Seeding robot applied to precision seeding and control method thereof

Abstract

The application discloses a sowing robot applied to precision sowing and a control method thereof. The sowing robot comprises a walking mechanism, a furrowing mechanism, a sowing mechanism and a control module. The furrowing mechanism comprises a furrowing device, a lifting module and two limiters. When the lifting module drives the furrowing device to move downwards, the limiters abut against the outer side of the upper half of the first furrowing assembly and the second furrowing assembly, so that the end of the furrowing device changes from a closed state to an open state. When the lifting module drives the furrowing device to move upwards, the end of the furrowing device changes from the open state to the closed state. The sowing port of the sowing mechanism is located directly above the end of the furrowing device. The application can realize full-automatic precision sowing.

Description

Technical Field

[0001] This application relates to the field of seeding robots, and in particular to a seeding robot for precision seeding and its control method. Background Technology

[0002] Initially, crop cultivation relied mainly on precision seeders, but these seeders yielded unsatisfactory results. Currently, large-scale farms primarily rely on imported farming machinery, while the cultivation technology and equipment for small and medium-sized farms are relatively outdated. Therefore, there is a significant demand in the agricultural machinery market for automated, efficient, and fully automated planting equipment.

[0003] The current traditional small-scale planting methods and low level of mechanization are hindering the further development of the small-grain crop planting industry. In particular, the sowing, harvesting, and cleaning processes are mostly done manually, resulting in high labor intensity and low efficiency, which have become bottlenecks for the development of small-grain crop planting. For example, in the traditional small-grain radish planting process, the sowing process mainly uses manual broadcasting and hole sowing, which is labor-intensive, difficult to control the sowing amount, resulting in seed waste, uneven sowing, and the need for several thinning processes. The disordered arrangement not only makes it inconvenient for later weeding and cultivation, but also results in poor crop yield stability. Summary of the Invention

[0004] This application proposes a seeding robot and its control method for precision seeding, which can realize fully automatic precision seeding.

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

[0006] Walking mechanism, used for movement;

[0007] A trenching mechanism is mounted on a traveling mechanism. The trenching mechanism includes a trencher, a lifting module, and two limiters. The trencher includes a first trenching component and a second trenching component arranged at relative angles. The upper parts of the first trenching component and the second trenching component are streamlined, and the lower parts of the first trenching component and the second trenching component are straight. The lifting module is connected to the trenching mechanism to drive the trencher to move up and down. The two limiters are located on the outer sides of the first trenching component and the second trenching component, respectively. When the lifting module drives the trencher to move downward, the limiters abut against the outer sides of the upper parts of the first trenching component and the second trenching component, causing the end of the trencher to change from a closed state to an open state. When the lifting module drives the trencher to move upward, the end of the trencher changes from an open state to a closed state.

[0008] A seeding mechanism, wherein the seed outlet of the seeding mechanism is located directly above the end of the furrow opener;

[0009] A control module is connected to the control terminals of the lifting module and the sowing mechanism to control the sowing mechanism to sow seeds through the seed outlet when the furrow opener is in the open state.

[0010] According to some embodiments of this application, the included angle between the lower halves of the first trenching component and the second trenching component is between 30° and 50°.

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

[0012] According to some embodiments of this application, the sowing mechanism includes a box for holding seeds, a fan-shaped seed metering device, and a seed metering port. The bottom of the box is provided with an opening, the seed metering port is provided below the opening, and the fan-shaped seed metering device is provided between the opening and the seed metering port for conveying the seeds in the box to the seed metering port for discharge by rotating the fan blades.

[0013] According to some embodiments of this application, a soil covering device is also included, which is disposed at the rear end of the walking mechanism for pushing soil onto the central axis of the walking mechanism's running trajectory.

[0014] According to some embodiments of this application, the walking mechanism includes two tracked traveling structures, a drive motor, and a support frame. The two tracked traveling structures are disposed opposite to each other on both sides of the support frame. The drive motor is installed in the middle of the support frame and is connected to the two tracked traveling structures respectively to provide power.

[0015] According to some embodiments of this application, the tracked traveling structure includes a track, a drive wheel, multiple load-bearing wheels, and a guide wheel. The shaft of the drive wheel is connected to the drive motor, the drive wheel meshes with the track, the multiple 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 this application, a sensor unit is also included, 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.

