A wheat depth adaptive intelligent seeder

Abstract

The present invention discloses a wheat deep-adaptive intelligent seeder, which relates to the field of intelligent seeders. The seeder includes a frame, a seed box, a driving device, a furrow opener and a soil covering device. A counterweight container is installed on the seeder. The seeder further includes: a data module: used to obtain the terrain slope, the tilt angle and the walking speed of the seeder, as well as the target soil penetration pressure of the furrow opener, and used to obtain the horizontal distance from the furrow opener to the center of gravity of the seeder; an analysis module: used to calculate the total adjustment amount of the counterweight container based on the terrain slope, the tilt angle, the walking speed and the horizontal distance; an adaptation module: used to adjust the center of gravity position of the counterweight container based on the total adjustment amount, adjust the soil penetration pressure of the furrow opener to the target soil penetration pressure based on the center of gravity position, and the furrow opener cuts the soil based on a preset soil penetration depth; a sowing unit: used for sowing; It can solve the problem that the existing method of controlling the soil penetration depth of the furrow opener lacks dynamic coordination, resulting in fluctuations in the sowing depth.

Description

Technical Field

[0001] The present invention relates to the field of intelligent seeders, and more particularly to a wheat depth adaptive intelligent seeder. Background Art

[0002] Wheat seeds need to be in full contact with the soil to absorb water and nutrients. However, if buried too deep or too shallow, it will affect germination. If too deep, the seeds may not obtain enough oxygen, resulting in difficult germination or even rot; if too shallow, the seeds may not absorb enough water and are easily blown away by the wind or pecked by birds. The suitable seeding depth for wheat is 3 - 5 cm. The appropriate seeding depth is conducive to the downward growth of roots, enhancing the lodging resistance and nutrient absorption capacity of crops, ensuring that all seeds are in a similar soil environment, improving the uniformity of emergence, ensuring the neat growth of crops, reducing the phenomenon of large and small seedlings, and facilitating field management.

[0003] Currently, the method of controlling the soil penetration depth of the furrow opener is usually to preset the soil penetration depth. However, when the wheat seeder is operating in the field in a complex environment, due to the uneven ground and a certain slope on the ground, this control method lacks dynamic coordination, that is, it does not consider the dynamic influence of the seeder traveling speed and the terrain slope on the soil penetration angle of the furrow opener, resulting in fluctuations in the seeding depth, and thus affecting the unstable yield. For example, changes in the seeder 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 soil penetration depth, resulting in inconsistent depths and reducing the germination rate. Summary of the Invention

[0004] In order to solve the problem that the existing method of controlling the soil penetration depth of the furrow opener lacks dynamic coordination, resulting in fluctuations in the seeding depth and thus affecting the unstable yield, the present invention provides a wheat depth adaptive intelligent seeder. The seeder includes a frame for fixing the seeder structure, a seed box for placing seeds, a driving device for driving the seeder to travel, a furrow opener for cutting the soil, and a soil covering device for covering the soil. The seeder is equipped with a counterweight container, and the seeder further includes:

[0005] A first data module: for obtaining the terrain slope, the tilt angle and the traveling speed of the seeder, and the target soil penetration pressure of the furrow opener;

[0006] A second data module: for obtaining the horizontal distance from the furrow opener to the center of gravity of the seeder;

[0007] An analysis module: for calculating the total adjustment amount of the counterweight container based on the terrain slope, the tilt angle, the traveling speed and the horizontal distance;

[0008] Adaptation module: used to adjust the center of gravity position of the counterweight container based on the total adjustment amount, adjust the pressure distribution of the seeder based on the center of gravity position, adjust the penetration pressure of the furrow opener to the target penetration pressure based on the pressure distribution, and the furrow opener cuts the soil based on a preset penetration depth;

[0009] Sowing unit: used for sowing.

[0010] Based on the lever balance principle and the influence of mass distribution on the center of gravity position, according to the terrain slope, load change or operating speed, under the action of a magnetic field, the viscosity of the magnetorheological fluid in the counterweight container is changed in real time to move or lock the magnetorheological fluid, so as to adjust the spatial distribution of the mass of the counterweight container, and then accurately control the center of gravity position of the whole machine to achieve self-balancing of the center of gravity, so as to accurately adjust the pressure of the furrow opener, compensate for the moment imbalance caused by terrain slope, load change or operating speed change, and achieve the consistency of sowing depth. Moreover, the adjustment of the magnetorheological fluid is at the millisecond level, which can respond quickly and is more adaptable to different operating speeds and farmland environments.

