Intelligent wheat seeder with self-cleaning function

Abstract

The invention discloses an intelligent wheat seeding machine with a self-cleaning function, and relates to the field of intelligent seeding machines, the seeding machine comprises a rack, a seed box, a driving device, a furrow opener and a soil covering device, the seeding machine further comprises a medium module used for collecting stone and storing the stone into a storage bin, the storage bin is provided with a discharge port communicated with a stone channel, and the discharge port is communicated with a seed box; the stone channel is connected with an eccentric wheel device through a transmission mechanism; the seeding module is used for seeding; the detection module is used for obtaining the position and angle of the stone channel based on the detection image, and the outer wall of the stone channel is connected with the outer wall of the to-be-cleaned device; the cleaning module is used for opening a valve, the eccentric wheel device drives the stone to roll along the stone channel through the transmission structure to impact the to-be-cleaned device to generate vibration for stripping a target object, and the problems that a manual cleaning mode of an existing wheat seeder is tedious, and soil is more easily adhered due to residual water spots in a high-pressure water flow cleaning mode; and the blocking frequency is increased.

Description

Technical Field

[0001] The present invention relates to the field of intelligent seeders, and specifically, to a wheat intelligent seeder with a self-cleaning function. Background Art

[0002] Currently, farmers use wheat seeders to plant wheat. When the seeder is operating, seeds are evenly scattered into the soil through the seed metering device. Mud is likely to adhere to the components of the seeder, especially in complex farmland environments, such as the furrow opener, seed guide tube, etc., resulting in blockages and affecting the seeding efficiency and quality. Currently, manual cleaning methods or high-pressure water flow cleaning methods are usually used to clean the seeder. However, the manual cleaning method requires the seeder to stop operating, and manual labor is needed to peel off the clay. This method is not only troublesome but also affects the seeding efficiency. The high-pressure water flow cleaning method uses high-pressure water flow to wash away the clay when the seeder is operating. However, this method will leave water stains on the furrow opener or seed guide tube, making it easier for mud to adhere, increasing the blockage frequency. Moreover, the wheat planting environment needs to maintain a certain degree of dryness, and the water from the washing may enter the soil and damage the wheat planting environment, reducing the germination rate. Summary of the Invention

[0003] To solve the problems of the cumbersome manual cleaning method of the current wheat seeder, the high-pressure water flow cleaning method leaving water stains on the seeder, making it easier for mud to adhere, increasing the blockage frequency, and the cleaning water entering the soil and damaging the planting environment, the present invention provides a wheat intelligent seeder with a self-cleaning function. The seeder includes a frame for fixing the seeder structure, a seed box for placing seeds, a driving device for driving the seeder to move, a furrow opener for cutting the soil, and a soil covering device for covering the soil. The seeder further includes:

[0004] Media module: for collecting stones and storing them in a storage bin. The storage bin is provided with a discharge port communicating with a stone channel. The discharge port is provided with a valve. The stone channel is connected to an eccentric wheel device through a transmission mechanism;

[0005] Sowing module: for sowing;

[0006] Detection module: for obtaining a detection image of the device to be cleaned, obtaining the channel position and channel angle based on the detection image, and for adjusting the position and angle of the stone channel based on the channel position and the channel angle. The outer wall of the stone channel is connected to the outer wall of the device to be cleaned;

[0007] Cleaning module: for opening the valve. The eccentric wheel device drives the stones to roll along the stone channel through the transmission structure and impacts the device to be cleaned to generate vibrations with the function of peeling off the target objects.

[0008] When considering the seeder operating in complex field conditions, due to factors such as uneven ground and varying soil hardness, continuous vibration energy is generated. This vibration energy is usually transmitted in the form of mechanical waves to various components of the seeder, including the frame, ground wheels, and seeding device, etc. In the present invention, the stone channel is connected to the eccentric wheel device through a transmission mechanism, and the eccentric wheel device is connected to the frame of the seeder. Then, when the seeder moves forward, the vibration is transmitted to the eccentric wheel, causing the eccentric mass block to generate an inertial force. Since the center of gravity deviates from the axis of rotation, the inertial force drives the eccentric wheel to rotate. The rotational movement of the eccentric wheel is transmitted to the stone flow channel through the transmission mechanism, opening the valve of the discharge port, which can drive the flow of stones. By utilizing the vibration energy generated during the forward movement of the seeder, the vibration is converted into the driving force for the flow of stones through the eccentric wheel mechanism, reducing additional energy consumption.

[0009] In the present invention, a driving device drives the wheat seeder to move forward. The furrow opener cuts the soil. At the same time, the medium module collects stones into the storage bin. The wheat in the seed box enters the seeding module to start seeding. During the seeding operation, the detection module continuously obtains the detection image of the device to be cleaned. Whether there is soil adhering to the seeder is judged through the detection image. After detecting that the amount of soil reaches a certain level, the cleaning module opens the valve. During the operation of the seeder, the vibration is transmitted to the stone flow channel through the eccentric wheel device and the said transmission structure, realizing driving the stones to roll along the stone channel and impact the device to be cleaned, generating vibration with the function of peeling off the target object, thereby peeling off the clay. After seeding is completed, the soil covering device covers the seeds with soil.

