A seeder with in-situ reseeding capability and an in-situ reseeding method

Abstract

This invention relates to a seeder and a method for in-situ reseeding. The seeder includes a frame, from which a seeder, a press wheel, and a ground wheel are sequentially connected in the forward direction. The seeder is a duckbill type, and its seed hopper is equipped with a missed seed detection mechanism. Each time the duckbill seeder sows, the missed seed detection mechanism is triggered. The reseeding mechanism is connected to the frame and located between the seeder and the press wheel. The reseeding mechanism has a drive component, which serves as the power source for reseeding. A control system is fixed above the frame and electrically connected to the power supply, the missed seed detection mechanism, and the drive component. The control system receives the missed seed signal from the missed seed detection mechanism, calculates the reseeding coordinate position, and sends a reseeding time signal to the drive component based on the reseeding coordinate position. This invention features a high success rate in detecting missed seeds, a simple reseeding mechanism structure, and achieves in-situ reseeding, improving sowing quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of seeding technology, and more specifically to a seeder and a method for in-situ reseeding. Background Technology

[0002] Precision seeders possess structural advantages that enable high operating speed and efficiency, ensuring seeds are sown in the field within the appropriate planting time, thus increasing crop yield. However, due to the complex field environment and the fact that the seed metering device is fully enclosed, the seeding process cannot be observed, making it impossible to directly monitor its quality by sight and sound alone. For example, during sowing, blockages in the seed delivery pipe or uneven ground causing the seeder to vibrate can lead to missed sowing. Furthermore, after sowing, the seed is covered with soil by a covering mechanism, meaning that even if missed sowing occurs, it cannot be detected manually until the seedlings emerge. The growth cycle of the re-sown seeds differs from that of the originally sown seeds, resulting in reduced yield later on.

[0003] To address the aforementioned problems with seeders, for example, the utility model patent with authorization announcement number CN211931282U discloses a hole-forming seeding device with reseeding function, including a hole-forming drive shaft with at least one hole-forming turntable mounted on it, which can perform reseeding. Another example is the invention patent with authorization announcement number CN105325102B, which discloses a film-laying seeder and its duckbill-type seed metering device for detecting missed sowing. The film-laying seeder includes a frame and a seed metering component and a duckbill-type seed metering device installed on the frame, which can perform missed sowing detection. Yet another example is the invention patent with authorization announcement number CN108419490B, which discloses a seeder with missed sowing detection and reseeding function for agricultural sowing, including a sowing mechanism for sowing, which can perform reseeding even when there is a possibility of missed sowing. However, their systems are complex and costly; the corresponding replanting devices are also complex in structure and cumbersome in operation; the replanting devices cannot achieve in-situ replanting, that is, there is a certain error between the replanting position and the sowing position, resulting in inconsistent sowing positions.

[0004] Therefore, how to provide a seeder with in-situ replanting capability and a method for in-situ replanting is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

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

[0006] Therefore, one object of the present invention is to provide a seeder with in-situ replanting capability, thereby solving the problem that existing seeders cannot perform in-situ replanting.

[0007] Another objective of this invention is to provide an in-situ replanting method.

[0008] The technical solution of this invention is a seeder with in-situ reseeding capability, comprising:

[0009] The frame is connected in sequence from the forward direction of operation to the rear by a seeder, a press wheel, and a ground wheel; the seeder is a duckbill seeder, and the seed hopper of the seeder is equipped with a missed seed detection mechanism; the missed seed detection mechanism is triggered when each duckbill seeder is used for seeding.

[0010] A replanting mechanism is connected to the frame and located between the seeder and the press wheel. The replanting mechanism has a drive assembly that serves as the power source for replanting.

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

[0012] The missed seeding detection mechanism includes a photoelectric sensor and a detection sensor. The photoelectric sensor is installed on the side of the seeding hopper near the seed box of the seeder, and the detection sensor is installed at the outlet of the seeding hopper. A rotating wheel is installed near the outlet of the seeding hopper. As each seeding nozzle approaches the outlet of the seeding hopper, the nozzle push rod of the seeding nozzle will push the rotating wheel to rotate. At this moment of rotation, the nozzle push rod is detected by the photoelectric sensor. The nozzle push rod signal acquired by the photoelectric sensor is fed back to the control system. The control system reads the next seeding signal from the detection sensor to determine whether there is a missed seeding.