[0011] The present invention obtains and analyzes parameters in real time. The analysis parameters include terrain slope, tilt angle of the seeder, walking speed, soil hardness and soil moisture. Based on the analysis parameters and the initial horizontal distance, the chamber spacing is obtained. The counterweight container is installed based on the chamber spacing. During the operation of the seeder, the analysis parameters are updated in real time, and the target penetration pressure and horizontal distance of the furrow opener are adjusted in real time according to the analysis parameters, and then the total adjustment amount is obtained and distributed to each chamber, and then its magnetic field strength is calculated. The electromagnetic coil array adjusts the current, the viscosity of the magnetorheological fluid changes, moves to other chambers or locks the magnetorheological fluid, so as to adjust the spatial distribution of the mass of the counterweight container, and then accurately control the center of gravity position of the whole machine to achieve self-balancing of the center of gravity and ensure the consistency of sowing depth.

[0012] Further, the counterweight container includes a plurality of chambers, the chambers are all connected by pipelines, a pump body is provided on the pipeline, each chamber is filled with magnetorheological fluid, and an electromagnetic coil array is provided on the outer wall of each chamber.

[0013] The interior of the counterweight container is divided into multiple chambers, filled with magnetorheological fluid, and the electromagnetic coil array surrounds the counterweight container. By controlling the magnetic field distribution with current, the magnetorheological fluid between the chambers can flow to each other or be locked in the original chamber under the action of the magnetic field, thereby changing the spatial distribution of the mass of the counterweight container.

[0014] Considering that the center of gravity will change with the change of load and slope, such as the seeds in the seed box become less and less during sowing, and the mass becomes lighter and lighter. The present invention uses a weighing sensor to obtain the support point load, dynamically master the load distribution and center of gravity position of the seeder, and adjust its horizontal distance in real time, which is convenient for more accurately adjusting the mass distribution of the counterweight container later, so as to ensure the control strength of sowing accuracy.

[0015] Further, the second data module is specifically configured to:

[0016] Obtain a number of support points of the seeder, install a weighing sensor at each support point, and obtain the load of each support point based on the weighing sensor; and be used to construct a three-dimensional model of the seeder, obtain the top coordinates of the furrow opener and the support coordinates of each support point; and be used to obtain the real-time center of gravity coordinates based on the support coordinates and the load, and obtain the horizontal distance based on the real-time center of gravity coordinates and the top coordinates.

[0017] The chamber spacing refers to the horizontal distance between adjacent chambers, or the lateral distance between the left and right chambers.

[0018] Considering that the chamber spacing can directly affect the moment adjustment ability of the counterweight container on the fuselage, the larger the spacing, the greater the adjustment moment generated by the unit mass counterweight. The present invention weighs the structural compactness and moment ability, reasonably designs the chamber spacing, optimizes the moment adjustment ability of the counterweight container on the fuselage, and realizes the efficient operation of the counterweight container.

[0019] Further, the chamber is installed based on the chamber spacing, and the acquisition method of the chamber spacing is: based on the target soil penetration pressure, the terrain slope and the horizontal distance, obtain the maximum unbalanced moment of the seeder; obtain the maximum mass adjustment amount of the counterweight container, and based on the maximum mass adjustment amount and the target soil penetration pressure, obtain the chamber spacing.

[0020] Further, the adaptation module specifically includes:

[0021] The first adaptation module: be used to obtain the original center of gravity coordinates of the counterweight container, and be used to obtain the adjustment direction based on the terrain slope and the inclination angle, obtain the center of gravity offset based on the total adjustment amount and the adjustment direction, obtain the chamber adjustment amount of each chamber based on the center of gravity offset, the adjustment direction and the original center of gravity coordinates, and obtain the volume adjustment amount of the magnetorheological fluid based on the chamber adjustment amount;

[0022] The second adaptation module: be used to obtain the distribution data of the magnetorheological fluid in the chamber, and be used to obtain the magnetic field strength based on the distribution data and the volume adjustment amount; and be used to adjust the apparent viscosity of the magnetorheological fluid by adjusting the current of the electromagnetic coil array based on the magnetic field strength, the magnetorheological fluid flows and solidifies based on the adjustment direction, adjust the soil penetration pressure of the furrow opener to the target soil penetration pressure, and the furrow opener cuts the soil based on the preset soil penetration depth.

[0023] The volume adjustment amount of the magnetorheological fluid in each chamber is obtained through the adjustment amount, so as to calculate the required magnetic field strength. According to the magnetic field strength, the current magnitude of the electromagnetic coil array is calculated, so as to liquefy or solidify the magnetorheological fluid. Then, through the action of the pump body, the magnetorheological fluid is transferred from the source chamber to the target chamber, and the magnetorheological fluid in the target chamber is locked, so as to change the spatial distribution of the magnetorheological fluid, achieve precise control of the overall center of gravity position of the machine, and compensate for the moment imbalance caused by terrain slope, load change or operating speed.

