Sowing robot applied to precise quantitative seeding and control method thereof

Abstract

The invention discloses a seeding robot applied to precise quantitative seeding and a control method thereof.The seeding robot comprises a walking mechanism, a ditching mechanism, a seeding mechanism and a control module, the ditching mechanism comprises a furrow opener, a lifting module and two limiting stoppers, and when the lifting module drives the furrow opener to move downwards, the limiting stoppers drive the furrow opener to move downwards; the limiting stopper abuts against the outer side of the upper half part of the first ditching assembly and the outer side of the upper half part of the second ditching assembly, so that the tail end of the furrow opener is changed from a closed state to an open state, and when the lifting module drives the furrow opener to move upwards, the tail end of the furrow opener is changed from the open state to the closed state; a seed outlet of the seeding mechanism is positioned right above the tail end of the furrow opener. According to the application, full-automatic precise-quantification seeding can be realized.

Description

Technical Field

[0001] The present application relates to the field of sowing robots, and in particular to a sowing robot used for precision sowing and a control method thereof. Background Art

[0002] Crop planting was initially based on precision seeding machines, but the seeding effect of this type of seeding machine is not ideal. At present, large-scale farm tillage machines are mainly imported, and the tillage technology and equipment for small and medium-sized farms are relatively backward. Therefore, there is a large demand for automatic and efficient fully automated planting machinery and equipment in the agricultural machinery market.

[0003] At present, the traditional small-scale planting methods and the low level of production mechanization have restricted the further development of the small-grain crop planting industry, especially the sowing, harvesting and cleaning links are mostly manual operations. The high labor intensity and low efficiency have become the bottleneck of the development of the small-grain planting industry. Among them, the traditional small-grain planting process, such as small-grain radish, mostly adopts manual broadcasting and hole sowing in the sowing process. The manual operation is labor-intensive, and the sowing amount is difficult to control, resulting in seed waste. In addition, the sowing is uneven, and several thinning processes must be added. The disorderly arrangement not only brings inconvenience to the later inter-row cultivation and weeding, but also has poor crop yield stability. Summary of the invention

[0004] The present application proposes a sowing robot for precision sowing and a control method thereof, which can realize fully automatic precision sowing.

[0005] A sowing robot for precision sowing according to an embodiment of the first aspect of the present application includes:

[0006] Walking mechanism, used for movement;

[0007] A ditching mechanism, wherein the ditching mechanism is arranged on a walking mechanism, the ditching mechanism comprises a ditching machine, a lifting module, and two limiters, the ditching machine comprises a first ditching assembly and a second ditching assembly which are arranged relatively inclined, the upper parts of the first ditching assembly and the second ditching assembly are streamlined, and the lower parts of the first ditching assembly and the second ditching assembly are linear, the lifting module is connected to the ditching mechanism to drive the ditching machine to move up and down, and the two limiters are respectively located on the outer sides of the first ditching assembly and the second ditching assembly, when the lifting module drives the ditching machine to move downward, the limiter abuts against the outer sides of the upper parts of the first ditching assembly and the second ditching assembly, so that the end of the ditching machine changes from a closed state to an open state, and when the lifting module drives the ditching machine to move upward, the end of the ditching machine changes from an open state to a closed state;

[0008] A sowing mechanism, wherein the seed discharge port of the sowing mechanism is located directly above the end of the furrow opener;

[0009] A control module is connected to the lifting module and the control end of the sowing mechanism respectively to control the sowing mechanism to plant seeds through the seeding opening when the furrow opener is in an open state.

[0010] According to some embodiments of the present application, the angle between the lower parts of the first ditching assembly and the second ditching assembly is between 30° and 50°.

[0011] According to some embodiments of the present application, a load-bearing frame is provided at the top of the walking mechanism, and the furrowing mechanism, the sowing mechanism and the control module are all installed on the load-bearing frame.

[0012] According to some embodiments of the present application, the sowing mechanism includes a box for accommodating seeds, a fan-blade seed meter and a seed discharge port. An opening is provided at the bottom of the box, and the seed discharge port is provided below the opening. The fan-blade seed meter is provided between the opening and the seed discharge port for transporting the seeds in the box to the seed discharge port for discharge by rotating fan blades.

[0013] According to some embodiments of the present application, a soil covering device is further included, and the soil covering device is arranged at the rear end of the walking mechanism to push the soil to the central axis of the running track of the walking mechanism.

[0014] According to some embodiments of the present application, the walking mechanism includes two crawler-type travel structures, a drive motor and a bracket, the two crawler-type travel structures are relatively arranged on both sides of the bracket, and the drive motor is installed in the middle of the bracket and is respectively connected to the two crawler-type travel structures for providing power.