[0013] Furthermore, the replanting mechanism includes:

[0014] The push rod, the output end of the drive assembly is connected to the push rod via a coupling, and the push rod moves up and down in the vertical direction;

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

[0016] A replanting box, wherein the replanting box and the push rod are arranged side by side and at least partially connected;

[0017] A replanter, the replanter being located at the lower part of the replanting box and communicating with it;

[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-type hole-punching assembly;

[0019] The push rod has a vertically arranged rack on the side facing the replanter, and the replanter has a gear coaxially arranged on it that meshes with the rack.

[0020] Furthermore, the driving component includes:

[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] A piston, the connecting rod connecting the piston, and the piston connecting the coupling.

[0023] Furthermore, the duckbill-type acupuncture component includes:

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

[0025] The second limiting plate is connected to two oppositely arranged movable duckbills. The upper part of the two movable duckbills is hinged to the push rod and at least partially fixed to the first limiting plate. The two movable duckbills form an openable seeding space, which is connected to the seed delivery tube.

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

[0027] Furthermore, the seed replenisher includes a seed replenishment tray cover plate, a seed replenishment tray, and a seed replenishment tray cover plate connected in sequence via a rotating shaft, forming a seed replenishment space. The seed replenishment tray cover plate has a seed inlet channel above and a seed outlet channel below. Multiple seed holes are arranged on the outer periphery of the seed replenishment tray. The gear is keyed to the rotating shaft.

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

[0029] The present invention also provides an in-situ reseeding method based on the above-described scheme of a seeder with in-situ reseeding capability. The seeder maintains a constant speed and establishes an absolute coordinate system with the position of the seeder at the start of operation as the origin. The coordinate values ​​of the reseeding mechanism in the absolute coordinate system are determined in real time. When the missed seeding detection mechanism detects a missed seeding signal, the control system determines that it is a missed seeding and records the coordinate values ​​of the holes in the absolute coordinate system. When the control system determines that the reseeding mechanism has reached the reseeding position, that is, when the coordinate values ​​of the reseeding mechanism are consistent with the coordinate values ​​of the holes, it controls the drive component of the reseeding mechanism to rotate, thereby completing the in-situ reseeding.

[0030] Furthermore, the replanting process includes:

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

[0032] S2, When the missed broadcast detection mechanism detects the missed broadcast 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 broadcast position in the absolute coordinate system can be obtained.

[0033] (1-1);

[0034] (1-2);

[0035] In equation (1-2), h is the distance between the reseeding mechanism and the seeding spout of the seeder; v is the seeding speed; and s is the distance the seeder travels in time t, which is relative.

[0036] Then, according to formula (1-3), the time T required for the replanting organization to reach the coordinate value x is obtained;

[0037] (1-3);

[0038] S3, the control system reads the clock value t every certain period of time and determines whether the value t is consistent with T. If they are inconsistent, it means that the replanting mechanism has not reached the missed planting position. If they are consistent, it means that the replanting mechanism has reached the missed planting position. The control system controls the servo motor of the replanting mechanism to rotate to perform replanting.

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

[0040] Furthermore, the missed broadcast detection mechanism detects missed broadcast signals starting from the point where the duckbill pusher reaches the position that drives the rotating wheel to rotate.

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

[0042] In this invention, the control system receives the missed seeding signal from the missed seeding detection mechanism, calculates the replanting coordinate position, and sends a replanting time signal to the driving component according to the replanting coordinate position, thereby ensuring in-situ replanting.

[0043] The missed broadcast detection mechanism of this invention has a high success rate, a simple structure, and a lower cost compared to existing technologies.