[0024] Further, the first data module is specifically configured to: obtain the terrain slope, the tilt angle, the walking speed, the soil hardness and the soil humidity; and be used to obtain the basic penetration pressure based on the preset penetration depth; and be used to obtain the target penetration pressure based on the basic penetration pressure, the soil hardness, the soil humidity, the walking speed and the terrain slope.

[0025] The penetration pressure reflects the force exerted by the furrow opener on the soil, and the basic penetration pressure is the penetration pressure required by the seeder under standard working conditions. The present invention comprehensively considers the influence of multiple influencing factors on the penetration pressure. For example, wet soil requires reducing the basic target pressure to prevent over-compaction; dry soil requires increasing the basic target pressure to ensure the furrow opening depth; high-speed operation requires increasing the pressure to compensate for the dynamic effect; slope operation requires adjusting the pressure to compensate for the gravity component; according to real-time data, the target penetration pressure is dynamically adjusted to more accurately ensure the consistency of the seeding depth.

[0026] Further, the seeder further includes:

[0027] A correction module: configured to obtain the actual penetration pressure of the furrow opener, and based on the actual penetration pressure and the target penetration pressure, the electromagnetic coil array adjusts the current.

[0028] Obtain the actual penetration pressure, compare it with the target penetration pressure, dynamically adjust the magnetic field strength, and ensure the consistency of the seeding depth through dynamic correction and closed-loop feedback.

[0029] Further, the calculation formula for obtaining the total adjustment amount is:

[0030]

[0031] where, ΔM represents the total adjustment amount, F soil represents the target penetration pressure, L represents the horizontal distance, θ represents the pitch angle, α represents the slope, g represents the acceleration due to gravity, and d represents the chamber spacing;

[0032] The calculation formula for obtaining the horizontal distance is:

[0033]

[0034] Among them, x G represents the horizontal coordinate of the center of gravity in the horizontal plane, y G represents the longitudinal coordinate of the center of gravity in the horizontal plane, F i represents the load of the i-th support point, x i represents the horizontal coordinate of the i-th support point, y i represents the longitudinal coordinate of the i-th support point, i represents an integer greater than or equal to 1, and n represents the number of support points;

[0035] The calculation formula for obtaining the chamber spacing is:

[0036] M max = F soil ·L·sin(θ max );

[0037]

[0038] Among them, M max represents the maximum unbalanced moment, F soil represents the target penetration pressure, L represents the horizontal distance, θ max represents the maximum slope, Δm represents the maximum mass adjustment amount, g represents the acceleration due to gravity, and d represents the chamber spacing.

[0039] Furthermore, the calculation formula for obtaining the magnetic field strength is:

[0040] ΔV = Q·Δt;

[0041]

[0042] η = η0 + k·B 2 ;

[0043] Among them, ΔV represents the volume adjustment amount, Δt represents the adjustment time, Q represents the flow rate of the magnetorheological fluid, r represents the pipe radius, ΔP represents the pressure difference, η represents the apparent viscosity, l represents the pipe length, η0 represents the zero-field viscosity (viscosity without magnetic field), k represents the material constant, and B represents the magnetic field strength.

[0044] Furthermore, the calculation formula for obtaining the target penetration pressure is:

[0045] F soil = F base ·K hardness ·K moisture ·K speed ·K slope ;

[0046] Based on the actual penetration pressure and the target penetration pressure, the calculation formula adopted in the adjustment current of the electromagnetic coil array is:

[0047] e(t) = F soil -F actual ;

[0048]

[0049] Wherein, F soil represents the target penetration pressure, F base represents the foundation penetration pressure, K hardness represents the soil hardness coefficient, K moisture represents the soil moisture coefficient, K speed represents the operating speed coefficient, K slope represents the slope coefficient, F actual represents the actual penetration pressure, K p represents the proportional gain, K i represents the integral gain, K d represents the derivative gain, t represents time, and u(t) represents the correlation function.

[0050] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0051] 1. Based on the lever balance principle and the influence of mass distribution on the position of the center of gravity, according to the terrain slope, load change or operating speed, under the action of a magnetic field, the viscosity of the magnetorheological fluid in the counterweight container is changed in real time to move or lock the magnetorheological fluid, so as to adjust the spatial distribution of the mass of the counterweight container, and then accurately control the position of the center of gravity of the whole machine, realize the self-balancing of the center of gravity, thereby accurately adjusting the pressure of the furrow opener, compensating for the moment imbalance caused by the terrain slope, load change or operating speed change, realizing the consistency of the seeding depth, and the adjustment of the magnetorheological fluid is in milliseconds, which can respond quickly and is more adaptable to different operating speeds and farmland environments.