[0015] According to some embodiments of the present application, the tracked travel structure includes a track, a drive wheel, a plurality of load-bearing wheels and a guide wheel, the rotating shaft of the drive wheel is connected to the drive motor, the drive wheel is engaged with the track, the plurality of load-bearing wheels are arranged in a row and are all located inside the track for bearing weight, and the guide wheel is located at the inner front end of the track for guiding the movement direction of the track.

[0016] According to some embodiments of the present application, a sensor unit is further included, wherein the sensor unit includes at least one of a seed quantity sensor, a speed sensor, and a path sensor, and the sensor unit is connected to the control module.

[0017] According to the control method of the sowing robot of the second aspect of the present application, applied to the control module of the sowing robot, the method comprises the following steps:

[0018] receiving a sowing instruction, wherein the sowing instruction includes a sowing route, at least one preset sowing position set along the sowing route, and a preset sowing amount corresponding to each sowing position;

[0019] According to the sowing instruction, the walking mechanism is controlled to move along the sowing route and reach the preset sowing position;

[0020] Controlling the lifting module to move downward, the furrow opener, which sinks and gradually opens at the end, contacts the ground and forms a furrow;

[0021] Controlling the sowing mechanism to discharge a preset sowing amount of seeds into the groove according to the sowing instruction;

[0022] Control the lifting module to move upward, so that the furrow opener returns to the initial position and closes;

[0023] Repeat the above steps until sowing is completed.

[0024] According to some embodiments of the present application, the sowing instruction further includes an expected moving speed;

[0025] The step of controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the sowing instruction comprises:

[0026] Get the real-time moving speed of the walking mechanism;

[0027] The expected moving speed is compared with the real-time moving speed to obtain moving error data;

[0028] Adjusting the moving speed of the walking mechanism according to the moving error data, and controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the adjusted moving speed; and / or;

[0029] Obtain the real-time moving path of the walking mechanism;

[0030] Compare the sowing route with the real-time moving path to obtain path error data;

[0031] Adjusting the moving path of the walking mechanism according to the path error data, and controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the adjusted moving speed; and / or;

[0032] The step of controlling the sowing mechanism to discharge a preset sowing amount of seeds into the groove according to the sowing instruction comprises:

[0033] Obtain the actual sowing amount discharged from the last furrow of the sowing mechanism;

[0034] The actual seeding amount is compared with the preset seeding amount to obtain seeding amount error data;

[0035] The sowing amount of the sowing mechanism for the next time is adjusted according to the sowing amount error data, and the sowing mechanism is controlled to discharge the seeds of the adjusted sowing amount into the groove.

[0036] The sowing robot and control method thereof applied to precision sowing according to the embodiments of the present application have at least the following beneficial effects:

[0037] In the embodiment of the present application, a furrowing mechanism capable of automatically furrowing is formed by a furrowing device, a lifting module and two stoppers, the upper parts of the first furrowing device and the second furrowing device are streamlined, the lower parts of the first furrowing device and the second furrowing device are linear, and a stopper is arranged on the outer side of the first furrowing device and the second furrowing device respectively, so that when the furrowing device sinks, the upper parts of the first furrowing device and the second furrowing device are limited by the stopper, so that the upper parts of the first furrowing device and the second furrowing device rotate around the stopper, driving the lower parts of the first furrowing device and the second furrowing device to open a certain angle, and the end of the furrowing device changes from a closed state to an open state; when rising, the furrowing device gradually returns to the initial position and closes. The control module first controls the walking mechanism to move according to the sowing route, controls the lifting module to descend at the preset sowing position, contacts the ground and forms a groove through the open furrowing device, and then controls the sowing mechanism to discharge seeds into the groove, and then controls the lifting module to rise to complete a single sowing operation. This application can realize fully automatic precision sowing, reduce manual work, reduce labor intensity, effectively improve the sowing efficiency of small-grain crops, and help promote the development of agricultural mechanization.

[0038] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0040] Figure 1 This is an overall structural diagram of a sowing robot used for precision sowing in an embodiment of the present application;

[0041] Figure 2 An exploded diagram of a sowing robot used for precision sowing in an embodiment of the present application;

[0042] Figure 3 This is a structural diagram of a furrowing assembly and a sowing assembly in an embodiment of the present application;

[0043] Figure 4 This is a structural diagram of a fan-blade type seed metering device in an embodiment of the present application;

[0044] Figure 5 This is a structural diagram of the walking mechanism in the embodiment of the present application;

[0045] Figure 6 This is a structural diagram of the load-bearing plate in the embodiment of the present application;

[0046] Figure 7 This is a flow chart of the control method of the seeding robot in an embodiment of the present application.