[0010] The present invention collects the detection image of the device to be cleaned, calculates the position and channel angle of the stone channel through the position of the clay in the detection image, can control the impact angle of the stones and reduce the device damage caused by collision, and can also better generate local impact force to peel off the clay; connect the outer wall of the stone channel and the outer wall of the device to be cleaned, the stones roll along a specific trajectory, and peel off the clay through the frictional collision between the stones and the device to be cleaned. It is a zero - energy - consumption driving mode, without additional power supply, and can be cleaned while the seeder is running, without stopping the operation, and does not affect the seeding efficiency.

[0011] Moreover, when the stones roll in the flow channel, they come into contact with the surface of the metal component and generate rolling friction force. This friction force can effectively break the bonding force between the clay and the metal surface, causing the clay to gradually peel off; when the stones slide on the metal surface, the generated sliding friction force further exacerbates the peeling effect of the clay. During the flow process of the stones, slight collisions occur with the metal components, generating local impact force. This impact force can destroy the structure of the clay, causing it to fall off from the metal surface; the vibration energy generated during the forward movement of the seeder is transmitted to the metal components, enhancing the collision effect between the stones and the metal surface, further improving the clay peeling efficiency. The flow direction of the stones in the flow channel forms a certain angle with the surface of the metal component, generating shear force. This shear force can effectively cut off the connection between the clay and the metal surface, causing it to peel off.

[0012] The present invention uses local materials and selects stones as clean energy, which is cost-free and environmentally friendly. It does not require washing clay with water, reducing the increase in the viscosity of the soil due to residual water stains, which may cause the wheat seeder to be more likely to adhere to the soil and increase the frequency of blockage. It also does not damage the living environment of the soil. At the same time, it clears the stones and optimizes the soil environment.

[0013] Wheat is suitable for a dry and warm environment and is usually planted in spring and autumn. It has relatively low water requirements, and the soil humidity and viscosity are relatively low. The vibration force required to strip the clay is not too large. Therefore, natural stones with appropriate sizes and rough surfaces are selected, within a reasonable range of vibration force, which can also reduce the situation of damaging the equipment due to excessive vibration. The rougher the stone, the greater the rolling friction when it rolls. This friction can effectively break the bonding force between the clay and the metal surface, causing the clay to gradually peel off.

[0014] Further, the medium module specifically includes:

[0015] Collection module: used to collect stones and transfer the stones to a conveyor belt, and the conveyor belt is connected to the storage bin;

[0016] Size module: used to obtain a stone image based on the conveyor belt, and obtain the first size and the first surface roughness of the stone based on the stone image;

[0017] Screening module: used to screen the stones based on a preset size range, a preset surface roughness range, the first size, and the first surface roughness, and transfer the screened stones to the storage bin through the conveyor belt.

[0018] The present invention selects natural stones with appropriate sizes and rough surfaces, within a reasonable range of vibration force, which can also reduce the situation of damaging the equipment due to excessive vibration and the situation of being unable to strip the clay due to too small vibration. The rougher the stone, the greater the rolling friction when it rolls. This friction can effectively break the bonding force between the clay and the metal surface, causing the clay to gradually peel off.

[0019] Further, the detection module specifically includes:

[0020] Clay module: used to obtain the detection image, obtain the clay area and the clay thickness based on the detection image and a preset pixel range, and obtain a cleaning value for opening the valve based on the clay area and the clay thickness;

[0021] Channel module: used to obtain the channel position based on the clay area, obtain the channel angle based on the clay thickness, and used to adjust the position and angle of the stone channel based on the channel position and the channel angle.

[0022] The cleaning value is an index for evaluating the adhesion of soil on the device to be cleaned through the clay area and clay thickness, and is used to determine whether the device to be cleaned needs to be cleaned.

[0023] The soil adhesion condition of the device to be cleaned is monitored in real time. When the clay range and thickness reach a certain level, the valve is started for cleaning. At the same time, the angle and position of the stone flow channel are determined according to the thickness and position of the clay respectively, so as to generate a more accurate local impact force on the clay and achieve precise cleaning.

[0024] Considering that the adhesion of some clay is relatively strong, relying on the vibration of the seeder itself and the self-gravity of the stones, the generated vibration force may not be able to peel it off. By obtaining the soil information and the changing images of the clay area during the cleaning process, this invention judges whether the clay cannot be peeled off completely or the clay area no longer changes after partial peeling. If so, it is necessary to increase the flow rate of the stones or accelerate the flow rate of the stone flow, so as to increase the vibration force and make it all peeled off. And for different soil humidities and soil types (such as clay, sandy soil), different vibration forces are required. Combining the soil information and the changing data of the clay, comprehensively judge whether it is necessary to increase the vibration force, so as to improve the peeling efficiency.

[0025] Furthermore, the cleaning module specifically includes:

[0026] Soil module: used to obtain soil information, and the soil information includes soil type and soil humidity;

[0027] Monitoring module: used to obtain the changing images of the clay area, and obtain the changing data of the clay based on the changing images. The changing data includes position offset, volume difference and thickness difference;

[0028] Control module: used to install a control valve at the entrance of the stone channel, obtain the flow rate and flow velocity of the stones based on the soil information and the changing data, and drive the stones to roll based on the flow rate and the flow velocity.