[0052] 2. The counterweight container includes a number of chambers, the chambers are all connected by pipelines, a pump body is provided on the pipeline, each chamber is filled with magnetorheological fluid, and an electromagnetic coil array is provided on the outer wall of each chamber; the interior of the counterweight container is divided into multiple chambers, filled with magnetorheological fluid, and the electromagnetic coil array surrounds the counterweight container. By controlling the magnetic field distribution with current, the magnetorheological fluid between the chambers can flow mutually or be locked in the original chamber under the action of the magnetic field, thereby changing the spatial distribution of the mass of the counterweight container.

[0053] 3. Obtain the real-time center of gravity coordinates based on the support coordinates and the load, and obtain the horizontal distance based on the real-time center of gravity coordinates and the top coordinates; the present invention uses a weighing sensor to obtain the support point load, dynamically master the load distribution and the position of the center of gravity of the seeder, and adjust its horizontal distance in real time, which is convenient for more accurately adjusting the mass distribution of the counterweight container subsequently, so as to ensure the control strength of the seeding accuracy.

[0054] 4. Install the chambers based on the chamber spacing. The present invention weighs the structural compactness and torque capacity, rationally designs the chamber spacing, optimizes the torque adjustment ability of the counterweight container on the fuselage, and realizes the efficient operation of the magnetorheological fluid counterweight container.

[0055] 5. Based on the actual soil penetration pressure and the target soil penetration pressure, the electromagnetic coil array adjusts the current; obtains the actual soil penetration pressure, compares it with the target soil penetration pressure, dynamically adjusts the magnetic field strength, and ensures the consistency of the seeding depth through dynamic correction and closed-loop feedback. Description of the Drawings

[0056] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of the present invention, and do not limit the embodiments of the present invention;

[0057] Figure 1 It is a schematic flow chart of the wheat intelligent seeder in the present invention to achieve adaptive soil penetration depth through a counterweight container;

[0058] Figure 2 It is a schematic flow chart of the wheat intelligent seeder in the present invention to achieve adaptive soil penetration depth through a furrow opener. Detailed Embodiments

[0059] In order to more clearly understand the above 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.

[0060] 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.

[0061] Embodiment 1

[0062] Reference Figure 1, In this embodiment, a wheat depth - adaptive intelligent seeder is provided. 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 forward, a furrow opener for cutting the soil, and a soil covering device for covering the soil, etc., which are components that can achieve basic seeding functions. The seeder is equipped with a counterweight container. The counterweight container includes several chambers, and the chambers are all connected by pipelines. A pump body is provided on the pipeline. Each chamber is filled with magnetorheological fluid, and an electromagnetic coil array is provided on the outer wall of each chamber. For example, the counterweight container can be arranged on both sides of the seeder body or near the furrow opener. The electromagnetic coil array surrounds the counterweight container. By controlling the current to distribute the magnetic field, the electromagnetic coil array is connected to a power supply. The electromagnetic coil includes several high - conductivity copper wires or aluminum wires, with an insulating layer wrapped outside.

[0063] Magnetorheological Fluid (MRF) is composed of magnetic particles (such as carbonyl iron powder) suspended in a carrier liquid (such as silicone oil). Under the action of a magnetic field, the particles instantaneously form a chain - like structure, and the apparent viscosity of the liquid can increase by 100 - 1000 times, realizing a rapid phase change from liquid state to semi - solid state (response time < 10ms), and having a controllable yield stress: by adjusting the magnetic field strength (0 - 1T), the flow resistance of MRF can be precisely controlled (viscosity range: 100 - 10000cP).

[0064] The seeder further includes:

[0065] A first data module: used to obtain the terrain slope, the tilt angle and walking speed of the seeder, and the target penetration pressure of the furrow opener; specifically, the first data module is used for:

[0066] Obtaining the terrain slope based on a slope sensor, obtaining the tilt angle, including the pitch angle and roll angle of the fuselage, based on an Inertial Measurement Unit (IMU), obtaining the walking speed based on a vehicle speedometer or GPD device, obtaining the soil hardness based on a soil hardness meter, and obtaining the soil humidity based on a soil temperature and humidity meter;

[0067] And used to obtain the basic penetration pressure based on the preset penetration depth; for example, the optimal seeding depth of wheat is 3 - 5, and the basic penetration pressure is set to 1200 - 1500N according to the weight parameters of each component of the wheat seeder.

[0068] And used to obtain the target penetration pressure based on the basic penetration pressure, the soil hardness, the soil humidity, the walking speed, and the terrain slope, and the calculation formula (9) can be used for calculation.

[0069] A second data module: used to obtain the horizontal distance from the furrow opener to the center of gravity of the seeder; specifically, the second data module is used for:

[0070] Obtain several support points of the seeder, install a weighing sensor at each support point, and obtain the load of each support point based on the weighing sensor; for example, obtain the load of the wheel based on the weighing sensor.

