacent working width; determine the second seed dropping phase angle of the first seed plate based on the difference between the second actual longitudinal distance and the second target longitudinal distance corresponding to the target planting mode; control the rotating speed of the motor to make the second seed dropping phase angle 0.

4. The planter of claim 1, wherein, The motor controller is further configured to: determine the initial rotation angle by the following method: control the motor to rotate at a first speed until the seed in the first hole drops from the seed dropping point, and then control the motor to stop rotating; control the motor to rotate at a second speed, and determine the first rotation angle of the seed plate when the seed in the second hole adjacent to the first hole drops from the seed dropping point; determine the first rotation angle as the initial rotation angle of the seed plate; wherein the first speed is greater than the second speed.

5. The planter of claim 3, wherein, The motor controller is further configured to: determining a seed drop lag distance according to a time length that a seed falls into a seed furrow from the seed dropping point and a traveling speed of the seeding machine; correcting the seed dropping point position according to the seed drop lag distance.

6. The planter of claim 1, wherein, The motor controller is further configured to: control a rotating speed of the motor according to the traveling speed of the seeding machine, a seeding plant distance, a gear ratio of a speed reduction set of the motor and a number of type holes of the seed plate.

7. The planter of claim 1, wherein, a rotating angle of the motor and a rotating angle of the seed plate satisfy: wherein a p is the rotation angle of the seed plate; a m is the rotation angle of the motor; i represents the reduction gear ratio of the motor.

8. The planter of claim 6, wherein, The rotating speed of the motor is calculated by the following formula: wherein r represents the rotating speed of the motor, rpm; v represents the traveling speed of the seeding machine, km / h; i represents the gear ratio of the speed reduction set of the motor; n represents the number of type holes of the seed plate; and D represents the seeding plant distance, cm.

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