[0029] A flow control valve is installed at the entrance of the flow channel, and the flow velocity of the stones is adjusted according to the feedback of the blockage degree and soil humidity, automatically adjusting the flow velocity of the stones to ensure better clay cleaning effect. When the blockage is serious, increase the flow rate and flow velocity of the stones; when the blockage is light, reduce the flow rate to save stones.

[0030] Furthermore, the outlet of the stone flow channel is connected to one end of the conveyor belt, the other end of the conveyor belt is communicated with the storage bin, and the conveyor belt is provided with a weight sensor and a collection device. The seeder further includes:

[0031] Recycling module: It is used to convey the cleaned stone materials along the stone flow channel to the conveyor belt, obtain the weight and the second dimension of the stone materials based on the weight sensor and the acquisition device, reject the stone materials based on the weight and the second dimension, and convey the rejected stone materials to the storage bin through the conveyor belt.

[0032] Realize the recycling of stone materials, reduce the maintenance cost and environmental pollution, and at the same time reject the broken particles through the weight sensor and supplement the stone materials in time.

[0033] Furthermore, the inner wall of the stone material flow channel is designed with a bionic groove array. Referring to the self-cleaning mechanism of desert lizard skin, a micron-level bionic groove array is laser engraved on the inner wall surface of the stone material flow channel, which forms a synergistic effect with the rolling of the stone materials, improves the clay stripping efficiency, increases the surface roughness at the same time, enhances the friction between the stone materials and the metal surface, and guides the stone materials to form a spiral flow, strengthens the flow velocity, and enhances the cleaning effect.

[0034] Furthermore, a vibrating plate is installed at the bottom of the stone material channel, and the vibrating plate is connected to the eccentric wheel device through the transmission mechanism. The cleaning module further includes:

[0035] Driving module: When the eccentric wheel device rotates, the eccentric wheel device drives the vibrating plate to vibrate through the transmission mechanism to generate vibration that drives the stone materials to roll.

[0036] A vibrating plate is installed at the bottom of the stone material flow channel and is connected to the eccentric wheel through the transmission mechanism. When the eccentric wheel rotates, it drives the vibrating plate to vibrate up and down, increasing the vibration effect and better realizing the driving of the stone materials to flow.

[0037] Considering that wheat seeds need to be in full contact with the soil to absorb water and nutrients, but being buried too deep or too shallow will affect germination. If buried too deep, the seeds may not obtain enough oxygen, resulting in difficult germination or even rotting; if buried too shallow, the seeds may not absorb enough water and are easily blown away by the wind or pecked by birds; an appropriate sowing depth is conducive to the downward growth of the roots, enhancing the lodging resistance and nutrient absorption ability of the crops, ensuring that all seeds are in a similar soil environment, improving the uniformity of emergence, ensuring the neat growth of the crops, reducing the phenomenon of large and small seedlings, and facilitating field management.

[0038] Currently, the way to control the penetration depth of the furrow opener is usually to preset the penetration depth. However, when the wheat seeder is operating in the field under complex environments, due to the uneven ground surface and the formation of a certain slope on the ground, this control method lacks dynamic coordination, that is, it does not consider the dynamic effects of the seeder's traveling speed and terrain slope on the furrow opener's penetration angle, resulting in fluctuations in the seeding depth, and further affecting the unstable yield. For example, changes in the seeder's traveling speed may lead to different dynamic responses of the furrow opener. For instance, when the speed is fast, the furrow opener may not have enough time to adjust to the appropriate depth; changes in the terrain slope will affect the contact angle between the furrow opener and the ground, thereby changing the penetration depth, resulting in inconsistent depths and reducing the germination rate.

[0039] The present invention constructs a three-dimensional elevation model by scanning the terrain, predicts the trend of slope changes, and adjusts the furrow opening angle of the furrow opener in real time based on the four-dimensional relationship of depth - speed - slope - soil resistance, so as to obtain its corresponding shape. Referring to the flexible movement characteristics of organisms such as earthworms, the shape and angle of the furrow opener are dynamically adjusted according to soil conditions, terrain slope, and the seeder's traveling speed. A segmented furrow opener driven by shape memory alloy (SMA) is adopted. The SMA material (such as Ni - Ti alloy) has a shape memory effect, restoring the preset shape when heated to the phase transition temperature and maintaining plastic deformation after cooling. The response time of the SMA material is usually in the millisecond level, which is suitable for dynamic adjustment. The furrow opener has enough time to adjust to the appropriate depth, and the segmented furrow opener realizes flexible movement in the soil through the coordinated deformation of segments, and adjusts the penetration angle and depth of the furrow opener in real time, which is more suitable for adaptive adjustment in complex terrains.

[0040] Furthermore, the seeder further includes:

[0041] An environment module: used to scan the terrain to construct a three-dimensional elevation model, obtain slope change data based on the three-dimensional elevation model, and used to obtain the traveling speed of the seeder and the soil shear resistance, and used to obtain the furrow opening angle based on the slope change data, the traveling speed, the soil shear resistance, and a preset depth range, and predict the furrow opener shape based on the furrow opening angle;

[0042] The seeding module is specifically used for: adjusting the furrow opener based on the furrow opener shape, the furrow opener controls the seeding depth, and based on the seeding depth, the seeding equipment conducts seeding;

[0043] The furrow opener includes several segments, adjacent two segments are movably connected, each segment is provided with a first shape memory alloy device for controlling the pitch of the segment and a second shape memory alloy device for controlling the offset of the segment, the top of each segment is provided with a cutting device for cutting the soil, and both the first shape memory alloy device and the second shape memory alloy device are provided with temperature sensors, current control modules, and cooling devices.