[0071] And be used to construct a three-dimensional model of the seeder based on modeling software such as CAD, and obtain the top coordinates of the furrow opener and the support coordinates of each support point.

[0072] And be used to obtain the real-time center-of-gravity coordinates based on the support coordinates and the load, and obtain the horizontal distance based on the real-time center-of-gravity coordinates and the top coordinates, and the calculation can be performed using calculation formula (2-3).

[0073] Analysis module: be used to calculate and obtain the total adjustment amount of the counterweight container based on the terrain slope, the tilt angle, the traveling speed, and the horizontal distance, and the calculation can be performed using calculation formula (1).

[0074] Adaptation module: be used to adjust the center-of-gravity position of the counterweight container based on the total adjustment amount, adjust the pressure distribution of the seeder based on the center-of-gravity position, adjust the penetration pressure of the furrow opener to the target penetration pressure based on the pressure distribution, and the furrow opener cuts the soil based on a preset penetration depth.

[0075] Wherein, the adaptation module specifically includes: [[ID=I8]]

[0076] First adaptation module: be used to obtain the original center-of-gravity coordinates of the counterweight container, for example, on a flat road surface, obtain the center of gravity of the counterweight container according to the mass distribution of the MRF, so as to obtain the original center-of-gravity coordinates, and be used to obtain the adjustment direction based on the terrain slope and the tilt angle, and obtain the center-of-gravity offset amount based on the total adjustment amount and the adjustment direction, for example, obtain the offset direction and offset distance of the center of gravity according to the adjustment direction, and the calculation can be performed using calculation formula (12).

[0077] Obtain the chamber adjustment amount of each chamber based on the center-of-gravity offset amount, the adjustment direction, and the original center-of-gravity coordinates, for example, obtain the real-time center-of-gravity coordinates according to the offset direction and offset distance of the center of gravity, and obtain the chamber adjustment amounts in different axial directions by using the existing vector analysis method of force according to the real-time center-of-gravity coordinates and the original center-of-gravity coordinates, and the calculation can be performed using calculation formula (13).

[0078] Obtain the volume adjustment amount of the magnetorheological fluid based on the chamber adjustment amount, volume adjustment amount = chamber adjustment amount / density of the magnetorheological fluid;

[0079] Second adaptation module: used to comprehensively obtain the distribution data of the magnetorheological fluid in the chamber by combining a liquid level sensor, a pressure sensor, a magnetic field sensor, etc., and used to obtain the magnetic field strength based on the distribution data and the volume adjustment amount, and the calculation can be performed using calculation formula (6-8);

[0080] And used to adjust the current of the electromagnetic coil array based on the magnetic field strength according to the existing calculation formula of the magnetic field strength and the current, so as to change the apparent viscosity of the magnetorheological fluid. The magnetorheological fluid flows and solidifies based on the adjustment direction, adjusts the soil penetration pressure of the furrow opener to the target soil penetration pressure, and the furrow opener cuts the soil based on a preset soil penetration depth.

[0081] For example, during uphill sowing: enhance the MRF magnetic field at the rear of the seeder, lock the counterweight fluid, increase the downward pressure of the furrow opener, and compensate for the loss of the component of gravity; during downhill working conditions: weaken the magnetic field on the uphill side, allow the MRF to flow, and reduce the pressure on the furrow opener; during rollover working conditions: horizontally adjust the viscosity of the left and right chambers to balance the body attitude; during rapid acceleration / deceleration: obtain the trend of the traveling speed change, adjust the viscosity distribution of the MRF, and offset the influence of the inertia moment.

[0082] Sowing unit: used for sowing.

[0083] Embodiment 2

[0084] Based on Embodiment 1, in this embodiment, the chamber is installed based on the chamber spacing, and the way to obtain the chamber spacing is as follows:

[0085] Based on the target soil penetration pressure, the terrain slope, and the horizontal distance, obtain the maximum unbalanced moment of the seeder;

[0086] Obtain the maximum mass adjustment amount of the counterweight container, and based on the maximum mass adjustment amount and the target soil penetration pressure, obtain the chamber spacing, and the calculation can be performed using calculation formula (4-5).

[0087] Embodiment 3

[0088] Based on the above embodiments, in this embodiment, the seeder further includes:

[0089] Correction module: used to obtain the actual soil penetration pressure of the furrow opener based on the pressure sensor, and based on the actual soil penetration pressure and the target soil penetration pressure, the electromagnetic coil array adjusts the current, and the current can be adjusted using calculation formula (10-11).

