Seeding machine with in-situ reseeding function and in-situ reseeding method

Abstract

The invention relates to a seeder with an in-situ reseeding function and an in-situ reseeding method. The seeder comprises a rack, and the rack is sequentially connected with a seeder, a press wheel and a land wheel backwards from the operation advancing direction; the seeder is a duckbilled seeder, and a seeding bin of the seeder is provided with a miss-seeding detection mechanism; each seeding duckbill can trigger the miss-seeding detection mechanism during seeding; the reseeding mechanism is connected to the rack and located between the seeder and the press wheel, the reseeding mechanism is provided with a driving assembly, and the driving assembly serves as reseeding power; the control system is fixed above the rack and electrically connected with the power supply, the miss-seeding detection mechanism and the driving assembly, and the control system is used for receiving a miss-seeding signal of the miss-seeding detection mechanism, calculating a reseeding coordinate position and sending a reseeding moment signal to the driving assembly according to the reseeding coordinate position. The miss-seeding detection mechanism is high in detection success rate, the reseeding mechanism is simple in structure, in-situ reseeding is achieved, and the seeding quality and the seeding efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of seeders, and more particularly to a seeder with in-situ reseeding and an in-situ reseeding method. Background Art

[0002] The advantages of the precision seeder in structure enable it to have a high operating speed and efficiency, ensuring that seeds can be sown in the field in a timely manner within the appropriate seeding time, thereby increasing crop yields. However, due to the complex field environment and the fully enclosed seed metering device, the seeding process cannot be directly monitored by human sight and hearing alone. For example, during seeding operations, if the seed tube becomes blocked or the seeder jolts due to uneven ground surface during operation, it may cause missed seeding in the seed metering device. At the same time, after the crop seeds are sown in the field, the covering mechanism is used for covering soil. Even if there is missed seeding, it cannot be detected in time by humans, and reseeding must be carried out only after the seeds germinate. The growth cycle of the reseeded seeds is inconsistent with that of the first-sown seeds, resulting in a reduction in later yields.

[0003] In order to solve the above problems, the existing seeders in the prior art adopt a missed seeding detection system. After the seed metering device sows seeds, the holes are detected for missed seeding. Although a relatively high detection success rate can be achieved, the system is complex and costly; and the corresponding reseeding device has a complex structure and cumbersome reseeding operations; the reseeding device cannot achieve in-situ reseeding, that is, there is a certain error between the reseeding position and the seeding position, resulting in inconsistent seeding positions.

[0004] Therefore, how to provide a seeder with in-situ reseeding and an in-situ reseeding method is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The present invention aims to solve at least one of the above technical problems in the prior art to some extent.

[0006] To this end, an object of the present invention is to provide a seeder with in-situ reseeding to solve the problem that the existing seeder cannot perform in-situ reseeding.

[0007] Another object of the present invention is to provide an in-situ reseeding method.

[0008] The technical solution of the present invention is a seeder with in-situ reseeding, including:

[0009] A frame, on which a seeder, a press wheel, and a ground wheel are sequentially connected from the forward direction of operation backward; the seeder adopts a duckbill seeder, and a missed seeding detection mechanism is installed in the seeding hopper of the seeder; each seeding duckbill will trigger the missed seeding detection mechanism when sowing.

[0010] A replanting mechanism, the replanting mechanism is connected to the frame and is located between the seeder and the pressing wheel, the replanting mechanism has a driving component, and the driving component serves as a replanting power;

[0011] A control system is fixed above the frame and is electrically connected to a power supply, the missed seeding detection mechanism, and the drive assembly. The control system is used to receive missed seeding signals from the missed seeding detection mechanism, calculate a replanting coordinate position, and send a replanting time signal to the drive assembly according to the replanting coordinate position.