[0044] The replanting mechanism in this invention has a simple structure, realizes in-situ replanting, keeps the replanting position consistent with the sowing position, and improves sowing quality and efficiency. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

[0047] Figure 2 The diagram illustrates one location of the missed broadcast detection facility;

[0048] Figure 3 This diagram illustrates another location of the missed broadcast detection facility;

[0049] Figure 4 The diagram illustrates the structure of the replanting mechanism;

[0050] Figure 5 The schematic diagram of the drive component is shown;

[0051] Figure 6 The diagram illustrates the structure of the duckbill-type acupuncture point assembly.

[0052] Figure 7 The diagram shows the structure of the replanter;

[0053] Figure 8 The diagram illustrates the initial state of the seeding process;

[0054] Figure 9 The diagram illustrates the first stage of the seed filling operation;

[0055] Figure 10 The diagram illustrates the second stage of the seed filling operation;

[0056] Figure 11 This is a schematic diagram illustrating the principle of replanting operations. Detailed Implementation

[0057] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0058] Although existing seeders employ a missed seed detection system, the system is complex and costly. While the seed metering device can achieve a good success rate in detecting missed seeds in the holes, it is also complex and cumbersome to use. Furthermore, the corresponding replanting device is complex in structure and cumbersome to operate. The replanting device cannot achieve in-situ replanting, meaning there is a certain error between the replanting position and the sowing position, resulting in inconsistent sowing positions and affecting sowing quality and efficiency.

[0059] In view of this, the present invention provides a seeder with in-situ reseeding capability, see appendix. Figure 1 , 2 And 3, including:

[0060] The frame is connected in sequence from the forward direction of operation to the rear by a seeder 6, a press wheel 4, and a ground wheel 3; the seeder 6 is a duckbill seeder, and the seed hopper 61 of the seeder 6 is equipped with a missed seed detection mechanism; the missed seed detection mechanism is triggered when each duckbill seeder is used for seeding.

[0061] The replanting mechanism 5 is connected to the frame and located between the seeder 6 and the press wheel 4. The replanting mechanism 5 has a drive component 51, which serves as the power source for replanting.

[0062] The control system 1 is fixed above the frame and electrically connected to the power supply 2, the missed seed detection mechanism, and the drive component 51. The control system 1 is used to receive the missed seed signal from the missed seed detection mechanism, calculate the replanting coordinate position, and send the replanting time signal to the drive component 51 according to the replanting coordinate position.

[0063] The seeder rotates and moves forward under the movement of the ground wheel, with multiple "duckbill" holes on the seeder sequentially performing the sowing operation. During each sowing operation, a missed sowing detection system checks for any missed sowing. If a missed sowing occurs, a reseeding mechanism moves to the location of the missed hole to reseed it. Finally, a pressing wheel presses down the sown holes, completing the sowing process. This achieves in-situ reseeding, improving both sowing quality and efficiency.

[0064] The missed seeding detection mechanism includes a photoelectric sensor 7 and a detection sensor 8. The photoelectric sensor 7 is installed on the side of the seeding hopper 61 near the seed box of the seeder, and the detection sensor 8 is installed at the outlet of the seeding hopper 61. A rotating wheel 62 is installed near the outlet of the seeding hopper 61. As each seeding nozzle approaches the outlet of the seeding hopper 61, the nozzle push rod 63 will cause the rotating wheel 62 to rotate. At this moment of rotation, the nozzle push rod 63 is detected by the photoelectric sensor 7. The nozzle push rod signal acquired by the photoelectric sensor 7 is fed back to the control system 1. The control system 1 reads the next seeding signal from the detection sensor 8 to determine whether a missed seeding has occurred. The detection sensor 8 may include multiple pairs of diodes, each pair of which may include an infrared light-emitting diode and an infrared photodiode.

[0065] When the seeder is working, the duckbills installed on the seeder will arrive at the sowing position in sequence to sow seeds. After the previous duckbill finishes sowing, the next duckbill moves to the sowing position. During the movement, the push rod of the duckbill will push the rotating wheel to rotate. The rotating wheel is connected to the seed hopper, so the seed hopper will also rotate, causing the seeds to fall from the seed hopper into the duckbill. Therefore, the sowing operation of the duckbill is marked when the push rod of the duckbill reaches the position that pushes the rotating wheel to rotate.