[0090] Embodiment 4

[0091] Based on the above embodiments, in this embodiment, the calculation formula for obtaining the total adjustment amount is:

[0092]

[0093] Among them, ΔM represents the total adjustment amount, F soil represents the target penetration pressure, L represents the horizontal distance, θ represents the pitch angle, α represents the slope, g represents the acceleration due to gravity, and d represents the chamber spacing;

[0094] The calculation formula for obtaining the horizontal distance is:

[0095]

[0096] Among them, x G represents the lateral coordinate of the center of gravity in the horizontal plane, y G represents the longitudinal coordinate of the center of gravity in the horizontal plane, F i represents the load of the i-th support point, x i represents the lateral coordinate of the i-th support point, y i represents the longitudinal coordinate of the i-th support point, i represents an integer greater than or equal to 1, and n represents the number of support points;

[0097] The calculation formula for obtaining the chamber spacing is:

[0098] M max = F soil ·L·sin(θ max ); (4)

[0099]

[0100] Among them, M max represents the maximum unbalanced moment, F soil represents the target penetration pressure, L represents the horizontal distance, θ max represents the maximum slope, Δm represents the maximum mass adjustment amount, g represents the acceleration due to gravity, and d represents the chamber spacing.

[0101] The calculation formula for obtaining the magnetic field strength is:

[0102] ΔV = Q·Δt; (6)

[0103]

[0104] η = η0 + k·B 2 ; (8)

[0105] Among them, ΔV represents the volume adjustment amount, Δt represents the adjustment time, Q represents the flow rate of the magnetorheological fluid, r represents the pipe radius, ΔP represents the pressure difference, η represents the apparent viscosity, l represents the pipe length, η0 represents the zero-field viscosity (viscosity without magnetic field), k represents the material constant, and B represents the magnetic field strength.

[0106] The calculation formula for obtaining the target penetration pressure is:

[0107] F soil =F base ·K hardness ·K moisture ·K speed ·K slope ;(9)

[0108] Based on the actual burial pressure and the target burial pressure, the calculation formula used in adjusting the current of the electromagnetic coil array is:

[0109] e(t)=F soil -F actual ; (10)

[0110]

[0111] Among them, F soil Indicates the target earth pressure, F base Indicates the foundation soil pressure, K hardness Indicates the soil hardness coefficient, K moisture represents the soil moisture coefficient, K speed Indicates the operating speed coefficient, K slope Indicates the slope coefficient, F actual Indicates the actual soil pressure, K p Represents the proportional gain, K i Indicates the integral gain, K d represents the differential gain, t represents time, and u(t) represents the correlation function.

[0112] The calculation formula for obtaining the center of gravity offset is:

[0113]

[0114] The calculation formula for obtaining the chamber adjustment amount is:

[0115]

[0116] Where Δs represents the center of gravity offset, F soil represents the target soil pressure, L represents the horizontal distance, θ represents the pitch angle, g represents the acceleration of gravity, M total Indicates the total mass of the counterweight container, Δm adjust represents the chamber adjustment amount, and d represents the chamber distance.

[0117] Example 5

[0118] refer to Figure 2 Based on the above embodiment, in this embodiment, the seed drill further includes:

[0119] Environmental module: used to scan the terrain to construct a three-dimensional elevation model, obtain slope change data based on the three-dimensional elevation model, obtain the traveling speed of the seeder and the soil shear resistance, and obtain a furrowing angle based on the slope change data, the traveling speed, the soil shear resistance and a preset depth range, and predict the shape of the furrow opener based on the furrowing angle;

[0120] The seeding module is specifically configured to: adjust 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 device performs seeding;

[0121] The furrow opener includes a plurality of segments, 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 the soil, and 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.

[0122] In the present invention, the terrain is scanned to construct a three-dimensional elevation model, the slope change trend is predicted, the furrowing angle of the furrow opener is adjusted 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 traveling speed of the seeder. 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, and it returns to the preset shape when heated to the phase transition temperature, and maintains plastic deformation after cooling. The response time of the SMA material is usually in the millisecond level, which is suitable for dynamic adjustment. Especially, the Ni-Ti alloy produces a 4% strain 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 the segments, adjusts the entry angle and depth of the furrow opener in real time, is more suitable for adaptive adjustment of complex terrain, reduces the fluctuation of seeding depth, and thus increases the yield.

[0123] In the present invention, the driving device drives the wheat seeder to move, the environmental module scans the terrain to construct a three-dimensional elevation model, predicts the slope change based on the three-dimensional elevation model, obtains the traveling speed of the seeder and the soil shear resistance, obtains a furrowing angle based on the slope change data, the traveling speed, the soil shear resistance and a preset depth range, predicts the shape of the furrow opener based on the furrowing angle, the seeding module adjusts the entry depth of the furrow opener based on the shape of the furrow opener, starts to cut the soil, the wheat in the seed box enters the seeding module to start seeding, and after seeding, the covering device covers the seeds.