[0012] Furthermore, the missed seeding detection mechanism includes a photoelectric sensor and a detection sensor; the photoelectric sensor is installed on the side of the seed box of the sowing silo close to the seeder, and the detection sensor is installed at the exit of the sowing silo; a rotating wheel is installed near the exit of the sowing silo, and when each of the sowing duckbills approaches the exit position of the sowing silo, the duckbill push rod of the sowing duckbill will drive the rotating wheel to rotate, and at this rotation moment, the duckbill push rod is detected by the photoelectric sensor, and the duckbill push rod signal obtained by the photoelectric sensor is fed back to the control system, and the control system reads the seeding signal from the detection sensor to determine whether it is a missed seeding.

[0013] Furthermore, the replanting mechanism comprises:

[0014] A push rod, the output end of the driving assembly is connected to the push rod through a coupling, and the push rod is moved up and down in the vertical direction;

[0015] A duckbill acupuncture assembly, the bottom end of the push rod is connected to the duckbill acupuncture assembly;

[0016] A seed-replenishing box, the seed-replenishing box is arranged in parallel with the push rod and is at least partially connected;

[0017] A seeding device, the seeding device is located at the lower part of the seeding box and is connected thereto;

[0018] A seed delivery tube, the top of which is connected to the seed replenisher, and the bottom of which is connected to the duckbill piercing assembly;

[0019] The push rod has a vertically arranged rack on one side facing the seed refilling device, and a gear coaxially arranged on the seed refilling device to match the rack.

[0020] Furthermore, the driving assembly comprises:

[0021] A cam, wherein a servo motor is mounted on one side of the cam and a connecting rod is fixed on the other side;

[0022] The connecting rod is connected to the piston, and the piston is connected to the coupling.

[0023] Furthermore, the duckbill type hole punching assembly includes:

[0024] A first limiting plate, which is fixed to the bottom of the push rod;

[0025] Two second limiting plates, the two second limiting plates are correspondingly connected to two relatively arranged moving duckbills. The upper parts of the two moving duckbills are hinged to the push rod and are at least partially fixed to the first limiting plate. An openable and closable seed sowing space is formed between the two moving duckbills, and the seed sowing space is communicated with the seed conveying pipe;

[0026] A return spring, which is connected between the first limiting plate and the second limiting plate.

[0027] Furthermore, the reseeder includes a reseeding tray cover plate, a reseeding tray and a reseeding tray cover plate which are sequentially connected through a rotating shaft, and a supplementary seed space is formed. There is a seed inlet channel above the reseeding tray cover plate and a seed outlet channel below it. A plurality of seed holes are arranged on the outer periphery of the reseeding tray; the gear is key-connected to the rotating shaft.

[0028] Furthermore, the radius of the cam 511 is 95 - 105 mm, the length of the connecting rod 513 is 115 - 125 mm, and the installation position of the connecting rod 513 is 75 - 85 mm away from the center of the cam 511.

[0029] The present invention also provides an in-situ reseeding method for a seeding machine with in-situ reseeding based on the above scheme. The seeding machine maintains a constant speed of movement. An absolute coordinate system is established with the position where the seeding machine starts operating as the coordinate origin, and the coordinate value of the reseeding mechanism in the absolute coordinate system is determined in real time; when the missed seeding detection mechanism detects a missed seeding signal, the control system determines it as a missed seeding and records the coordinate value of the empty hole in the absolute coordinate system. When the control system determines that the reseeding mechanism reaches the reseeding position, that is, when the coordinate value of the reseeding mechanism is the same as the coordinate value of the empty hole, the drive assembly of the reseeding mechanism is controlled to rotate, thereby completing in-situ reseeding.

[0030] Furthermore, the reseeding process includes:

[0031] S1, Initialization. When starting the seeding operation, the coordinate system is initialized. A one-dimensional coordinate system is established with the reseeding mechanism as the origin, and the positive direction is along the seeding direction. At the same time, the clock starts timing;

[0032] S2, When the missed seeding detection mechanism detects the generation of a missed seeding signal, the control system clock records the current time t. According to formulas (1-1) and (1-2), the coordinate value x of the missed seeding position in the absolute coordinate system can be obtained;

[0033] s = v × t (1-1);

[0034] x = s + h (1-2);

[0035] In formula (1-2), h is the distance between the reseeding mechanism and the seeding nozzle of the seeder; v is the seeding speed, s is the distance traveled by the seeder within time t, and this moving distance is relative.