[0044] Further, the seeding module specifically includes:

[0045] Analysis module: configured to obtain the target shape and target angle of each segment based on the shape of the furrow opener, and obtain the target temperature based on the target angle;

[0046] Furrow opening module: configured to heat the first shape memory alloy device and the second shape memory alloy device of each segment based on the target temperature by the current control module, adjust the segment to the target shape, control the furrow opening depth based on the target shape by the furrow opener, and after the furrow opener finishes furrow opening, cool the first shape memory alloy device and the second shape memory alloy device by the cooling device, and adjust the segment to the original shape;

[0047] Sub-seeding module: configured to perform seeding by the seeding equipment based on the furrow opening depth.

[0048] Further, the first shape memory alloy device and the second shape memory alloy device are arranged in the orthogonal direction, and the first shape memory alloy device and the second shape memory alloy device are installed with pre-tension.

[0049] The orthogonal arrangement method can achieve multi-degree-of-freedom control with the fewest driving units, while taking into account the structural compactness, control accuracy and energy efficiency. The two groups of SMA wires arranged orthogonally can respectively control the pitch (up and down bending) and deflection (left and right bending) of the segment. The orthogonal arrangement can realize independent adjustment of two degrees of freedom. This design can cover most dynamic adjustment requirements. For example, on slopes, the furrow opening depth can be kept consistent by pitch adjustment, and on side-sloping terrains, the furrow opener can be kept horizontal by deflection adjustment. The orthogonal arrangement decomposes the multi-degree-of-freedom control problem into two independent single-degree-of-freedom control problems, reducing the complexity of the control algorithm. The orthogonal arrangement only requires two groups of SMA wires to achieve two-degree-of-freedom control, reducing the number of driving units. The orthogonal arrangement can be closely arranged in the limited space of the segment, maximizing the use of the structural space; through independent control, the energy waste caused by simultaneous heating of multiple groups of SMA wires can be avoided; the SMA wires arranged orthogonally can evenly distribute the load when the segment is stressed, reducing local stress concentration; the SMA wires arranged orthogonally can work stably under complex working conditions (such as vibration and impact).

[0050] The pre-tension installation ensures that it can achieve controllable deformation during the heating and cooling processes, and improves the response speed and accuracy.

[0051] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0052] 1. In the present invention, the stone passage is connected to the eccentric wheel device through a transmission mechanism, and the eccentric wheel device is connected to the frame of the seeder. When the seeder moves forward, the vibration is transmitted to the eccentric wheel, causing the eccentric mass block to generate an inertial force. Due to the center of gravity deviating from the rotation axis, the inertial force drives the eccentric wheel to rotate. The rotational motion of the eccentric wheel is transmitted to the stone flow passage through the transmission mechanism, opening the valve of the discharge port, which can drive the stone to flow. By using the vibration energy generated when the seeder moves forward, the vibration is converted into the driving force for the stone to flow through the eccentric wheel mechanism, reducing additional energy consumption.

[0053] 2. The present invention collects the detection images of the device to be cleaned, calculates the position and channel angle of the stone passage based on the position of the clay in the detection images, can control the stone impact angle and reduce the device damage caused by collisions, and can also better generate local impact force to peel off the clay; connects the outer wall of the stone passage with the outer wall of the device to be cleaned, and the stone rolls along a specific trajectory, and the clay is peeled off through the friction and collision between the stone and the device to be cleaned. It has a zero-energy consumption driving mode, does not require additional power supply, and can be cleaned while the seeder is running, without stopping the operation and not affecting the seeding efficiency.

[0054] 3. The present invention uses local materials, selects stones as clean energy, which is cost-free and environmentally friendly. It does not need to wash the clay with water, reducing the situation that the clay stickiness increases due to the residual water stains, resulting in the wheat seeder being more likely to adhere to the clay and increasing the blockage frequency. It also does not damage the living environment of the soil. At the same time, it cleans the stones and optimizes the soil environment.

[0055] 4. Install a flow control valve at the inlet of the flow passage, adjust the stone flow rate according to the feedback of the blockage degree and soil humidity, automatically regulate the stone flow rate to ensure better clay cleaning effect. When the blockage is severe, increase the stone flow rate and velocity; when the blockage is light, reduce the flow rate to save stones.

[0056] 5. The present invention constructs a three-dimensional elevation model by scanning the terrain, predicts the trend of slope change, and adjusts the opening angle of the furrow opener in real time based on the four-dimensional relationship of depth - velocity - slope - soil resistance, so as to obtain its corresponding shape. Referring to the flexible movement characteristics of organisms such as earthworms, dynamically adjust the shape and angle of the furrow opener according to soil conditions, terrain slope and seeder traveling speed. Adopt a segmented furrow opener driven by shape memory alloy (SMA). SMA materials (such as Ni-Ti alloy) have shape memory effect, restore the preset shape when heated to the phase transition temperature, and maintain plastic deformation after cooling. It generates a deformation amount under current excitation, and the response time can be <200ms. The furrow opener has enough time to adjust to the appropriate depth, and the segmented furrow opener realizes flexible movement in the soil through the coordinated deformation of segments, and adjusts the entry angle and depth of the furrow opener in real time, which is more suitable for adaptive adjustment in complex terrain.