[0124] Among them, the seeding module specifically includes:

[0125] Analysis module: used 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;

[0126] Furrowing module: used 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 furrowing depth based on the target shape by the furrow opener, and after the furrow opener finishes furrowing, cool the first shape memory alloy device and the second shape memory alloy device by the cooling device to adjust the segment to the original shape;

[0127] Sub-seeding module: used to perform seeding by the seeding equipment based on the furrowing depth.

[0128] Wherein, 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.

[0129] The orthogonal arrangement method 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 sets 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 furrowing depth can be kept consistent through pitch adjustment, and on side-sloping terrains, the furrow opener can be kept horizontal through 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 sets 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, making the most of the structural space; through independent control, energy waste caused by simultaneous heating of multiple sets 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 maintain stable operation under complex working conditions (such as vibration and impact).

[0130] The pre-tension installation ensures that it can achieve controllable deformation during the heating and cooling processes, and improves the response speed and accuracy.

[0131] Embodiment Six

[0132] Based on the above embodiments, in this embodiment, the seeder further includes:

[0133] Environmental module: It is used to build a three-dimensional elevation model by scanning the terrain based on a lidar and an inertial navigation unit, where the inertial navigation unit can include an inertial measurement unit (IMU) + a global navigation satellite system (RTK-GNSS), to achieve the acquisition of three-dimensional attitude data with an accuracy of 0.1° and centimeter-level positioning. Based on the three-dimensional elevation model and the iterative outlier detection algorithm (RANSA), slope change data is obtained. It is also used to obtain the traveling speed of the seeder and the soil shear resistance based on a Doppler velocity radar and a soil resistance pressure sensor respectively, and to obtain a furrowing angle based on the slope change data, the traveling speed, the soil shear resistance, and a preset depth range, and to predict the shape of the furrow opener based on the furrowing angle. For example, a four-dimensional relationship model of seeding depth - speed - slope - soil resistance is established based on an LSTM network, and the furrowing angle is predicted based on this model and existing algorithms, and the shape of the furrow opener is predicted based on the furrowing angle.

[0134] The seeding module is specifically used for: adjusting the furrow opener based on the shape of the furrow opener, where the furrow opener controls the furrowing depth, and based on the furrowing depth, the seeding device performs seeding;

[0135] The furrow opener includes several segments, and 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. 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 can achieve a deformation accuracy of millimeter level by precisely controlling the heating current and temperature of the SMA wire.

[0136] 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 a flexible hinge, 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 rapid deformation cycle. For example, when the terrain slope is 10°, the front segment of the furrow opener is adjusted to bend upward to reduce the entry angle and prevent over-seeding; when the terrain slope is -8°, the rear segment of the furrow opener is adjusted to bend downward to increase the entry angle and prevent under-seeding.

[0137] Among them, the seeding module specifically includes:

[0138] 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 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 to achieve segment bending, so as to adjust the entry angle and depth of the furrow opener through the coordinated deformation of the segments;

[0139] 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.

[0140] Sub-seeding module: It is used to perform seeding based on the furrowing depth by the seeding equipment.

[0141] 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.

[0142] In this embodiment, the above modules can be installed on existing mainstream seeders (such as John Deere 1890, Lovol RG210, etc.).

[0143] 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 an embodiment of the shear strength of the soil, reflecting the resistance of the internal friction and cohesion between soil particles to shear deformation.

[0144] 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.

[0145] 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 also intends to include these modifications and variations.

Claims

1. A wheat depth-adaptive intelligent seeder, the seeder comprising a frame for fixing the seeder structure, a seed box for placing seeds, a driving device for driving the seeder to travel, a furrow opener for cutting the soil, and a soil covering device for covering the soil, characterized in that, The seeder is equipped with a counterweight container, and the seeder further includes: A first data module: used to obtain the terrain slope, the tilt angle and the traveling speed of the seeder, and the target penetration pressure of the furrow opener; A second data module: used to obtain the horizontal distance from the furrow opener to the center of gravity of the seeder; An analysis module: used to calculate the total adjustment amount of the counterweight container based on the terrain slope, the tilt angle, the traveling speed and the horizontal distance; An adaptation module: used to adjust the center of gravity position of the counterweight container based on the total adjustment amount, adjust the pressure distribution of the seeder based on the center of gravity position, adjust the penetration pressure of the furrow opener to the target penetration pressure based on the pressure distribution, and the furrow opener cuts the soil based on a preset penetration depth; A seeding unit: used for seeding; The counterweight container includes a plurality of chambers, the chambers are all connected by pipelines, a pump body is arranged on the pipeline, each chamber is filled with magnetorheological fluid, and an electromagnetic coil array is arranged on the outer wall of each chamber; The second data module is specifically used for: Obtaining a plurality of support points of the seeder, installing a weighing sensor at each support point, and obtaining the load of each support point based on the weighing sensor; And for constructing a three-dimensional model of the seeder, obtaining the top coordinates of the furrow opener and the support coordinates of each support point; And for obtaining the real-time center of gravity coordinates based on the support coordinates and the load, and obtaining the horizontal distance based on the real-time center of gravity coordinates and the top coordinates.