[0066] Missed broadcast detection involves two processes. The first process: The control system continuously reads signals from the photoelectric sensor. When the duckbill reaches the position where the push wheel rotates, the duckbill push rod is detected by the photoelectric sensor, generating an electrical signal that is returned to the control system. At this point, the control system begins reading the signals returned by the sensor, such as… Figure 2 As shown. Second process: When the duckbill moves to the sowing position, if any seeds fall, they will block the infrared LED, indicating that no seeds have been missed. If no seeds fall within a certain time, it is considered a missed sowing. Figure 3 .

[0067] In an embodiment of the present invention, see Appendix Figure 4 The replanting mechanism 5 includes:

[0068] The push rod 55 is connected to the output end of the drive assembly 51 via a coupling 52, which causes the push rod 55 to move up and down in the vertical direction.

[0069] The duckbill-type acupuncture component 56 is connected to the bottom end of the push rod 55;

[0070] A replanting box 57 is arranged side by side with the push rod 55 and is at least partially connected;

[0071] A replanter 58 is located at the lower part of the replanting box 57 and is in communication with it;

[0072] Seed delivery tube 59, the top of which is connected to the supplementary seeder 58 and the bottom of which is connected to the duckbill-type hole-punching assembly 56;

[0073] The push rod 55 has a vertically arranged rack 53 on the side facing the replanter 58, and the replanter 58 has a gear 581 coaxially arranged on it that meshes with the rack 53.

[0074] See appendix Figure 5 The driving component 51 includes:

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

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

[0077] Advantageously, the drive assembly is the key component for realizing the up-and-down movement of the refilling mechanism. To ensure smooth refilling, the rack needs to move a certain distance. According to the design of this embodiment, the rack needs to move 160mm, therefore the drive assembly needs to move 160mm. The relationship between the corresponding components is as follows: the radius of the cam 511 is 95-105mm, the length of the connecting rod 513 is 115-125mm, and the installation position of the connecting rod 513 is 75-85mm from the center of the cam 511. This ensures smooth refilling.

[0078] The connecting rod connects the cam and the piston. The piston is connected to the push rod through a coupling. The servo motor rotates, which drives the cam to rotate. 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 appendix Figure 6 The duckbill-type acupuncture component 56 includes:

[0080] The first limiting plate 561 is fixed to both sides of the bottom of the push rod 55;

[0081] The second limiting plate 562 is connected to two opposing movable duckbill 563s. The upper parts of the two movable duckbill 563s are hinged to the push rod 55 and at least partially fixed to the first limiting plate 561. The two movable duckbill 563s form an openable seeding space, which communicates with the seed delivery tube 59. The hinge points of the movable duckbills and the push rod are staggered from the seed delivery tube 59, or the end of the seed delivery tube enters the push rod and can communicate with the seeding space. The thickness of the second limiting plate 562 can be greater than that of the first limiting plate 561. The first limiting plate is hinged to the push rod via a pivot or pin to ensure that the movable duckbills can rotate.

[0082] A return spring 564 is connected between the first limiting plate 561 and the second limiting plate 562. When the return spring 564 is compressed, the two moving duckbills open; when the spring returns to its original position, the two moving duckbills close.

[0083] During operation, as the drive assembly gradually moves to its lowest point, the push rod moves downward, causing the duckbill-type hole-punching component to penetrate the soil. Upon reaching a specific depth, the second limiting plate is pressured, compressing the return spring. The two moving duckbill halves open, allowing the seed to fall into the hole. Simultaneously, due to the downward movement of the rack, the gear rotates counter-clockwise, causing the replanting tray to rotate counter-clockwise, and the seed enters the replanting tray from the replanting box. As the drive assembly gradually moves to its highest point, the push rod moves upward, causing the duckbill-type hole-punching component to leave the soil. The pressure on the second limiting plate decreases, the return spring gradually returns to its original position, the two moving duckbill halves close, the rack moves upward, the gear rotates clockwise, and the replanting tray rotates clockwise. The seed enters the seed delivery tube from the replanting tray and reaches the duckbill-type hole-punching component, awaiting the next replanting.