[0057] 6. The first shape memory alloy device and the second shape memory alloy device are arranged in the orthogonal direction. The orthogonal arrangement can achieve multi-degree-of-freedom control with the fewest driving units, while taking into account structural compactness, control accuracy, and energy efficiency. The two groups of SMA wires arranged orthogonally can respectively control the pitch (up and down bending) and deflection (left and right bending) of the segment. The orthogonal arrangement can achieve independent adjustment of two degrees of freedom. This design can cover most dynamic adjustment requirements. For example, on slopes, the trench depth can be kept consistent by pitch adjustment, and in side-slope terrains, the opener can be kept horizontal by deflection adjustment. The orthogonal arrangement decomposes the multi-degree-of-freedom control problem into two independent single-degree-of-freedom control problems, reducing the complexity of the control algorithm. The orthogonal arrangement can achieve the control of two degrees of freedom with only two groups of SMA wires, reducing the number of driving units. The orthogonal arrangement can be closely arranged in the limited space of the segment, making the most of the structural space; through independent control, the energy waste caused by the simultaneous heating of multiple groups of SMA wires can be avoided; the SMA wires arranged orthogonally can evenly distribute the load when the segment is stressed, reducing local stress concentration; the SMA wires arranged orthogonally can work stably under complex working conditions (such as vibration and impact).

[0058] 7. The first shape memory alloy device and the second shape memory alloy device are installed with pre-tension to ensure that they can achieve controllable deformation during the heating and cooling processes, and improve the response speed and accuracy. Description of the Drawings

[0059] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the present invention, but do not limit the embodiments of the present invention;

[0060] Figure 1 is a schematic flow chart of the wheat intelligent seeder in the present invention for achieving self-cleaning;

[0061] Figure 2 is a schematic flow chart of the wheat intelligent seeder in the present invention for achieving adaptive soil penetration depth. Detailed Embodiments

[0062] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0063] Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described within the scope hereof. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0064] Embodiment 1

[0065] Reference Figure 1 Figure 1 , this embodiment provides a wheat intelligent seeder with a self-cleaning function. The seeder includes components such as a frame for fixing the seeder structure, a seed box for placing seeds, a driving device for driving the seeder to move, a furrow opener for cutting the soil, and a soil covering device for covering the soil, which can achieve basic seeding functions;

[0066] The seeder further includes:

[0067] Media module: used to collect stones and store them in a storage bin. The storage bin is provided with a discharge port communicating with a stone channel. The discharge port is provided with a valve. The stone channel is connected to an eccentric wheel device through a transmission mechanism. The eccentric wheel device can be connected to the frame. In this embodiment, the transmission mechanism can be a connecting rod, a gear, a belt, etc.;

[0068] Sowing module: used for sowing, such as sowing through a seeder or a sowing tube, etc.;

[0069] Detection module: used to obtain a detection image of the device to be cleaned based on a camera, obtain the channel position and channel angle based on the detection image, and used to adjust the position and angle of the stone channel based on the channel position and the channel angle. The outer wall of the stone channel is connected to the outer wall of the device to be cleaned, so as to transmit vibration to the device to be cleaned; In this embodiment, the channel position and channel angle can be obtained by training a model through a sample image containing clay and an existing algorithm, and analyzing the detection image through the model. The camera can be installed near the device to be cleaned to collect detection images in real time.

[0070] Cleaning module: used to open the valve. The eccentric wheel device drives the stones to roll along the stone channel through the transmission structure and impact the device to be cleaned to generate vibration with the function of peeling off the target object.

[0071] Among them, the media module specifically includes:

[0072] Collection module: used to collect stones and transport the stones to a conveyor belt. The conveyor belt is connected to the storage bin;

[0073] Dimension module: used to obtain a stone image based on the conveyor belt and obtain the first dimension and the first surface roughness of the stone based on the stone image;

[0074] Screening module: used to screen the stones based on a preset dimension range, a preset surface roughness range, the first dimension and the first surface roughness, and transport the screened stones to the storage bin through the conveyor belt.

[0075] In this embodiment, the model can be trained with the sample images of the stones, and the size and roughness of the stones can be analyzed by the model to obtain the first size and the first surface roughness.

[0076] In this embodiment, a flexible screening bucket can be configured at the front end of the seeder. During the ditching operation, natural stones in the field that match the preset diameter (such as a diameter of 5 - 10 cm) and have a surface roughness greater than the preset roughness are automatically collected, and the stones are sent into the closed storage bin through the spiral conveyor belt to form a reserve of cleaning medium.