2. The wheat depth-adaptive intelligent seeder according to claim 1, characterized in that, Installing the chambers based on the chamber spacing, and the obtaining method of the chamber spacing is: Obtaining the maximum unbalanced moment of the seeder based on the target penetration pressure, the terrain slope and the horizontal distance; obtaining the maximum mass adjustment amount of the counterweight container, and obtaining the chamber spacing based on the maximum mass adjustment amount and the target penetration pressure.

3. The wheat depth adaptive intelligent seeder according to claim 1, characterized in that, The adaptation module specifically includes: A first adaptation module: used to obtain the original center of gravity coordinates of the counterweight container, and for obtaining the adjustment direction based on the terrain slope and the tilt angle, obtaining the center of gravity offset based on the total adjustment amount and the adjustment direction, obtaining the chamber adjustment amount of each chamber based on the center of gravity offset, the adjustment direction and the original center of gravity coordinates, and obtaining the volume adjustment amount of the magnetorheological fluid based on the chamber adjustment amount; A second adaptation module: used to obtain the distribution data of the magnetorheological fluid in the chamber, and for obtaining the magnetic field strength based on the distribution data and the volume adjustment amount; And for adjusting the apparent viscosity of the magnetorheological fluid by adjusting the current of the electromagnetic coil array based on the magnetic field strength, the magnetorheological fluid flows and solidifies based on the adjustment direction, adjusting the penetration pressure of the furrow opener to the target penetration pressure, and the furrow opener cuts the soil based on a preset penetration depth.

4. The wheat deep-adaptive intelligent seeder according to claim 3, characterized in that, The first data module is specifically used for: Obtaining the terrain slope, the tilt angle, the traveling speed, and the soil hardness and soil humidity; And for obtaining the basic penetration pressure based on the preset penetration depth; and for obtaining the target penetration pressure based on the base penetration pressure, the soil hardness, the soil humidity, the traveling speed, and the terrain slope.

5. The wheat deep adaptive intelligent seeder according to claim 4, characterized in that, The seeder further includes: a correction module: configured to obtain the actual penetration pressure of the furrow opener, and based on the actual penetration pressure and the target penetration pressure, adjust the current of the electromagnetic coil array.

6. The wheat deep adaptive intelligent seeder according to claim 2, characterized in that, The calculation formula for obtaining the total adjustment amount is: ； Among them, represents the total adjustment amount, represents the target penetration pressure, represents the horizontal distance, represents the pitch angle, represents the slope, represents the acceleration due to gravity, represents the chamber spacing; The calculation formula for obtaining the horizontal distance is: ； ； ； Among them, represents the horizontal coordinate of the center of gravity in the horizontal plane, represents the longitudinal coordinate of the center of gravity in the horizontal plane, represents the th load of the support point, represents the th horizontal coordinate of the support point, represents the th longitudinal coordinate of the support point, represents an integer greater than or equal to 1, represents the number of support points; The calculation formula for obtaining the chamber spacing is: ； ； Among them, represents the maximum unbalanced moment, represents the target soil penetration pressure, represents the horizontal distance, represents the maximum slope, represents the maximum mass adjustment amount, represents the acceleration due to gravity, represents the chamber spacing.

7. The wheat depth-adaptive intelligent seeder according to claim 3, characterized in that, The calculation formula for obtaining the magnetic field strength is: ； ； ； Among them, represents the volume adjustment amount, represents the adjustment time, represents the magnetorheological fluid flow rate, represents the pipe radius, represents the pressure difference, represents the apparent viscosity, represents the pipe length, represents the zero-field viscosity, that is, the viscosity without a magnetic field, represents the material constant, represents the magnetic field strength.

8. The wheat depth adaptive intelligent seeder according to claim 5, characterized in that, The calculation formula for obtaining the target penetration pressure is: ； The calculation formula adopted in adjusting the current of the electromagnetic coil array based on the actual penetration pressure and the target penetration pressure is: ； ； Among them, represents the target penetration pressure, represents the foundation penetration pressure, represents the soil hardness coefficient, represents the soil moisture coefficient, represents the operating speed coefficient, represents the slope coefficient, represents the actual penetration pressure, represents the proportional gain, represents the integral gain, represents the derivative gain, t represents time, represents the correlation function.

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