[0084] See appendix Figure 7 The seed replenisher 58 includes a seed replenishment tray cover plate 582, a seed replenishment tray 584, and a seed replenishment tray cover plate 585 connected in sequence via a rotating shaft 54, forming a seed replenishment space. The seed replenishment tray cover plate 585 has a seed inlet channel at the top and a seed outlet channel at the bottom, allowing seeds to pass through. Multiple seed holes 583 are arranged on the outer periphery of the seed replenishment tray 584. The gear 581 is keyed to the rotating shaft 54. The seed replenishment tray and the rotating shaft are connected by a key. When the gear rotates, the seed replenishment tray rotates synchronously.

[0085] The present invention also provides an in-situ replanting method based on the seeder with in-situ replanting described in the above embodiments. The seeder maintains a uniform speed and establishes an absolute coordinate system with the position of the seeder at the start of operation as the origin. The coordinate values ​​of the replanting mechanism in the absolute coordinate system are determined in real time. When the missed seeding detection mechanism detects a missed seeding signal, the control system determines that it is a missed seeding and records the coordinate values ​​of the holes in the absolute coordinate system. When the control system determines that the replanting mechanism has reached the replanting position, that is, when the coordinate values ​​of the replanting mechanism are consistent with the coordinate values ​​of the holes, it controls the drive component of the replanting mechanism to rotate, thereby completing the in-situ replanting.

[0086] See Appendix Figure 11 The replanting process includes:

[0087] S1, Initialization: When the sowing operation begins, the coordinate system is initialized. A one-dimensional coordinate system is established with the replanting mechanism as the origin, and the positive direction is along the sowing direction. At the same time, the clock starts timing.

[0088] S2, When the missed broadcast detection mechanism detects the missed broadcast signal, the control system clock records the current time t (t1 / t2 / t3……), 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);

[0089] (1-1);

[0090] (1-2);

[0091] In equation (1-2), h is the distance between the replanting mechanism and the seeding spout of the seeder; v is the seeding speed; and s is the distance the seeder travels in time t, which is relative.

[0092] Then, using formula (1-3), the time T required for the replanting organization to reach the coordinate value is calculated from the obtained coordinate value x (x1 / x2 / x3...);

[0093] (1-3);

[0094] S3, the control system reads the clock value t every certain period of time and determines whether the value t is consistent with T. If they are inconsistent, it means that the replanting mechanism has not reached the missed planting position. If they are consistent, it means that the replanting mechanism has reached the missed planting position. The control system controls the servo motor of the replanting mechanism to rotate to perform replanting.

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

[0096] It is worth noting that the control system of this invention is a programmable PLC control system, capable of processing information and parameters, and includes a clock function. Existing control systems can be used, as long as they can achieve the above functions.

[0097] The missed broadcast detection agency detects missed broadcast signals starting from the point where the duckbill pusher reaches the position that drives the rotating wheel to rotate.

[0098] This invention employs a direct-insertion reseeding mechanism and an in-situ reseeding method. It drives a servo motor by determining if the coordinates of the reseeding mechanism match the coordinates of the missed seeding location, thus achieving in-situ reseeding. The gear and rack design in this invention ensures that the seeds reach the designated position promptly during operation.

[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 appendix Figure 8-10The reseeding mechanism consists of two processes: seeding and filling. These two processes occur simultaneously, but the seeding process completes first, followed by the filling process. The seeding process is mainly accomplished by the drive assembly, push rod, and duckbill-type hole-punching assembly, while the filling process is accomplished by the gear rack and reseeding disc. The working structure of the reseeder can be described in detail by dividing the seeding stage into the filling stage and the reseeding stage.