[0017] The control method for a seeding robot according to a second aspect of this application, applied to the control module of a seeding robot, includes the following steps:

[0018] Receive a sowing instruction, which includes a sowing route, at least one preset sowing location set along the sowing route, and a preset sowing quantity corresponding to each sowing location;

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

[0020] The lifting module is controlled to move downward, and the trencher, which sinks and gradually opens at its end, contacts the ground and forms a trench;

[0021] According to the sowing command, the sowing mechanism is controlled to discharge a preset amount of seeds into the furrow;

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

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

[0024] According to some embodiments of this application, the seeding instruction also includes a predetermined movement speed;

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

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

[0027] By comparing the expected movement speed with the real-time movement speed, movement error data is obtained;

[0028] Adjust the walking speed of the walking mechanism according to the movement error data, and control the walking mechanism to move along the sowing route and reach the preset sowing position according to the adjusted walking speed; and / or;

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

[0030] By comparing the sowing route with the real-time movement path, path error data is obtained;

[0031] Adjust the movement path of the walking mechanism according to the path error data, and control the walking mechanism to move along the sowing route and reach the preset sowing position according to the adjusted movement speed; and / or;

[0032] The step of controlling the sowing mechanism to discharge a preset amount of seeds into the furrow according to the sowing command includes:

[0033] Obtain the actual amount of seeds discharged from the furrows by the seeding mechanism in the previous operation;

[0034] By comparing the actual sowing amount with the preset sowing amount, the sowing amount error data is obtained;

[0035] The seeding rate of the next sowing mechanism is adjusted based on the seeding rate error data, and the sowing mechanism is controlled to discharge the adjusted seeding rate into the furrow.

[0036] The seeding robot and its control method for precision seeding according to the embodiments of this application have at least the following beneficial effects:

[0037] In this embodiment, an automatic furrowing mechanism is formed by a furrow opener, a lifting module, and two limiters. The upper parts of the first and second furrow opening components are streamlined, while the lower parts are straight. A limiter is provided on the outer side of each component, allowing the furrow opener to rotate around its upper parts as it descends. This causes the lower parts of the furrow opener to open at a certain angle, changing the furrow opener's end from a closed to an open state. As it rises, the furrow opener gradually returns to its initial position and closes. The control module first controls the walking mechanism to move along the sowing route. At the preset sowing position, it controls the lifting module to descend, contacting the ground and forming a furrow through the opened furrow opener. Then, the control module controls the sowing mechanism to discharge seeds into the furrow, and finally controls the lifting module to rise, completing a single sowing operation. This application enables fully automated precision sowing, reduces manual labor, lowers labor intensity, effectively improves the sowing efficiency of small-grain crops, and helps promote the development of agricultural mechanization.

[0038] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0040] Figure 1 This is an overall structural diagram of the seeding robot used for precision seeding in the embodiments of this application;

[0041] Figure 2 This is an exploded view of a seeding robot used for precision seeding in an embodiment of this application;

[0042] Figure 3 This is a structural diagram of the trenching component and the seeding component in the embodiments of this application;

[0043] Figure 4 This is a structural diagram of the fan-shaped seed metering device in the embodiments of this application;

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

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

[0046] Figure 7 This is a flowchart of the control method for the seeding robot in the embodiments of this application.

[0047] Icon labels:

[0048] Walking mechanism 100, tracked travel structure 110, track 111, drive wheel 112, load-bearing wheel 113, guide wheel 114, buffer spring connecting rod 115, left side plate 116, right side plate 117, drive motor 120, furrowing mechanism 200, furrow opener 210, lifting module 220, limiter 230, sowing mechanism 300, box 310, fan-shaped seed metering device 320, seed metering port 330, soil covering device 400, load-bearing frame 500, load-bearing plate 510, mounting port 511, L-shaped fastener 520. Detailed Implementation

[0049] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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 are only used to explain this application, and should not be construed as limiting this application.

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

[0051] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.

[0052] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0053] Reference Figure 1 and Figure 2As shown, a seeding robot for precision seeding includes: a walking mechanism 100, a furrowing mechanism 200, a seeding mechanism 300, and a control module. The walking mechanism 100 is used for movement; the furrowing mechanism 200 is mounted on the walking mechanism 100 and includes a furrow opener 210, a lifting module 220, and two limiters 230. The furrow opener 210 includes a first furrowing component and a second furrowing component arranged at relative angles. The upper parts of the first and second furrowing components are streamlined, and the lower parts are straight. The lifting module 220 is connected to the furrowing mechanism 200 to drive the furrow opener 210 to move vertically. The two limiters 230 are located at the first and second furrowing components, respectively. On the outside, when the lifting module drives the furrow opener 210 to move downward, the limiter 230 abuts against the outer side of the upper half of the first furrow opening component and the second furrow opening component, 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 connected to the control terminals of the lifting module 220 and the sowing mechanism 300 respectively to control the sowing mechanism 300 to sow seeds through the seed discharge port 330 when the furrow opener 210 is in the open state.