[0077] Flexible screening nets can be installed at the bottom and sides of the flexible screening bucket. The mesh diameter is designed according to the size of the stones, allowing soil and small particle impurities to pass through while intercepting the stones; the main body of the bucket can be designed in an arc or V shape, with a larger opening at the front end for easy collection of stones, and gradually narrowing at the rear end to concentrate the materials. The rear end of the flexible screening bucket is connected to the storage bin through a spiral conveyor belt; the bucket is connected to the main body of the seeder through a spring or a hydraulic rod, enabling the bucket to float up and down to adapt to terrain changes; an adjustable deflector is installed inside the bucket to guide the stones towards the screening net and prevent the stones from piling up at the front end of the bucket; the front end of the bucket can be designed as a hinged structure, which can automatically lift when encountering a large obstacle to avoid damage; a small vibration motor can also be installed at the bottom of the bucket to help the screening net quickly separate the stones and the soil through vibration.

[0078] The working process of the flexible screening bucket can be as follows: The bucket is connected to the main body of the seeder through a spring or a hydraulic rod, floating up and down to adapt to terrain changes. The front end of the flexible screening bucket is close to the ground. As the seeder moves forward, the stones in the field are shoveled into the bucket. The flexible screening net allows the soil and small particle impurities to pass through and intercepts the stones; the vibration motor is started to drive the screening net to vibrate, accelerating the separation of the soil and the impurities. Under the action of vibration and the deflector, the stones are concentrated towards the rear end of the bucket, and the concentrated stones are transported to the storage bin through the spiral conveyor belt or by gravity. The screened soil and impurities return to the field. When encountering a large obstacle, the hinged structure makes the bucket automatically lift to avoid damage.

[0079] Among them, the detection module specifically includes:

[0080] Clay module: used to obtain the detection image, obtain the clay area and the clay thickness based on the detection image and the preset pixel range, and obtain the cleaning value for opening the valve based on the clay area and the clay thickness; for example, the detection image is collected by a camera, the range and thickness of the clay on the image are obtained through the pixel values of the clay, and then different weights are assigned and added to obtain the cleaning value. It can also be judged whether the clay range or the clay thickness exceeds the preset range. If it exceeds, the cleaning value is assigned as 1, and if it does not exceed, it is 0.

[0081] Channel module: used to obtain the channel position based on the clay area, obtain the channel angle based on the clay thickness, and adjust the position and angle of the stone channel based on the channel position and the channel angle. For example, obtain the channel position by acquiring the top position of the clay area, calculate the channel angle based on the existing algorithm, the clay thickness, and the angle between the top of the clay and the device to be cleaned, and then dynamically adjust the position and angle of the stone channel to the channel position and the channel angle.

[0082] In this embodiment, a model can be trained through a sample image containing clay and an existing algorithm, and the detection image is analyzed by the model to obtain the clay area and the clay thickness.

[0083] Among them, the cleaning module specifically includes:

[0084] Soil module: used to obtain soil information based on a soil humidity sensor and a camera, where the soil information includes soil type and soil humidity, and the soil humidity sensor and the camera can be installed on a frame convenient for collecting information;

[0085] Monitoring module: used to obtain a change image of the clay area, and obtain change data of the clay based on the change image, where the change data includes position offset, volume difference, and thickness difference; for example, obtain continuous change images of the clay, obtain the change data through image comparison, or train a model through historical change images and an existing algorithm, and obtain the change data by identifying the change image through the model.

[0086] Control module: used to install a control valve at the entrance of the stone channel, obtain the flow rate and flow velocity of the stone based on the soil information and the change data, and drive the stone to roll based on the flow rate and the flow velocity. For example, if the soil humidity is slightly high and the change of the clay is small, increase the flow rate and flow velocity of the stone or dynamically adjust the flow rate and flow velocity of the stone according to the above data through an existing algorithm.

[0087] In this embodiment, the stone flow channel can move in multiple dimensions, including horizontal, vertical, and rotational degrees of freedom, enabling the stone to clean the device to be cleaned at different angles and directions. For example, a slide rail is installed at the bottom of the stone channel to enable it to move back and forth along the traveling direction of the seeder, telescopic rods are installed on both sides of the stone channel to support up and down movement, ensuring that the stone can cover different height areas of the component, and a rotary joint is designed at the end of the stone channel to enable the flow channel to rotate within a certain angle to change the impact direction of the stone and avoid cleaning dead corners.

[0088] In this embodiment, a soil loosening device can also be installed at the front end of the seeder, such as a circular harrow, rotary tiller blades, chisel-type soil loosener, and subsoiler, etc., which are used to loosen the soil, break the soil crust, improve soil aeration and water retention, so as to provide a good growth environment for the seeds, and can reduce the situation that a large amount of soil adheres to the furrow opener or seed metering device, thereby further reducing the magnitude of the vibration force generated by the collision of the stones, improving the cleaning efficiency of stripping clay through the vibration force, and reducing the damage to the furrow opener or seed metering device.

[0089] Embodiment Two

[0090] Based on Embodiment One, in this embodiment, the outlet of the stone flow channel is connected to one end of the conveyor belt, the other end of the conveyor belt is communicated with the storage bin, the conveyor belt is provided with a weight sensor and a collection device, and the seeder further includes:

[0091] Recovery module: used to convey the cleaned stones along the stone flow channel to the conveyor belt, obtain the weight and the second dimension of the stones based on the weight sensor and the collection device, remove the stones based on the weight and the second dimension, and convey the removed stones to the storage bin through the conveyor belt. In this embodiment, the collection device can be a camera, etc.