[0047] Figure Number:

[0048] Walking mechanism 100, crawler travel structure 110, crawler 111, driving wheel 112, load-bearing wheel 113, guide wheel 114, buffer spring connecting rod 115, left plate 116, right plate 117, driving motor 120, furrowing mechanism 200, furrow opener 210, lifting module 220, limiter 230, sowing mechanism 300, box body 310, fan-blade seeding device 320, seeding port 330, soil covering device 400, load-bearing frame 500, load-bearing plate 510, installation port 511, L-shaped fixing part 520. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0050] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In the description of this application, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0052] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0053] Reference Figure 1 and Figure 2As shown, a sowing robot used for precision sowing includes: a walking mechanism 100, a furrowing mechanism 200, a sowing mechanism 300 and a control module. The walking mechanism 100 is used for movement; the furrowing mechanism 200 is arranged on the walking mechanism 100, and the furrowing mechanism 200 includes a furrow opener 210, a lifting module 220, and two limiters 230. The furrow opener 210 includes a first furrowing assembly and a second furrowing assembly that are relatively inclined. The upper parts of the first furrowing assembly and the second furrowing assembly are streamlined, and the lower parts of the first furrowing assembly and the second furrowing assembly are linear. The lifting module 220 is connected to the furrowing mechanism 200 to drive the furrow opener 210 to move up and down. The two limiters 230 are respectively located at the first furrowing assembly and the second furrowing assembly. On the outside, when the lifting module drives the furrow opener 210 to move downward, the limiter 230 abuts against the outer sides of the upper halves of the first furrow opener assembly and the second furrow opener assembly, so that the end of the furrow opener 210 changes from a closed state to an open state. When the lifting module drives the furrow opener 210 to move upward, the end of the furrow opener 210 changes from an open state to a closed state. The seed discharge port 330 of the sowing mechanism 300 is located directly above the end of the furrow opener 210. The control module is respectively connected to the control ends of the lifting module 220 and the sowing mechanism 300 to control the sowing mechanism 300 to sow seeds through the seed discharge port 330 when the furrow opener 210 is in an open state.

[0054] In the embodiment of the present application, a ditching mechanism 200 that can automatically ditch is formed by a ditching device 210, a lifting module 220 and two limiters 230. The upper parts of the first ditching component and the second ditching component are streamlined, and the lower parts of the first ditching component and the second ditching component are straight. A limiter 230 is respectively arranged on the outer side of the first ditching component and the second ditching component, so that when the ditching device 210 sinks, the upper parts of the first ditching component and the second ditching component are limited by the limiter 230, so that the upper parts of the first ditching component and the second ditching component rotate around the limiter 230, driving the lower parts of the first ditching component and the second ditching component to open a certain angle, and the end of the ditching device 210 changes from a closed state to an open state; when rising, the ditching device 210 gradually returns to its initial position and closes. The control module first controls the walking mechanism 100 to move along the sowing route, controls the lifting module 220 to descend at the preset sowing position, contacts the ground and forms a groove through the open furrow opener 210, then controls the sowing mechanism 300 to discharge seeds into the groove, and then controls the lifting module 220 to rise, completing a single sowing operation. The present application can realize fully automatic precision sowing, reduce manual work, reduce labor intensity, effectively improve the sowing efficiency of small-grain crops, and help promote the development of agricultural mechanization.

[0055] The function of the traveling mechanism 100 is to move in the field. The traveling mechanism 100 can be moved in any manner such as wheeled movement or crawler movement. The control module controls the traveling mechanism 100 to move along the sowing route without manual control.

[0056] The function of the trenching mechanism 200 is to dig a trench on the ground. Figure 3 As shown, the trenching mechanism 200 includes a trenching machine 210, a lifting module 220, and two limiters 230. The trenching machine 210 includes a first trenching assembly and a second trenching assembly that are relatively arranged. The first trenching assembly and the second trenching assembly are relatively inclined to form a V-shaped mechanical claw structure. The upper parts of the first trenching assembly and the second trenching assembly are streamlined, and the lower parts of the first trenching assembly and the second trenching assembly are straight, that is, the lower parts of the first trenching assembly and the second trenching assembly form an openable V-shaped structure. The upper parts of the first trenching assembly and the second trenching assembly are streamlined, and the bending angle at the connection between the upper and lower parts of the first trenching assembly is an obtuse angle. The lifting module 220 is connected to the trenching mechanism 200 to drive the trenching machine 210 to move up and down, and the two limiters 230 are respectively located on the outsides of the first trenching assembly and the second trenching assembly. Therefore, when the furrow opener 210 sinks, the first furrow opener assembly and the second furrow opener assembly will abut against the outer limiter 230. During this process, the limiter 230 limits the sinking depth of the furrow opener 210 and forces it to open a certain angle so that the furrow opener 210 contacts the ground and forms a groove.

[0057] It should be noted that the bottom of the traditional sowing machinery and equipment is equipped with a pointed-angle furrow opener 210. This furrow opener follows the movement of the sowing machinery and equipment to dig a deep groove on the ground, and then sprays seeds along the way. However, compared with the traditional pointed-angle furrow opener, the furrowing mechanism 200 of the present application can only dig a groove at the designated sowing position, and then accurately put the seeds into the groove through the sowing mechanism 300, and then sow at the next place, which can achieve precise control of the sowing position and sowing quantity, thereby realizing precision sowing.