[0054] In this embodiment, a trenching mechanism 200 capable of automatic trenching is formed by a trencher 210, a lifting module 220, and two limiters 230. The upper parts of the first trenching component and the second trenching component are streamlined, and the lower parts of the first trenching component and the second trenching component are straight. A limiter 230 is provided on the outer side of the first trenching component and the second trenching component, so that when the trencher 210 sinks, the limiter 230 limits the upper parts of the first trenching component and the second trenching component, causing the upper parts of the first trenching component and the second trenching component to rotate around the limiter 230, which drives the lower parts of the first trenching component and the second trenching component to open at a certain angle, and the end of the trencher 210 changes from a closed state to an open state; when rising, the trencher 210 gradually returns to the initial position and closes. The control module first controls the walking mechanism 100 to move along the sowing route. At the preset sowing position, it controls the lifting module 220 to descend, contacting the ground and forming furrows through the opening furrow opener 210. Then, the control module controls the sowing mechanism 300 to discharge seeds into the furrows. Finally, it controls the lifting module 220 to rise, completing a single sowing operation. This application enables fully automated precision sowing, reducing manual labor, lowering labor intensity, effectively improving the sowing efficiency of small-grain crops, and contributing to the development of agricultural mechanization.

[0055] The function of the aforementioned walking mechanism 100 is to move in the field. The walking mechanism 100 can adopt any movement method such as wheeled movement or tracked movement. The control module controls the walking mechanism 100 to move along the sowing route, which can be done without manual control.

[0056] The function of the aforementioned trenching mechanism 200 is to dig trenches in the ground, as shown in the reference. Figure 3 As shown, the trenching mechanism 200 includes a trencher 210, a lifting module 220, and two limiters 230. The trencher 210 includes a first trenching component and a second trenching component arranged opposite to each other. The first trenching component and the second trenching component are inclined relative to each other to form a V-shaped mechanical claw structure. The upper half of the first trenching component and the second trenching component are streamlined, and the lower half of the first trenching component and the second trenching component are straight. That is, the lower half of the first trenching component and the second trenching component form an openable V-shaped structure. The upper half of the first trenching component and the second trenching component are streamlined, and the bending angle at the connection between the upper half and the lower half of the first trenching component is an obtuse angle. The lifting module 220 is connected to the trenching mechanism 200 to drive the trencher 210 to move up and down. The two limiters 230 are located on the outside of the first trenching component and the second trenching component, respectively. Therefore, when the trencher 210 sinks, the first trenching component and the second trenching component will abut against the outer limiter 230. During this process, the limiter 230 restricts the sinking depth of the trencher 210 and forces it to open at a certain angle, so that the trencher 210 contacts the ground and forms a trench.

[0057] It should be noted that traditional seeding machinery is equipped with a pointed-angle furrow opener 210 at the bottom. This type of furrow opener digs a deep trench in the ground as the seeding machinery moves, and then sprays seeds along the way. However, compared with this method of digging trenches, the furrow opener 200 of this application can dig trenches only at the designated sowing location, and then the sowing mechanism 300 accurately puts the seeds into the trenches before sowing at the next location. This enables precise control of the sowing location and the number of seeds sown, thereby achieving precision sowing.

[0058] In this embodiment, the lifting module 220 can be a lead screw mechanism or a linear drive motor, hydraulic rod, or other lifting module.

[0059] In this embodiment, the limiter 230 is a cylindrical limiter, which is fixed to the track acrylic plate by a T-shaped part. The cylindrical limiters are symmetrically distributed on both sides of the upper half of the trencher, and the upper circular surface of the cylindrical limiter fits the size of the upper half of the trencher. The interaction force generated by the vertical movement of the trencher 210 and the cylindrical limiters is sufficient to open the mechanical claw structure of the trencher 210. The mechanical claw structure of the trencher 210 opens and contacts the ground. As the lifting module 220 moves down, the mechanical claw structure of the trencher 210 sinks into the ground. Following the movement of the walking mechanism 100, the mechanical claw structure of the trencher 210 completes trenching. The trencher 210 moves up again with the lifting module 220, and the cylindrical limiters symmetrically distributed on both sides of the upper half of the trencher 210 again exert force on the trencher 210, causing the mechanical claw structure of the trencher 210 to close, completing one trenching cycle.