[0101] Seeding stage

[0102] Sowing involves placing seeds into pre-drilled holes. Therefore, the sowing process includes drilling, opening, and seed placement. When a missed sowing occurs and reseeding is needed, the servo motor of the reseeding mechanism receives a signal, its output shaft rotates, and the piston pushes the push rod downwards. The duckbill-type drilling component gradually moves downwards to drill into the soil, completing the drilling action. Simultaneously, the second limit plate of the duckbill-type drilling component moves downwards but is obstructed by the soil, compressing the return spring. The duckbill-type drilling component gradually opens its movable duckbill. When the duckbill-type drilling component has penetrated to a specific depth, the return spring is compressed to its maximum, and the movable duckbill is fully open in the soil, forming a hole, completing the hole-opening action. Finally, the seed is placed into the hole from the duckbill-type drilling component, completing the seed placement action. Each time the control system detects a missed sowing signal and issues a reseeding signal, the reseeding mechanism completes one of the above-mentioned sowing movements.

[0103] Seeding stage

[0104] The filling action relies on a gear and rack mechanism. When the filling mechanism is not in operation, the lowest tooth of the rack meshes with the gear, and at this time, the seed holes of the filling disc in the filler face downwards. Figure 8 As shown.

[0105] During operation, the seed filling stage can be divided into two phases. The first phase involves the push rod moving downwards, during which the rack also moves downwards, causing the gear to rotate counter-clockwise. The rotating shaft is connected to the gear and the seed tray via two keys. The counter-clockwise rotation of the gear drives the rotating shaft to rotate counter-clockwise, thus rotating the seed tray counter-clockwise. When the rack reaches its lowest point, the uppermost tooth of the rack meshes with the gear. At this time, the gear rotates half a revolution, and the seed tray also rotates half a revolution counter-clockwise. The seed holes on the seed tray face upwards, and the seeds in the seed box enter the seed holes through the seed inlet channel on the seed tray cover. Figure 9 As shown. Secondly, after sowing is completed, the push rod drives the rack upward, reducing the pressure on the return spring and causing the two-lobed duckbill to gradually close. Similarly, as the rack moves upward, the gear rotates clockwise, and the replanting tray also rotates clockwise. When the rack rises to its initial position, the gear rotates half a turn clockwise, and the replanting tray also rotates half a turn clockwise. At this time, the seed holes in the replanting tray face downward, and the seeds enter the seed delivery pipe from the seed outlet channel of the replanting tray cover. Through the seed delivery pipe, the seeds are transported to the closed duckbill-type hole-punching assembly, pre-filling the seeds for the next replanting operation, as shown. Figure 10 As shown.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0107] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled 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 capability, characterized in that, include: The frame is connected in sequence from the forward direction of operation to the rear by a seeder (6), a press wheel (4), and a ground wheel (3); the seeder (6) is a duckbill seeder, and the seed hopper (61) of the seeder (6) is equipped with a missed seed detection mechanism; the missed seed detection mechanism is triggered when each duckbill seeder is used for seeding. The replanting mechanism (5) is connected to the frame and located between the seeder (6) and the press wheel (4). The replanting mechanism (5) has a drive assembly (51) which serves as the power source for replanting. Control system (1), the control system (1) is fixed above the frame and electrically connected to the power supply (2), the missed seed detection mechanism and the drive component (51). The control system (1) is used to receive the missed seed signal from the missed seed detection mechanism, calculate the replanting coordinate position, and send the replanting time signal to the drive component (51) according to the replanting coordinate position. The missed seeding detection mechanism includes a photoelectric sensor (7) and a detection sensor (8); the photoelectric sensor (7) is installed on the side of the seeding hopper (61) near the seed box of the seeder, and the detection sensor (8) is installed at the outlet of the seeding hopper (61); a rotating wheel (62) is installed near the outlet of the seeding hopper (61). When each seeding duckbill approaches the outlet of the seeding hopper (61), the duckbill push rod (63) of the seeding duckbill will push the rotating wheel (62) to rotate. At this moment of rotation, the duckbill push rod (63) is detected by the photoelectric sensor (7). The duckbill push rod signal obtained by the photoelectric sensor (7) is fed back to the control system (1). The control system (1) reads the next seeding signal from the detection sensor (8) and determines whether it is a missed seeding.