[0058] In this embodiment, the lifting module 220 can adopt a lifting module such as a screw mechanism or a linear drive motor, a hydraulic rod, etc.

[0059] In this embodiment, the stopper 230 is a cylindrical stopper, which is fixed on the track acrylic plate through a T-shaped part, and the cylindrical stopper is symmetrically distributed on both sides of the upper half of the furrow opener, and the upper round surface of the cylindrical stopper fits the size of the upper half of the furrow opener. The interaction force generated by the up and down movement of the furrow opener 210 and the cylindrical stopper is sufficient to open the mechanical claw structure of the furrow opener 210, and the mechanical claw structure of the furrow opener 210 is opened and contacts the ground. As the lifting module 220 moves down, the mechanical claw structure of the furrow opener 210 sinks into the ground, and the mechanical claw structure of the furrow opener 210 completes the furrowing following the movement of the walking mechanism 100. The furrow opener 210 moves up again following the lifting module 220, and the cylindrical stoppers symmetrically distributed on both sides of the upper half of the furrow opener 210 generate force with the furrow opener 210 again to close the mechanical claw structure of the furrow opener 210, completing a furrowing movement cycle.

[0060] In this embodiment, the seed discharging opening 330 of the sowing mechanism 300 is located just above the end of the furrow opener 210, so when the furrow opener 210 is opened, the seeds dropped from the seed discharging opening 330 can just fall accurately into the furrow to avoid the seeds being scattered.

[0061] In some embodiments, the angle between the lower parts of the first trenching assembly and the second trenching assembly is between 30° and 50°.

[0062] In this embodiment, the angle between the lower parts of the first ditching assembly and the second ditching assembly is between 30° and 50°, which can improve the excavation effect.

[0063] In some embodiments, a load-bearing frame 500 is disposed at the top of the traveling mechanism 100 , and the furrowing mechanism 200 , the sowing mechanism 300 , and the control module are all mounted on the load-bearing frame 500 .

[0064] In this embodiment, a load-bearing frame 500 is provided at the top of the traveling mechanism 100 to support the weight of all the remaining structures except the traveling mechanism 100, thereby improving the stability of the overall structure and ensuring the accuracy of furrowing and sowing actions.

[0065] Specifically, in the present embodiment, the load-bearing frame 500 is a rectangular support structure, and a load-bearing plate 510 is also provided at the bottom of the load-bearing frame 500. The load-bearing plate 510 is fixed to the top of the walking mechanism 100, the load-bearing frame 500 is fixed to the load-bearing plate 510, and the control module, the furrowing mechanism 200 and the sowing mechanism 300 are fixed to the load-bearing frame 500. In addition to the load-bearing plate 510, the load-bearing frame 500 also includes an L-shaped fixing member 520. The load-bearing plate 510 is made of stainless steel, and is rectangular in shape as a whole, with rounded corners all around, and threaded holes with a diameter of 5.0 are provided on the left and right sides respectively for the L-shaped fixing member 520. Reference Figure 6As shown, the front end of the load-bearing plate 510 is provided with an installation opening 511, so that the trencher 210 has enough space to complete the trenching movement of moving up and down. The rectangular structure and the symmetrical screw hole design of the load-bearing plate 510 can enhance the load-bearing capacity and stability of the module, and at the same time facilitate connection and fixation with other equipment. The upper surface of the L-shaped fixing member 520 is connected to the load-bearing plate 510 by screws, and the side surface of the L-shaped fixing member 520 is connected to the walking mechanism 100. A total of multiple threaded holes are provided on the L-shaped fixing member 520 for installing screws.

[0066] In some embodiments, reference Figure 3 As shown, the sowing mechanism 300 includes a box body 310 for accommodating seeds, a fan-blade seed meter 320 and a seed discharge port 330. An opening is provided at the bottom of the box body 310, and the seed discharge port 330 is provided below the opening. The fan-blade seed meter 320 is provided between the opening and the seed discharge port 330 for conveying the seeds in the box body 310 to the seed discharge port 330 for discharge through rotating fan blades.

[0067] In this embodiment, the seeds are discharged by the fan-blade seed metering device 320, so that the seeds can be accurately placed at the sowing position, thereby reducing seed waste, improving sowing uniformity, and ensuring that the crops are arranged neatly.