[0060] In this embodiment, the seed outlet 330 of the seeding mechanism 300 is located directly above the end of the furrow opener 210. Therefore, when the furrow opener 210 opens, the seeds falling from the seed outlet 330 can accurately fall into the furrow, avoiding seed spillage.

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

[0062] In this embodiment, the included angle between the lower halves of the first trenching component and the second trenching component is between 30° and 50°, which can improve the digging effect.

[0063] In some embodiments, a load-bearing frame 500 is provided at the top of the walking mechanism 100, and the ditching 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 walking mechanism 100 to support the weight of all other structures except the walking mechanism 100, which can improve the stability of the overall structure and ensure the accuracy of the trenching and sowing actions.

[0065] Specifically, in this embodiment, the support frame 500 is a cuboid support structure. A support plate 510 is also provided at the bottom of the support frame 500. The support plate 510 is fixed to the top of the traveling mechanism 100, and the support frame 500 is fixed to the support plate 510. The control module, the furrowing mechanism 200, and the sowing mechanism 300 are fixed to the support frame 500. In addition to the support plate 510, the support frame 500 also includes an L-shaped fastener 520. The support plate 510 is made of stainless steel, is rectangular in shape, has rounded corners, and threaded holes of a diameter of [diameter missing] on both the left and right sides for the L-shaped fastener 520. (Reference) Figure 6As shown, the front end of the load-bearing plate 510 has a mounting opening 511, allowing the trencher 210 sufficient space to complete its vertical trenching movement. The rectangular structure and symmetrical screw hole design on both sides of the load-bearing plate 510 enhance the module's load-bearing capacity and stability, while also facilitating connection and fixation with other equipment. The upper surface of the L-shaped fastener 520 is connected to the load-bearing plate 510 by screws, and the side surface of the L-shaped fastener 520 is connected to the traveling mechanism 100. The L-shaped fastener 520 has multiple threaded holes for installing screws.

[0066] In some implementations, reference Figure 3 As shown, the seeding mechanism 300 includes a box 310 for holding seeds, a fan-shaped seed metering device 320, and a seed discharge port 330. The bottom of the box 310 is provided with an opening, and the seed discharge port 330 is located below the opening. The fan-shaped seed metering device 320 is located between the opening and the seed discharge port 330 to transport the seeds in the box 310 to the seed discharge port 330 by rotating the fan blades.

[0067] In this embodiment, the seed discharge device 320 can accurately place the seeds at the sowing position, reducing seed waste, improving sowing uniformity, and ensuring that the crops are arranged neatly.

[0068] Specifically, the top of the box 310 is provided with a box cover 311 to cover the top opening of the box 310, preventing dust, moisture, or other impurities from entering the box 310 containing the seeds, thereby protecting the seeds inside the box 310. Four locking posts are provided on the outer wall of the box 310 for connection to the seed outlet 330 via connectors 340; (See reference) Figure 4 As shown, the fan-shaped seed metering device 320 is spherical in shape, comprising a central spherical structure and ten radially symmetrically distributed fan blades. Seeds can be stored between two fan blades and discharged through the seed discharging port 330 as the fan-shaped seed metering device 320 rotates. The seed discharging port 330 consists of a hemispherical structure and a tubular seed discharging port, used to support the fan-shaped seed metering device and discharge seeds. The connecting member 340 has two circular grooves, the diameter of which is slightly larger than that of the retaining post. The connecting member 340 connects the seed container to the seed discharging port. The fan-shaped seed metering device 320 is also equipped with a servo motor. One end of the servo motor is inserted into a diameter perforation inside the rotating fan blade. The servo motor rotates through a drive shaft, thereby driving the rotating fan blade to rotate and achieving orderly seed discharging. Through the synergistic effect of the above components, the seed metering module of this invention achieves an efficient, precise, dust-proof, and moisture-proof seed discharging method, suitable for modern agricultural sowing, improving sowing efficiency and seed utilization.

[0069] In some embodiments, a soil coverer 400 is also included, which is disposed at the rear end of the walking mechanism 100 for pushing soil onto the central axis of the walking mechanism 100's running trajectory.

[0070] Specifically, in this embodiment, the covering device 400 mainly includes a disc, a covering device connector, a connecting plate, a trapezoidal wide iron plate bracket, an I-shaped part, and a T-shaped part. The covering device connector is zigzag-shaped, with a fixed angle between the long and short rods. The end of the short rod has a smooth cut and two threaded holes on each side symmetrically aligned with the axis. These holes are fixed to the corresponding two threaded holes on the I-shaped part of the seeder using screws. The T-shaped part is welded to the short rod near its ends. The end of the long rod has a through-hole for a pin and is connected to the trapezoidal wide iron plate bracket via a pin. The open end of the trapezoidal bracket is welded to the center of the disc to form the entire disc-type covering device. The center of the corresponding disc protrudes slightly outward, forming a spherical crown shape. The trapezoidal wide iron plate bracket connects the two spherical crown-shaped discs to the covering device connector, creating a fixed angle between them.