[0036] Then, according to formula (1-3), the time T required for the reseeding mechanism to reach this coordinate value is obtained through the obtained coordinate value x.

[0037]

[0038] S3. The control system reads the value t of the clock at regular intervals, and determines whether the value t is consistent with T. If not, it means that the reseeding mechanism has not reached the missed seeding position. If it is consistent, it means that the reseeding mechanism has reached the missed seeding position, and the control system controls the servo motor of the reseeding mechanism to rotate for reseeding.

[0039] S4. Repeat step S3 until the seeding operation is completed.

[0040] Furthermore, the missed seeding detection mechanism detects the missed seeding signal starting from the position where the nozzle push rod reaches the position to push the rotating wheel.

[0041] As can be seen from the above technical solutions, compared with the prior art, the present invention has the following beneficial effects:

[0042] In the present invention, the control system receives the missed seeding signal from the missed seeding detection mechanism, calculates the reseeding coordinate position, and sends a reseeding time signal to the drive assembly according to the reseeding coordinate position, ensuring in-situ reseeding.

[0043] The missed seeding detection mechanism of the present invention has a high detection success rate, a simple structure, and a relatively low cost compared with the prior art;

[0044] In the present invention, the reseeding mechanism has a simple structure, realizes in-situ reseeding, keeps the reseeding position consistent with the seeding position, and improves the seeding quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0046] Figure 1 It is a schematic structural diagram of a seeder with in-situ reseeding provided by the present invention;

[0047] Figure 2 It shows a schematic diagram of a position of the missed seeding detection mechanism;

[0048] Figure 3 A schematic diagram showing another position of the missed seeding detection mechanism;

[0049] Figure 4 A schematic diagram showing the structure of the reseeding mechanism;

[0050] Figure 5 A schematic diagram showing the structure of the driving component;

[0051] Figure 6 A schematic diagram showing the structure of the duckbill hole-punching component;

[0052] Figure 7 A schematic diagram showing the structure of the reseeder;

[0053] Figure 8 A schematic diagram showing the initial state during the seed filling process;

[0054] Figure 9 A schematic diagram showing the first stage of the seed filling operation;

[0055] Figure 10 A schematic diagram showing the second stage of the seed filling operation;

[0056] Figure 11 It is a schematic diagram of the principle of the reseeding operation. Detailed implementation manners

[0057] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0058] Although the seeder in the prior art adopts a missed seeding detection system, after the seed metering device discharges seeds, the missed seeding detection of the holes can achieve a relatively high detection success rate, but the system is complex and the cost is high; and the corresponding reseeding device has a complex structure and the reseeding operation is cumbersome; the reseeding device cannot achieve in-situ reseeding, that is, there is a certain error between the reseeding position and the seeding position, resulting in inconsistent seeding positions and affecting the seeding quality and seeding efficiency.

[0059] In view of this, the present invention provides a seeder with in-situ reseeding. Refer to the attached Figure 1 and 2 , including:

[0060] The frame is connected with a seeder 6, a pressing wheel 4, and a ground wheel 3 in sequence from the forward direction of the operation to the rear; the seeder 6 adopts a duckbill seeder, and a sowing silo 61 of the seeder 6 is equipped with a missed sowing detection mechanism; each sowing duckbill will trigger the missed sowing detection mechanism when sowing;

[0061] A reseeding mechanism 5, the reseeding mechanism 5 is connected to the frame and is located between the seeder 6 and the pressing wheel 4, the reseeding mechanism 5 has a driving component 51, and the driving component 51 serves as a reseeding power;

[0062] The control system 1 is fixed on the frame and is electrically connected to the power supply 2, the missed seeding detection mechanism, and the driving component 51. The control system 1 is used to receive the missed seeding signal of the missed seeding detection mechanism, calculate the replanting coordinate position, and send a replanting time signal to the driving component 51 according to the replanting coordinate position.