[0068] Specifically, a box cover 311 is provided on the top of the box 310 to cover the top opening of the box 310 to prevent dust, moisture or other impurities from entering the box 310 containing seeds, thereby protecting the seeds in the box 310. Four clamping columns are provided on the outer wall of the box 310 to connect with the seed discharge port 330 through the connecting piece 340; Figure 4 As shown, the fan-blade seed metering device 320 is spherical as a whole, including a central spherical structure and ten fan blades distributed in radial symmetry. Seeds can be stored between two fan blades and discharged to the seed discharging port 330 as the fan-blade seed metering device 320 rotates. The seed discharging port 330 is composed of a hemispherical structure and a tubular seed discharging port, which is used to support the fan-blade seed metering device and perform seed discharging. The connecting member 340 is provided with two upper and lower circular grooves, the diameter of which is slightly larger than the clamping column. The function of the connecting member 340 is to connect the seed container with the seed discharging port; the fan-blade seed metering device 320 is also provided with a steering gear, one end of which is inserted into the diameter perforation inside the rotating fan blade, and the steering gear rotates through the driving shaft, thereby driving the rotating fan blade to rotate, so as to realize the orderly discharge of seeds. The seed metering device module of the present invention realizes an efficient, accurate, dustproof and moisture-proof seed discharging method through the synergistic effect of the above-mentioned components, which is suitable for the field of modern agricultural sowing and improves the sowing efficiency and seed utilization rate.

[0069] In some embodiments, a soil covering device 400 is further included. The soil covering device 400 is disposed at the rear end of the traveling mechanism 100 to push the soil onto the central axis of the running track of the traveling mechanism 100 .

[0070] Specifically, the soil cover 400 in this embodiment mainly includes a disc, a soil cover connector, a connecting plate, a trapezoidal wide iron sheet bracket, a tool part, and a T-shaped part. The soil cover connector is in the shape of a broken line, and a fixed angle is formed between the long rod and the short rod of the soil cover connector. The end of the short rod of the soil cover connector is a smooth section, symmetrically axially, and two threaded holes are opened at both ends, which are fixedly connected to the corresponding two threaded holes on the tool part of the planter by screws. The T-shaped part is welded and fixed to the short rod of the soil cover connector by both sides of the end. A pin through hole is opened at the end of the long rod of the soil cover connector, and it is connected to the trapezoidal wide iron sheet bracket through a pin. The open end of the trapezoidal bracket is welded to the center of the disc to form the entire disc-type soil cover. The corresponding disc center is slightly protruding outward to present a spherical crown shape. The two spherical crown-shaped discs and the soil cover connector are connected by the trapezoidal wide iron sheet bracket to form a fixed angle.

[0071] When sowing is completed, the traveling mechanism 100 drives the soil covering device 400 to continue to move forward, and the soil covering device 400 squeezes the soil on both sides of the groove, pushes the soil to the central axis of the running track of the traveling mechanism 100, covers the seeds, and completes the soil covering process. The automatic soil covering process can be realized, further improving the automation degree of the sowing process.

[0072] In some embodiments, reference Figure 5 As shown, the walking mechanism 100 includes two crawler-type travel structures 110, a drive motor 120 and a bracket. The two crawler-type travel structures 110 are relatively arranged on both sides of the bracket. The drive motor 120 is installed in the middle of the bracket and is respectively connected to the two crawler-type travel structures 110 for providing power.

[0073] In this embodiment, the walking mechanism 100 with a crawler structure can adapt to more terrains and improve the stability during walking.

[0074] In some embodiments, the tracked travel structure 110 includes a track 111, a driving wheel 112, a plurality of load-bearing wheels 113 and a guide wheel 114, the bracket includes a buffer spring link 115, a left plate 116 and a right plate 117, the rotating shaft of the driving wheel is connected to the driving motor 120, the driving wheel 112 is engaged with the track 111, the plurality of load-bearing wheels 113 are arranged in a row and are all located inside the track 111 for bearing weight, and the guide wheel 114 is located at the inner front end of the track 111 for guiding the movement direction of the track 111.

[0075] Specifically, in this embodiment, the driving wheel 112 has a toothed structure, meshed with the crawler 111, and is the power source of the crawler machine, driving the machine forward or backward through the crawler. The driving motor 120 converts electrical energy into mechanical energy to drive the driving wheel 112 to rotate. The load-bearing wheels 113 are located on both sides of the crawler travel structure 110, and are used to bear the weight of the mechanical structure and transfer it to the crawler 111 to ensure the stability and carrying capacity of the seed drill during driving. The guide wheel 114 is located on the front side of the crawler travel structure 110, and is used to guide the movement direction of the crawler 111 to prevent the crawler 111 from deviating from the track or moving sideways. There are multiple buffer spring connecting rods 115, which are used to absorb the impact and vibration generated by the seed drill during driving, and improve the driving smoothness of the seed drill. The buffer spring connecting rod 115 is connected to the left side plate 116 and the right side plate 117. The crawler 111 is made of rubber material and has a uniform hole structure to facilitate engagement with the driving wheel 112.

[0076] In some embodiments, a sensor unit is further included, the sensor unit includes at least one of a seed quantity sensor, a speed sensor, and a path sensor, and the sensor unit is connected to the control module.