[0092] Embodiment Three

[0093] Based on the above embodiments, in this embodiment, a bionic groove array is designed on the inner wall of the stone flow channel.

[0094] A vibration plate is installed at the bottom of the stone channel, and the vibration plate is connected to the eccentric wheel device through the transmission mechanism. The cleaning module further includes:

[0095] Drive module: when the eccentric wheel device rotates, the eccentric wheel device drives the vibration plate to vibrate through the transmission mechanism to generate vibration that drives the stones to roll. A vibration plate is installed at the bottom of the stone flow channel and is connected to the eccentric wheel through a transmission mechanism (such as a connecting rod). When the eccentric wheel rotates, it drives the vibration plate to vibrate up and down to drive the stones to flow.

[0096] Embodiment Four

[0097] Reference Figure 2 Based on the above embodiments, in this embodiment, the seeder further includes:

[0098] Environmental module: Based on lidar and inertial navigation unit, the inertial navigation unit can include an inertial measurement unit (IMU) + global navigation satellite system (RTK-GNSS), scan the terrain to construct a three-dimensional elevation model, achieve three-dimensional attitude data with an accuracy of 0.1° and centimeter-level positioning, obtain slope change data based on the three-dimensional elevation model and the iterative outlier detection algorithm (RANSA), and be used to obtain the traveling speed of the seeder and the soil shear resistance based on the Doppler velocity radar and the soil resistance pressure sensor respectively, and be used to obtain the furrowing angle based on the slope change data, the traveling speed, the soil shear resistance and the preset depth range, and predict the shape of the furrow opener based on the furrowing angle; such as establishing a four-dimensional relationship model of seeding depth - speed - slope - soil resistance based on the LSTM network, predicting the furrowing angle based on this model and existing algorithms, and predicting the shape of the furrow opener based on the furrowing angle.

[0099] The seeding module is specifically used for: adjusting the furrow opener based on the shape of the furrow opener, the furrow opener controls the furrowing depth, and based on the furrowing depth, the seeding equipment conducts seeding;

[0100] The furrow opener includes several segments, adjacent two segments are movably connected, each segment is provided with a first shape memory alloy device for controlling the pitch of the segment and a second shape memory alloy device for controlling the offset of the segment, the top of each segment is provided with a cutting device for cutting the soil, and both the first shape memory alloy device and the second shape memory alloy device are provided with a temperature sensor, a current control module and a cooling device. In this embodiment, the cooling device can be a micro fan or a liquid cooling channel, and the current control module realizes millimeter-level deformation accuracy by precisely controlling the heating current and temperature of the SMA wire.

[0101] In this embodiment, the number of segments and the size of the segments of the furrow opener can be adjusted according to the actual furrowing scenario. The segments can be connected by flexible hinges, allowing a bending angle within a certain range. The segment body is made of lightweight aluminum alloy with a wear-resistant coating on the surface, which can reduce damage. Two groups of orthogonal SMA wires (the diameter can be adjusted according to the actual situation) are arranged on each segment to control the pitch and deflection of the segment respectively. Each group of SMA wires is equipped with an independent temperature sensor, a current control module and a cooling device. The cooling device and the driving current are coordinated to control to achieve a fast deformation cycle. For example, for a terrain slope of 10°, adjust the front segment of the furrow opener to bend upward to reduce the entry angle and prevent over-seeding; for a terrain slope of -8°, adjust the rear segment of the furrow opener to bend downward to increase the entry angle and prevent under-seeding.

[0102] Among them, the seeding module specifically includes:

[0103] Analysis module: It is used to obtain the target shape and target angle of each segment based on the shape of the furrow opener, calculate the target deformation amount of the SMA wires of each segment according to the target shape, obtain the target temperature based on the target angle, heat the corresponding SMA wires according to the target deformation amount to achieve segment bending, so as to adjust the entry angle and depth of the furrow opener through the coordinated deformation of the segments;

[0104] Furrowing module: Based on the target temperature, the current control module heats the first shape memory alloy device and the second shape memory alloy device of each segment to adjust the segment to the target shape. Based on the target shape, the furrow opener controls the furrowing depth. After the furrow opener finishes furrowing, the cooling device cools the first shape memory alloy device and the second shape memory alloy device to adjust the segment to the original shape; stop heating and start the cooling device, and the SMA wires return to the initial shape.

[0105] Sub-seeding module: It is used to perform seeding based on the furrowing depth by the seeding equipment.

[0106] Among them, the first shape memory alloy device and the second shape memory alloy device are arranged in the orthogonal direction, and the first shape memory alloy device and the second shape memory alloy device are installed with pre-tension.

[0107] In this embodiment, the above modules can be installed on existing mainstream seeders (such as John Deere 1890, Lovol RG210, etc.).

[0108] Soil Shear Resistance is an important concept in soil mechanics, which refers to the ability of soil to resist deformation when subjected to shear force. It is the manifestation of soil shear strength and reflects the resistance of the internal friction and cohesion between soil particles to shear deformation.