[0063] The seeder rotates and moves forward under the movement of the ground wheel, and the multiple duck bills on the seeder complete the sowing operation in turn. When each duck bill is performing the sowing operation, the missed sowing detection system performs missed sowing detection on the duck bill to determine whether the duck bill has missed sowing. If missed sowing occurs, the reseeding mechanism moves to the hole position for reseeding. Finally, the pressing wheel presses the holes where sowing has been completed, and the sowing process is completed. In this way, in-situ reseeding is achieved, and sowing quality and sowing efficiency are improved.

[0064] See attached Figure 2 and 3 The missed seeding detection mechanism includes a photoelectric sensor 7 and a detection sensor 8; the photoelectric sensor 7 is installed on the seed box side of the seeding bin 61 close to the seeder, and the detection sensor 8 is installed at the outlet of the seeding bin 61; a rotating wheel 62 is installed near the outlet of the seeding bin 61, and when each of the seeding duckbill approaches the outlet position of the seeding bin 61, the duckbill push rod 63 of the seeding duckbill will turn the rotating wheel 62 to rotate. At this rotation moment, the duckbill push rod 63 is detected by the photoelectric sensor 7, and the duckbill push rod signal obtained by the photoelectric sensor 7 is fed back to the control system 1, and the control system 1 reads the seeding signal from the detection sensor 8 to determine whether it is missed seeding. The detection sensor 8 may include multiple pairs of diodes, each pair may include an infrared light emitting diode and an infrared photosensitive diode.

[0065] When the seeder is working, the duckbills installed on the seeder will reach the seeding position in sequence for seeding. After the previous duckbill finishes seeding, the next duckbill moves towards the seeding position. During the movement, the push rod of the duckbill will push the rotating wheel to rotate. The rotating wheel is connected to the seeding hopper. Therefore, the seeding hopper will also rotate, so that the seeds fall from the seeding hopper into the duckbill. Therefore, when the push rod of the duckbill reaches the position where it can push the rotating wheel to rotate, it is used as the start mark of the seeding operation of this duckbill.

[0066] Missed seeding detection includes two processes. The first process: The control system continuously reads the signal of the photoelectric sensor. When the duckbill reaches the position where it can push the rotating wheel to rotate, the push rod of the duckbill will be detected by the photoelectric sensor, generating an electrical signal and returning it to the control system. At this time, the control system starts to read the signal returned by the detection sensor, as Figure 2 shown. The second process: When the duckbill moves to the seeding position, if seeds fall, it will block the infrared light-emitting diode and is judged as no missed seeding. If no seeds fall within a certain period of time, it is judged as missed seeding, as Figure 3 .

[0067] In the embodiment of the present invention, referring to the appendix Figure 4 , the reseeding mechanism 5 includes:

[0068] A push rod 55, the output end of the drive assembly 51 is connected to the push rod 55 through a coupling 52, and the push rod 55 moves up and down in the vertical direction;

[0069] A duckbill type hole punching assembly 56, the bottom end of the push rod 55 is connected with the duckbill type hole punching assembly 56;

[0070] A reseeding box 57, the reseeding box 57 is arranged in parallel with the push rod 55 and at least partially connected;

[0071] A reseeder 58, the reseeder 58 is located at the lower part of the reseeding box 57 and is communicated with it;

[0072] A seed delivery pipe 59, the top of the seed delivery pipe 59 is communicated with the reseeder 58, and the bottom is communicated to the duckbill type hole punching assembly 56;

[0073] Wherein, on one side of the push rod 55 facing the reseeder 58, there is a vertically arranged rack 53, and a gear 581 cooperating with the rack 53 is coaxially arranged on the reseeder 58.

[0074] Referring to the appendix Figure 5 , the drive assembly 51 includes:

[0075] A cam 511, a servo motor 512 is installed on one side of the cam 511, and a connecting rod 513 is fixed on the other side;

[0076] The piston 514 , the connecting rod 513 is connected to the piston 514 , and the piston 514 is connected to the coupling 52 .