[0077] In this embodiment, the seed amount sensor is arranged at the seeding port 330 to monitor the seeding amount of the sowing mechanism 300. The speed sensor and the path sensor are both arranged in the walking mechanism 100 to obtain the moving speed and moving path of the walking mechanism 100. The path sensor can obtain the moving path by means of a camera, a radar, a GPS module, etc.

[0078] In this embodiment, the control module obtains the sowing amount through the seed amount sensor, obtains the moving speed during the sowing process through the speed sensor, and obtains the moving path during the sowing process through the path sensor. The sowing process can be regulated according to the feedback data to further improve the automated sowing effect.

[0079] The working process of the sowing robot in this application is described in detail below:

[0080] After receiving the command, the control module controls the walking mechanism 100 to move forward a fixed distance, and drives the covering device 400 to move together, until it stops moving after reaching the designated sowing position. Subsequently, the seeder starts to execute the furrowing command: the lifting module 220 moves downward, driving the furrow opener 210 to sink. In this process, the limiter 230 limits the sinking depth of the furrow opener 210 and forces it to open a certain angle so that the furrow opener 210 contacts the ground and forms a groove. After completing the furrowing operation, the sowing mechanism 300 enters the sowing process. The steering engine at the lower end of the cylindrical box 310 starts to work, and drives the fan-shaped seed metering device 320 to rotate to the corresponding angle according to the preset sowing amount, takes out the corresponding number of seeds in the box 310 through the gap between the fan blades, and accurately puts them into the groove through the seeding port 330. After sowing, the fan-shaped seed metering device 320 stops working, and the lifting module 220 pulls back upward to restore the furrow opener 210 to the initial position and closes. At this point, the furrowing and seeding work is completed. The walking mechanism 100 is started again, driving the soil covering device 400 to continue to move forward. During the soil covering process, the soil covering device 400 works along the running track of the seed drill. The soil on both sides of the groove is squeezed by two discs at a fixed angle, and the soil is pushed to the central axis of the running track of the walking mechanism 100 to cover the seeds, thereby completing the soil covering process. At this point, a single sowing operation is completed.

[0081] The present application also relates to a control method for a sowing robot, which is applied to a control module of the sowing robot. The sowing robot is the sowing robot of the above embodiment. Figure 7 As shown, the control method includes the following steps:

[0082] S101, receiving a sowing instruction, where the sowing instruction includes a sowing route, at least one preset sowing position set along the sowing route, and a preset sowing amount corresponding to each sowing position;

[0083] S102, controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the sowing instruction;

[0084] S103, controlling the lifting module to move downward, so that the trench opener, which sinks and gradually opens at the end, contacts the ground and forms a trench;

[0085] S104, controlling the sowing mechanism to discharge a preset sowing amount of seeds into the groove according to the sowing instruction;

[0086] S105, controlling the lifting module to move upward, so that the furrow opener returns to the initial position and closes;

[0087] S106, repeat the above steps until the sowing is completed.

[0088] Specifically, the control module first initializes the motors of the drive motor, steering gear, and lifting module; further, the drive motor is controlled to run through the PWM signal, and the drive motor is stopped after the set time; then, the lifting module is driven to descend to the specified position to complete the furrowing and wait; further, the servo controls the fan-type seed meter to perform a rotation action to complete the sowing task, and then controls the lifting module to return to the initial position; finally, the drive motor continues to move forward. The entire process is executed in a loop, ensuring the continuity and automation of the operation, which is suitable for tasks that need to be performed repeatedly and improves the efficiency and reliability of the system.

[0089] This embodiment can accurately place seeds at the sowing position, reduce seed waste, improve sowing uniformity, ensure that crops are arranged neatly, and facilitate subsequent mechanized management. The device structure is flexible in design, suitable for different crop seed sizes, meets the sowing needs of various crops, and enhances the versatility and market applicability of the equipment. At the same time, the present invention realizes full automation of sowing, reduces manual work, reduces labor intensity, effectively improves the sowing efficiency of small-grain crops, and helps promote the development of agricultural mechanization.

[0090] In some embodiments, the sowing instructions further include an expected movement speed;

[0091] Controlling the traveling mechanism to move along the sowing route and reach the preset sowing position according to the sowing instruction may include:

[0092] Get the real-time moving speed of the walking mechanism;

[0093] The expected moving speed is compared with the real-time moving speed to obtain moving error data;

[0094] Adjusting the moving speed of the walking mechanism according to the moving error data, and controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the adjusted moving speed; and / or;

[0095] Obtain the real-time moving path of the walking mechanism;

[0096] Compare the sowing route with the real-time moving path to obtain path error data;

[0097] Adjusting the moving path of the walking mechanism according to the path error data, and controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the adjusted moving speed; and / or;

[0098] According to the sowing instruction, the sowing mechanism is controlled to discharge the seeds of the preset sowing amount into the groove, including:

[0099] Obtain the actual sowing amount discharged from the last furrow of the sowing mechanism;

[0100] The actual seeding amount is compared with the preset seeding amount to obtain seeding amount error data;

[0101] The sowing amount of the next sowing mechanism is adjusted according to the sowing amount error data, and the sowing mechanism is controlled to discharge the seeds of the adjusted sowing amount into the groove.