2. A seeder with in-situ reseeding capability according to claim 1, characterized in that, The replanting facility (5) includes: The push rod (55) is connected to the output end of the drive assembly (51) via a coupling (52), and the push rod (55) moves up and down in the vertical direction. The duckbill-type acupuncture component (56) is connected to the bottom end of the push rod (55). A replanting box (57) is arranged side by side with the push rod (55) and is at least partially connected; A replanter (58) is located at the lower part of the replanting box (57) and is in communication with it; 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-type hole-punching assembly (56). The push rod (55) has a vertically arranged rack (53) on the side facing the seeder (58), and the seeder (58) has a gear (581) coaxially arranged on it that meshes with the rack (53).

3. A seeder with in-situ reseeding capability according to claim 2, characterized in that, The driving component (51) includes: Cam (511), a servo motor (512) is mounted on one side of the cam (511), and a connecting rod (513) is fixed on the other side. Piston (514), the connecting rod (513) is connected to the piston (514), and the piston (514) is connected to the coupling (52).

4. A seeder with in-situ reseeding capability according to claim 2, characterized in that, The duckbill-type acupuncture component (56) includes: The first limiting plate (561) is fixed to the bottom of the push rod (55); The second limiting plate (562) is connected to two oppositely arranged movable duckbills (563). The upper part of the two movable duckbills (563) is hinged to the push rod (55) and at least partially fixed to the first limiting plate (561). The two movable duckbills (563) form an openable seeding space, which is connected to the seed delivery tube (59). The return spring (564) is connected between the first limiting plate (561) and the second limiting plate (562).

5. A seeder with in-situ reseeding capability according to claim 2, characterized in that, The seed replenisher (58) includes a seed replenishment tray cover plate (582), a seed replenishment tray (584) and a seed replenishment tray cover plate (585) connected in sequence via a rotating shaft (54), forming a seed replenishment space. The seed replenishment tray cover plate (585) has a seed inlet channel above and a seed outlet channel below. Multiple seed holes (583) are arranged on the outer periphery of the seed replenishment tray (584). The gear (581) is keyed to the rotating shaft (54).

6. A seeder with in-situ reseeding capability according to claim 3, characterized in that, The radius of the cam (511) is 95-105mm, the length of the connecting rod (513) is 115-125mm, and the distance between the installation position of the connecting rod (513) and the center of the cam (511) is 75-85mm.

7. A method for in-situ reseeding using a seeder with in-situ reseeding capability according to claim 1, characterized in that, The seeder maintains a constant speed and establishes an absolute coordinate system with its initial position as the origin. The coordinates of the replanting mechanism in the absolute coordinate system are determined in real time. When the missed seed detection mechanism detects a missed seed signal, the control system determines that it is a missed seed and records the coordinates of the hole in the absolute coordinate system. When the control system determines that the replanting mechanism has reached the replanting position, that is, when the coordinates of the replanting mechanism are consistent with the coordinates of the hole, it controls the drive component of the replanting mechanism to rotate, thereby completing the in-situ replanting.

8. The in-situ replanting method according to claim 7, characterized in that, The replanting process includes: S1, Initialization: When the sowing operation begins, the coordinate system is initialized. A one-dimensional coordinate system is established with the replanting mechanism as the origin, and the positive direction is along the sowing direction. At the same time, the clock starts timing. S2, When the missed broadcast detection mechanism detects the missed broadcast 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 broadcast position in the absolute coordinate system can be obtained. （1-1）； （1-2）； In equation (1-2), h is the distance between the reseeding mechanism and the seeding spout of the seeder; v is the seeding speed; and s is the distance the seeder travels in time t, which is relative. Then, according to formula (1-3), the time T required for the replanting organization to reach the coordinate value x is obtained; （1-3）； S3, the control system reads the clock value t every certain period of time and determines whether the value t is consistent with T. If they are inconsistent, it means that the replanting mechanism has not reached the missed planting position. If they are consistent, it means that the replanting mechanism has reached the missed planting position. The control system controls the servo motor of the replanting mechanism to rotate to perform replanting. S4. Repeat step S3 until the sowing operation is completed.

9. The in-situ replanting method according to claim 7, characterized in that, The missed broadcast detection agency detects missed broadcast signals starting from the point where the duckbill pusher reaches the position that drives the rotating wheel to rotate.

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