[0077] Advantageously, the drive assembly is a key component for realizing the up and down movement of the reseeding mechanism. In order to ensure smooth seed filling, the rack needs to move a certain distance. According to the embodiment of the present invention, the rack needs to move 160 mm, so the moving distance of the drive assembly needs to meet 160 mm. The relationship between the corresponding components is that the radius of the cam 511 is 95-105 mm, the length of the connecting rod 513 is 115-125 mm, and the installation position of the connecting rod 513 is 75-85 mm from the center of the cam 511. To ensure smooth seed filling.

[0078] The connecting rod connects the cam and the piston, and the piston is connected to the push rod through a coupling. The rotation of the servo motor drives the cam to rotate, and the piston moves linearly in the piston cylinder through the connecting rod, thereby causing the push rod to move linearly in the vertical direction.

[0079] See attached Figure 6 The duckbill piercing assembly 56 comprises:

[0080] A first limiting plate 561, wherein the first limiting plate 561 is fixed to two sides of the bottom of the push rod 55;

[0081] The second limiting plate 562, the two second limiting plates 562 are connected to two oppositely arranged moving duck bills 563, the upper part of the two moving duck bills 563 is hinged to the push rod 55, and is at least partially fixed to the first limiting plate 561, and an openable and closable seeding space is formed between the two moving duck bills 563, and the seeding space is connected to the seed delivery tube 59; the moving duck bills are staggered from the seed delivery tube 59 at the hinge between the moving duck bills and the push rod, or the end of the seed delivery tube enters the push rod and can be connected to the seeding space. The second limiting plate 562 can be thicker than the first limiting plate 561. Among them, the first limiting plate is hinged to the push rod through a rotating shaft or a pin to ensure that the moving duck bill can rotate.

[0082] The return spring 564 is connected between the first limit plate 561 and the second limit plate 562. When the return spring 564 is compressed, the two-lobed duckbill opens, and when the spring returns, the two-lobed duckbill closes.

[0083] During operation, as the driving component gradually moves to the lowest position, the push rod moves downward, and the duckbill hole-digging component digs into the soil. When it reaches a specific depth, the second limiting plate is under pressure, compressing the return spring, and the two movable duckbills open, allowing seeds to fall into the holes. At the same time, as the rack moves downward, the gear rotates counterclockwise, and the seed replenishing plate rotates counterclockwise, and seeds enter the seed replenishing plate from the seed replenishing box. As the driving component gradually moves to the highest position, the push rod moves upward, the duckbill hole-digging component leaves the soil, the pressure on the second limiting plate decreases, the return spring gradually returns to its original position, the two movable duckbills close, the rack moves upward, the gear rotates clockwise, and the seed replenishing plate rotates clockwise. Seeds enter the seed conveying tube from the seed replenishing plate and reach the duckbill hole-digging component, waiting for the next seed replenishment.

[0084] See Appendix Figure 7 The seed replanter 58 includes a seed replanting plate cover 582, a seed replanting plate 584, and a seed replanting plate cover plate 585 that are sequentially connected through a rotating shaft 54, forming a seed replenishing space. There is a seed inlet channel above the seed replanting plate cover plate 585 and a seed outlet channel below it, allowing seeds to pass through. A plurality of seed holes 583 are arranged on the outer circumference of the seed replanting plate 584; the gear 581 is key-connected to the rotating shaft 54. The seed replanting plate is key-connected to the rotating shaft. When the gear rotates, the seed replanting plate rotates synchronously.

[0085] The present invention also provides an in-situ seed replanting method for a seeder with in-situ seed replanting based on the above-described embodiments. The seeder maintains a uniform speed. An absolute coordinate system is established with the position where the seeder starts operation as the coordinate origin, and the coordinate value of the seed replanting mechanism in the absolute coordinate system is determined in real time. When the missed seeding detection mechanism detects a missed seeding signal, the control system determines it as a missed seeding and records the coordinate value of the empty hole in the absolute coordinate system. When the control system determines that the seed replanting mechanism reaches the seed replanting position, that is, when the coordinate value of the seed replanting mechanism is the same as the coordinate value of the empty hole, the driving component of the seed replanting mechanism is controlled to rotate, thereby completing in-situ seed replanting.