[0102] In this embodiment, the real-time moving speed of the walking mechanism is first obtained; the control module then compares the expected moving speed with the real-time moving speed to obtain the moving error data; the control module finally adjusts the moving speed of the walking mechanism according to the moving error data, and controls the walking mechanism to move along the sowing route and reach the preset sowing position according to the adjusted moving speed. The accuracy of the sowing speed can be further improved.

[0103] Specifically, the specific implementation process of the above-mentioned control module for adjusting the moving speed is as follows: by inputting the expected speed of the seed drill into the system, the single-chip microcomputer control center serves as the positive excitation input control module, and the single-chip microcomputer control center processes the data accordingly. The two-phase stepper motors on the left and right sides of the walking mechanism receive the signals input by the single-chip microcomputer control center and make the corresponding motion state required by the signal to show the actual seed drill speed. At the same time, the speed sensor on the walking mechanism monitors the speed of the seeding robot in real time and feeds it back to the single-chip microcomputer control center in real time. The single-chip microcomputer control center compares and analyzes the data error between the actual speed and the expected speed, and then feeds back the new motion output signal to the two-phase stepper motors on the left and right sides of the seed drill to control the motion speed, completing a single motion speed output processing cycle.

[0104] In this embodiment, the real-time moving path of the walking mechanism is first obtained; then the sowing route and the real-time moving path are compared to obtain the path error data; finally, the moving path of the walking mechanism is adjusted according to the path error data, and the walking mechanism is controlled to move along the sowing route and reach the preset sowing position according to the adjusted moving speed. The accuracy of the sowing route can be further improved.

[0105] Specifically, the specific implementation process of the above-mentioned control module for adjusting the moving path is as follows: by inputting the expected driving path of the sowing robot into the system, the path is monitored and adjusted in real time using the single-chip control center and the path sensor. First, the computer plans the path according to the set driving path, and then sends the planning data to the single-chip control center. After receiving the data, the single-chip control center controls the driving trajectory of the sowing robot through the left motor and the right motor. During the driving process, the path sensor collects the actual driving trajectory of the sowing robot in real time and feeds the data back to the single-chip control center. The single-chip control center compares the actual driving trajectory with the set driving path, and adjusts the motor speed according to the comparison result to correct the driving direction of the sowing robot and ensure that the sowing robot travels along the set path. The entire system realizes precise control of the path of the sowing robot through cyclic feedback and adjustment.

[0106] In this embodiment, the actual sowing amount discharged from the last groove of the sowing mechanism is first obtained; then the actual sowing amount is compared with the preset sowing amount to obtain the sowing amount error data; finally, the sowing amount of the next sowing mechanism is adjusted according to the sowing amount error data, and the sowing mechanism is controlled to discharge the seeds of the adjusted sowing amount into the groove. The accuracy of the sowing amount can be further improved.

[0107] Specifically, the specific implementation process of the above control module for adjusting the seeding amount is as follows: according to the artificially given seeding amount in the system, the given seeding amount data is input to the single-chip control center of the control module, and the single-chip issues a corresponding motion state instruction to the servo by processing the given data. The servo receives the instruction from the single-chip control center and rotates the fan-type seed meter connected to the seeding mechanism to a fixed angle, so that the corresponding number of seeds are discharged from the box. The output seed amount is then monitored by the seeding amount sensor, the seeding amount is measured and the actual seeding amount is fed back. By processing the error between the actual seeding amount and the given seeding amount, the input seeding amount input to the single-chip control center is fed back to adjust the machine, and the single seeding amount control cycle of the seeding machine is completed.