[0109] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0110] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A wheat intelligent seeder with a self-cleaning function, the seeder comprising a frame for fixing the seeder structure, a seed box for placing seeds, a driving device for driving the seeder to move, a furrow opener for cutting soil, and a covering device for covering soil, characterized in that: The seed drill also includes: Medium module: used to collect stones and store them in a storage bin, the storage bin is provided with a discharge port connected to the stone channel, the discharge port is provided with a valve, and the stone channel is connected to the eccentric wheel device through a transmission mechanism; Sowing module: used for sowing; Detection module: used for acquiring a detection image of the device to be cleaned, obtaining a channel position and a channel angle based on the detection image, and adjusting a position and an angle of the stone channel based on the channel position and the channel angle, wherein an outer wall of the stone channel is connected to an outer wall of the device to be cleaned; Cleaning module: used for opening the valve, the eccentric wheel device drives the stone to roll along the stone channel through the transmission structure to hit the device to be cleaned to generate vibration for peeling off the target object.

2. The intelligent wheat seeder with self-cleaning function according to claim 1, characterized in that: The medium module specifically includes: Collection module: used for collecting stones and transferring the stones to a conveyor belt, wherein the conveyor belt is connected to the storage bin; Size module: used for acquiring a stone image based on the conveyor belt, and acquiring a first size and a first surface roughness of the stone based on the stone image; Screening module: used for screening stones based on a preset size range, a preset surface roughness range, the first size and the first surface roughness, and transmitting the screened stones to the storage bin via the conveyor belt.

3. The intelligent wheat seeder with self-cleaning function according to claim 1, characterized in that: The detection module specifically includes: Clay module: used for acquiring the detection image, acquiring the clay area and clay thickness based on the detection image and a preset pixel range, and obtaining a cleaning value for opening the valve based on the clay area and the clay thickness; Channel module: used to obtain the channel position based on the clay area, obtain the channel angle based on the clay thickness, and adjust the position and angle of the stone channel based on the channel position and the channel angle.

4. The intelligent wheat seeder with self-cleaning function according to claim 3, characterized in that: The cleaning module specifically comprises: Soil module: used to obtain soil information, including soil type and soil moisture; Monitoring module: used for acquiring a change image of the clay area, and obtaining change data of the clay based on the change image, wherein the change data includes position offset, volume difference and thickness difference; Control module: used for installing a control valve at the entrance of the stone channel, obtaining the flow rate and flow velocity of the stone based on the soil information and the change data, and driving the stone to roll based on the flow rate and the flow velocity.

5. The intelligent wheat seeder with self-cleaning function according to claim 1, characterized in that: The outlet of the stone flow channel is connected to one end of the conveyor belt, the other end of the conveyor belt is connected to the storage bin, the conveyor belt is provided with a weight sensor and a collection device, and the seed drill further includes: Recovery module: used for transferring the cleaned stones along the stone flow channel to the conveyor belt, obtaining the weight and the second size of the stones based on the weight sensor and the acquisition device, removing the stones based on the weight and the second size, and transferring the removed stones to the storage bin via the conveyor belt.

6. The intelligent wheat seeder with self-cleaning function according to claim 1, characterized in that: The inner wall of the stone flow channel is designed with a bionic groove array.

7. The intelligent wheat seeder with self-cleaning function according to claim 1, characterized in that: A vibration plate is installed at the bottom of the stone channel, and the vibration plate is connected to the eccentric wheel device through the transmission mechanism. The cleaning module also includes: Driving module: When the eccentric wheel device rotates, the eccentric wheel device drives the vibration plate to vibrate through the transmission mechanism to generate vibration that drives the stone to roll.

8. The intelligent wheat seeder with self-cleaning function according to claim 1, characterized in that: The seed drill also includes: Environmental module: used for scanning the terrain to construct a three-dimensional elevation model, obtaining slope change data based on the three-dimensional elevation model, and obtaining the travel speed and soil shear resistance of the planter, and obtaining the furrowing angle based on the slope change data, the travel speed, the soil shear resistance and a preset depth range, and predicting the furrowing device shape based on the furrowing angle; The sowing module is specifically used to: adjust the furrow opener based on the furrow opener shape, the furrow opener controls the furrowing depth, and the sowing device sows based on the furrowing depth; The furrow opener includes a plurality of segments, and two adjacent segments are movably connected. Each segment is provided with a first shape memory alloy device for controlling the pitch of the segment and a second shape memory alloy device for controlling the offset of the segment. The top of each segment is provided with a cutting device for cutting soil. The first shape memory alloy device and the second shape memory alloy device are both provided with a temperature sensor, a current control module and a cooling device.

9. The intelligent wheat seeder with self-cleaning function according to claim 8, characterized in that: The sowing module specifically includes: Analysis module: used for obtaining a target shape and a target angle of each segment based on the shape of the furrow opener, and obtaining a target temperature based on the target angle; A trenching module: used for, based on the target temperature, the current control module to heat the first shape memory alloy device and the second shape memory alloy device of each segment, to adjust the segment to the target shape, based on the target shape, the trenching device to control the trenching depth, and after the trenching device finishes trenching, the cooling device to cool the first shape memory alloy device and the second shape memory alloy device, to adjust the segment to the original shape; Sub-seeding module: used for the seeding equipment to perform seeding based on the furrowing depth.

10. The intelligent wheat seeder with self-cleaning function according to claim 9, characterized in that: The first shape memory alloy device and the second shape memory alloy device are arranged in orthogonal directions, and the first shape memory alloy device and the second shape memory alloy device are pre-stretched and installed.

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