[0086] Among them, see Appendix Figure 11 , the seed replanting process includes:

[0087] S1, Initialization. When starting the seeding operation, initialize the coordinate system. Establish a one-dimensional coordinate system with the seed replanting mechanism as the origin, and the positive direction is along the seeding direction. At the same time, the clock starts timing;

[0088] S2, When the missed seeding detection mechanism detects the generation of a missed seeding signal, the control system clock records the current time t (t1 / t2 / t3...). According to formulas (1-1) and (1-2), the coordinate value x of the missed seeding position in the absolute coordinate system can be obtained;

[0089] s = v × t (1-1);

[0090] x = s + h (1-2);

[0091] In formula (1-2), h is the distance between the reseeding mechanism and the seeding nozzle of the seeder; v is the seeding speed, s is the distance the seeding machine advances within time t, and this moving distance is relative.

[0092] Then, according to formula (1-3), the time T required for the reseeding mechanism to reach this coordinate value is obtained through the obtained coordinate values x (x1 / x2 / x3...).

[0093]

[0094] S3. The control system reads the value t of the clock at regular intervals, and determines whether the value t is consistent with T. If not, it means that the reseeding mechanism has not reached the missed seeding position. If so, it means that the reseeding mechanism has reached the missed seeding position, and the control system controls the servo motor of the reseeding mechanism to rotate for reseeding.

[0095] S4. Repeat step S3 until the seeding operation is completed.

[0096] It should be noted that the control system of the present invention is a programmable PLC control system, which is a system capable of processing information and parameters and has a clock function inside. Existing control systems can be used as long as they can achieve the above functions.

[0097] The missed seeding detection mechanism detects the missed seeding signal starting from the position where the nozzle push rod reaches the position to drive the rotating wheel to rotate.

[0098] The present invention adopts a direct-insert type reseeding mechanism design and an in-situ reseeding method. By judging that the coordinate value of the reseeding mechanism is consistent with the coordinate value of the missed seeding position, the servo motor is driven, thereby realizing in-situ reseeding. In the present invention, the design of the gear and rack ensures that the seeds can reach the specified position in time during the operation of the reseeding mechanism.

[0099] The reseeding mechanism of the present invention can also be applied to other types of seeders and used as a reseeding mechanism.

[0100] See the appendix Figures 8 - 10 , the reseeding operation of the reseeding mechanism is the seed throwing process and the seed filling process, and the two processes are carried out simultaneously. However, from the perspective of the completion time, the seed throwing process is completed first, and the seed filling process is completed later. The seed throwing process is mainly completed by the driving component, the push rod, and the duckbill type hole punching component, and the seed filling process is jointly completed by the gear and rack and the reseeding disk. The working process of the reseeder can be specifically described by the seed throwing stage and the seed filling stage respectively.

[0101] Seed throwing stage

[0102] Seeding is to put seeds into the pre-dug holes. Therefore, the operations in the seeding stage include hole piercing, hole opening and seed dropping. When reseeding is needed due to missed seeding, the servo motor of the reseeding mechanism receives a signal, the output shaft rotates, the piston pushes the push rod downward, and the duckbill hole-piercing assembly gradually moves downward and pierces into the soil to complete the hole-piercing action. At the same time, the second limiting plate of the duckbill hole-piercing assembly moves downward and is blocked by the soil, compressing the return spring, and the duckbill hole-piercing assembly gradually opens the moving duckbill. When the duckbill hole-piercing assembly pierces into the soil to a specific depth, the return spring is compressed to the maximum, and the moving duckbill is fully opened in the soil, forming a hole to complete the hole-opening action. Finally, the seeds are dropped into the hole from the duckbill hole-piercing assembly to complete the seed-dropping action. Every time the control system detects a missed seeding signal and sends a reseeding signal, the reseeding mechanism completes the above seeding movement once.

[0103] Seeding filling stage

[0104] The completion of the seeding filling action depends on the rack and pinion. When the reseeding mechanism is not working, the teeth at the lowest end of the rack mesh with the pinion. At this time, the seed holes of the seeding plate in the reseeder face downward, as Figure 8 shown.