[0108] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0109] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0110] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0111] Aspects of the present disclosure are described above with reference to the flow chart and / or block diagram of the method according to the embodiment of the present disclosure. It should be understood that each square block in the flow chart and / or block diagram and the combination of each square block in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of a computer or other programmable data processing device enable the realization of the function / action specified in one or more square blocks of the flow chart and / or block diagram. This processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It can also be understood that each square block in the block chart and / or flow chart and the combination of square blocks in the block chart and / or flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0112] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A sowing robot used for precision sowing, characterized in that: include: Walking mechanism, used for movement; A ditching mechanism, wherein the ditching mechanism is arranged on a walking mechanism, the ditching mechanism comprises a ditching machine, a lifting module, and two limiters, the ditching machine comprises a first ditching assembly and a second ditching assembly which are arranged relatively inclined, at the ends of the first ditching assembly and the second ditching assembly, the upper parts of the first ditching assembly and the second ditching assembly are streamlined, and the lower parts of the first ditching assembly and the second ditching assembly are linear, the lifting module is connected to the ditching mechanism to drive the ditching machine to move up and down, and the two limiters are respectively located on the outer sides of the first ditching assembly and the second ditching assembly, when the lifting module drives the ditching machine to move downward, the limiter abuts against the outer sides of the upper parts of the first ditching assembly and the second ditching assembly, so that the end of the ditching machine changes from a closed state to an open state, and when the lifting module drives the ditching machine to move upward, the end of the ditching machine changes from an open state to a closed state; A sowing mechanism, wherein the seed discharge port of the sowing mechanism is located directly above the end of the furrow opener; A control module is connected to the lifting module and the control end of the sowing mechanism respectively to control the sowing mechanism to plant seeds through the seeding opening when the furrow opener is in an open state.

2. The sowing robot used for precision sowing according to claim 1, characterized in that: The angle between the lower parts of the first ditching assembly and the second ditching assembly is between 30° and 50°.

3. The sowing robot used for precision sowing according to claim 1, characterized in that: A load-bearing frame is arranged at the top of the walking mechanism, and the furrowing mechanism, the sowing mechanism and the control module are all mounted on the load-bearing frame.

4. The sowing robot used for precision sowing according to claim 1, characterized in that: The sowing mechanism includes a box body for accommodating seeds, a fan-blade seed meter and a seed discharge port. The bottom of the box body is provided with an opening, the seed discharge port is arranged below the opening, and the fan-blade seed meter is arranged between the opening and the seed discharge port for conveying the seeds in the box body to the seed discharge port for discharge through rotating fan blades.

5. The sowing robot used for precision sowing according to claim 1, characterized in that: It also includes a soil covering device, which is arranged at the rear end of the walking mechanism and is used to push the soil to the central axis of the running track of the walking mechanism.

6. The sowing robot for precision sowing according to claim 1, characterized in that: The walking mechanism includes two crawler-type travel structures, a drive motor and a bracket. The two crawler-type travel structures are relatively arranged on both sides of the bracket. The drive motor is installed in the middle of the bracket and is respectively connected to the two crawler-type travel structures for providing power.

7. The sowing robot used for precision sowing according to claim 6, characterized in that: The crawler-type travel structure includes a crawler track, a driving wheel, a plurality of load-bearing wheels and a guide wheel. The rotating shaft of the driving wheel is connected to the driving motor, the driving wheel is meshed with the crawler track, the plurality of load-bearing wheels are arranged in a row and are all located inside the crawler track for bearing weight, and the guide wheel is located at the inner front end of the crawler track for guiding the movement direction of the crawler track.

8. The sowing robot for precision sowing according to claim 1, characterized in that: It also includes a sensor unit, which includes at least one of a seed quantity sensor, a speed sensor, and a path sensor, and the sensor unit is connected to the control module.

9. A control method for a sowing robot, characterized in that: A control module applied to a sowing robot, wherein the sowing robot is a sowing robot applied to precision sowing according to any one of claims 1 to 8, and the method comprises the following steps: receiving a sowing instruction, wherein the sowing instruction includes a sowing route, at least one preset sowing position set along the sowing route, and a preset sowing amount corresponding to each sowing position; According to the sowing instruction, the walking mechanism is controlled to move along the sowing route and reach the preset sowing position; Controlling the lifting module to move downward, the furrow opener, which sinks and gradually opens at the end, contacts the ground and forms a furrow; Controlling the sowing mechanism to discharge a preset sowing amount of seeds into the groove according to the sowing instruction; Control the lifting module to move upward, so that the furrow opener returns to the initial position and closes; Repeat the above steps until sowing is completed.

10. The control method according to claim 9, characterized in that: The sowing instruction also includes an expected moving speed; The step of controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the sowing instruction comprises: Get the real-time moving speed of the walking mechanism; The expected moving speed is compared with the real-time moving speed to obtain moving error data; Adjusting the moving speed of the walking mechanism according to the moving error data, and controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the adjusted moving speed; and / or; Obtain the real-time moving path of the walking mechanism; Compare the sowing route with the real-time moving path to obtain path error data; Adjusting the moving path of the walking mechanism according to the path error data, and controlling the walking mechanism to move along the sowing route and reach a preset sowing position according to the adjusted moving speed; and / or; The step of controlling the sowing mechanism to discharge a preset sowing amount of seeds into the groove according to the sowing instruction comprises: Obtain the actual sowing amount discharged from the last furrow of the sowing mechanism; The actual seeding amount is compared with the preset seeding amount to obtain seeding amount error data; The sowing amount of the sowing mechanism for the next time is adjusted according to the sowing amount error data, and the sowing mechanism is controlled to discharge the seeds of the adjusted sowing amount into the groove.

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