[0105] During operation, the seeding filling stage can be divided into two stages. The first is that during the downward movement of the push rod in the seeding stage, the rack also moves downward, causing the pinion to rotate counterclockwise. The rotating shaft is connected to the pinion and the seeding plate through two keys respectively. The counterclockwise rotation of the pinion drives the rotating shaft to rotate counterclockwise, so that the seeding plate rotates counterclockwise. When the rack moves to the lowest end, the teeth at the uppermost end of the rack mesh with the pinion. At this time, the pinion rotates half a turn, and the seeding plate also follows and rotates counterclockwise by half a turn. The seed holes of the seeding plate face upward, and the seeds in the seeding box enter the seed holes through the seed inlet channel of the seeding plate cover, as Figure 9 shown. The second is after the seeding is completed, the push rod drives the rack to move upward, and the pressure on the return spring decreases, and the two moving duckbills gradually close. Similarly, when the rack moves upward, the pinion rotates clockwise, and the seeding plate also rotates clockwise. When the rack rises to the initial position, the pinion rotates clockwise by half a turn, and the seeding plate also rotates clockwise by half a turn. At this time, the seed holes of the seeding plate face downward, and the seeds enter the seed delivery pipe from the seed outlet channel of the seeding plate cover and are transported to the closed duckbill hole-piercing assembly through the seed delivery pipe to pre-fill the seeds for the next reseeding operation, as Figure 10 shown.

[0106] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0107] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A seeder with in-situ reseeding, characterized in that: include: A frame, wherein the frame is connected with a seeder (6), a pressing wheel (4), and a ground wheel (3) in sequence from the forward direction of operation to the rear; the seeder (6) is a duckbill seeder, and a sowing silo (61) of the seeder (6) is equipped with a missed sowing detection mechanism; each sowing duckbill will trigger the missed sowing detection mechanism when sowing; A reseeding mechanism (5), the reseeding mechanism (5) is connected to the frame and is located between the seeder (6) and the pressing wheel (4), the reseeding mechanism (5) has a driving component (51), and the driving component (51) serves as a reseeding power; A control system (1), wherein the control system (1) is fixed above the frame and is electrically connected to a power supply (2), the missed seeding detection mechanism, and the drive component (51); the control system (1) is used to receive a missed seeding signal from the missed seeding detection mechanism, calculate a replanting coordinate position, and send a replanting time signal to the drive component (51) according to the replanting coordinate position.

2. A seeder with in-situ reseeding function according to claim 1, characterized in that: The missed seeding detection mechanism comprises a photoelectric sensor (7) and a detection sensor (8); the photoelectric sensor (7) is installed on the seed box side of the seeding silo (61) close to the seeder, and the detection sensor (8) is installed at the outlet of the seeding silo (61); a rotating wheel (62) is installed near the outlet of the seeding silo (61), and when each of the seeding duckbills approaches the outlet position of the seeding silo (61), the duckbills push rod (63) of the seeding duckbills will drive the rotating wheel (62) to rotate, and at this moment of rotation, the duckbills push rod (63) is detected by the photoelectric sensor (7), and the duckbills push rod signal obtained by the photoelectric sensor (7) is fed back to the control system (1), and the control system (1) reads the seeding signal from the detection sensor (8) to determine whether it is missed seeding.

3. A seeder with in-situ reseeding function according to claim 2, characterized in that: The replanting mechanism (5) comprises: A push rod (55), wherein the output end of the driving assembly (51) is connected to the push rod (55) via a coupling (52), and enables the push rod (55) to move up and down in a vertical direction; A duckbill acupuncture assembly (56), the bottom end of the push rod (55) is connected to the duckbill acupuncture assembly (56); A seed-replenishing box (57), the seed-replenishing box (57) being arranged in parallel with the push rod (55) and at least partially connected; A seeding device (58), the seeding device (58) is located at the lower part of the seeding box (57) and is connected thereto; A seed delivery tube (59), the top of which is connected to the seed replenisher (58), and the bottom of which is connected to the duckbill piercing assembly (56); The push rod (55) has a vertically arranged rack (53) on one side facing the reseeder (58), and a gear (581) coaxially arranged on the reseeder (58) and cooperating with the rack (53).

4. A seeder with in-situ reseeding function according to claim 3, characterized in that: The driving assembly (51) comprises: A cam (511), wherein a servo motor (512) is installed on one side of the cam (511) and a connecting rod (513) is fixed on the other side; The piston (514) is connected to the connecting rod (513), and the piston (514) is connected to the coupling (52).

5. The seeder with in-situ reseeding function according to claim 3, characterized in that: The duckbill type puncture assembly (56) comprises: A first limiting plate (561), wherein the first limiting plate (561) is fixed to the bottom of the push rod (55); A second limiting plate (562), wherein two of the second limiting plates (562) are connected to two oppositely arranged movable duckbills (563), the upper parts of the two movable duckbills (563) are hinged to the push rod (55), and are at least partially fixed to the first limiting plate (561), and an openable seed placement space is formed between the two movable duckbills (563), and the seed placement space is connected to the seed delivery tube (59); A return spring (564), wherein the return spring (564) is connected between the first limit plate (561) and the second limit plate (562).

6. The seeder with in-situ reseeding function according to claim 3, characterized in that: The reseeding device (58) comprises a reseeding tray cover plate (582), a reseeding tray (584) and a reseeding tray cover plate (585) which are sequentially connected via a rotating shaft (54) and form a seed replenishing space. The reseeding tray cover plate (585) has a seed inlet channel on the top and a seed outlet channel on the bottom. A plurality of seed holes (583) are arranged on the outer periphery of the reseeding tray (584); the gear (581) is key-connected to the rotating shaft (54).

7. A seeder with in-situ reseeding function according to claim 4, characterized in that: The radius of the cam (511) is 95-105 mm, the length of the connecting rod (513) is 115-125 mm, and the installation position of the connecting rod (513) is 75-85 mm away from the center of the cam (511).

8. An in-situ replanting method for a seeder with in-situ replanting according to claim 1, characterized in that: The seeder maintains uniform motion, establishes an absolute coordinate system with the position of the seeder when it starts working as the coordinate origin, and determines the coordinate value of the reseeding mechanism in the absolute coordinate system in real time; when the missed seeding detection mechanism detects a missed seeding signal, the control system determines it as a missed seeding and records the coordinate value of the hole in the absolute coordinate system; when the control system determines that the reseeding mechanism has arrived at the reseeding position, that is, when the coordinate value of the reseeding mechanism is consistent with the coordinate value of the hole, the drive component of the reseeding mechanism is controlled to rotate, thereby completing the in-situ reseeding.

9. The in-situ replanting method according to claim 8, characterized in that: The reseeding process includes: S1, initialization, when starting the sowing operation, initialize the coordinate system, establish a one-dimensional coordinate system with the reseeding mechanism as the origin, and the positive direction is along the sowing direction, and the clock starts timing at the same time; S2, when the missed broadcast detection mechanism detects the generation of a missed broadcast signal, the control system clock records the current time t, and the coordinate value x of the missed broadcast position in the absolute coordinate system can be obtained according to formulas (1-1) and (1-2); s = v × t (1-1); x = s + h (1-2); In formula (1-2), h is the distance between the reseeding mechanism and the sowing duckbill of the seeder; v is the sowing speed, and s is the distance the seeder moves forward in time t. The moving distance is relative. Then, according to formula (1-3), the time T required for the reseeding mechanism to reach the coordinate value is calculated by using the obtained coordinate value x; S3, the control system reads the clock value t at regular intervals to determine whether the value t is consistent with T. If not, it means that the reseeding mechanism has not reached the missed sowing position. If consistent, it means that the reseeding mechanism has reached the missed sowing position, and the control system controls the servo motor of the reseeding mechanism to rotate for reseeding; S4, repeat step S3 until the sowing operation is completed.

10. The in-situ replanting method according to claim 8, characterized in that: The missed broadcast detection mechanism detects the missed broadcast signal starting from the time when the duckbill push rod reaches the rotation position of the push wheel.

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