[0071] After sowing is completed, the traveling mechanism 100 moves forward, driving the covering device 400 to continue moving forward. The covering device 400 compresses the soil on both sides of the trench, pushing the soil onto the central axis of the traveling mechanism 100's trajectory to cover the seeds, thus completing the covering process. This automatic covering process further improves the automation level of the sowing process.

[0072] In some implementations, reference Figure 5 As shown, the walking mechanism 100 includes two tracked traveling structures 110, a drive motor 120, and a support. The two tracked traveling structures 110 are arranged opposite each other on both sides of the support. The drive motor 120 is installed in the middle of the support and is connected to the two tracked traveling structures 110 respectively to provide power.

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

[0074] In some embodiments, the tracked traveling structure 110 includes a track 111, a drive wheel 112, multiple load-bearing wheels 113, and a guide wheel 114. The support includes a buffer spring link 115, a left side plate 116, and a right side plate 117. The drive wheel's shaft is connected to a drive motor 120. The drive wheel 112 meshes with the track 111. The multiple load-bearing wheels 113 are arranged in a row and are all located inside the track 111 for load bearing. The guide wheel 114 is located at the front end of the track 111 to guide the movement direction of the track 111.

[0075] Specifically, in this embodiment, the drive wheel 112 has a toothed structure that meshes with the track 111 and serves as the power source for the tracked machinery, driving the machinery forward or backward. The drive motor 120 converts electrical energy into mechanical energy to rotate the drive wheel 112. Load-bearing wheels 113 are located on both sides of the tracked traveling structure 110, bearing the weight of the mechanical structure and transmitting it to the track 111 to ensure the stability and load-bearing capacity of the seeder during operation. Guide wheels 114 are located at the front of the tracked traveling structure 110, guiding the movement direction of the track 111 and preventing it from derailing or moving laterally. Multiple buffer spring links 115 absorb the impact and vibration generated during the seeder's operation, improving its smoothness. The buffer spring links 115 are connected to the left side plate 116 and the right side plate 117. The track 111 is made of rubber and has a uniform perforated structure to facilitate meshing with the drive wheel 112.

[0076] In some embodiments, a sensor unit is also included, 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.

[0077] In this embodiment, a seed quantity sensor is installed at the seed outlet 330 to monitor the seed quantity of the sowing mechanism 300. Both a speed sensor and a path sensor are installed in the walking mechanism 100 to obtain the moving speed and path of the walking mechanism 100. The path sensor can acquire the moving path using a camera, radar, GPS module, or other similar means.

[0078] In this embodiment, the control module obtains the seed quantity through a seed quantity sensor, the moving speed during the seeding process through a speed sensor, and the moving path during the seeding process through a path sensor. Based on the feedback data, the control module can adjust the seeding process to further improve the automated seeding effect.

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

[0080] After receiving the instruction, the control module controls the walking mechanism 100 to move forward a fixed distance, simultaneously moving the covering device 400 along with it, until it reaches the designated sowing position and stops. Then, the seeder begins executing the furrowing instruction: the lifting module 220 moves downward, causing the furrow opener 210 to sink. During this process, the limiter 230 restricts the sinking depth of the furrow opener 210 and forces it to open at a certain angle, allowing the furrow opener 210 to contact the ground and form a furrow. After completing the furrowing operation, the sowing mechanism 300 enters the sowing process. The servo motor at the lower end of the cylindrical housing 310 starts working, driving the fan-shaped seed metering device 320 to rotate to the corresponding angle according to the preset sowing amount. The fan-shaped seed metering device carries out the corresponding number of seeds from the housing 310 through the gaps in the blades and accurately places them into the furrow through the seed outlet 330. After sowing is completed, the fan-shaped seed metering device 320 stops working, and the lifting module 220 pulls upward, causing the furrow opener 210 to return to its initial position and close. At this point, the furrowing and seeding work is complete. The traveling mechanism 100 restarts, driving the covering device 400 to continue moving forward. During the covering process, the covering device 400 works along the seeder's operating trajectory. Two discs at a fixed angle compress the soil on both sides of the furrow, pushing the soil onto the central axis of the traveling mechanism 100's operating trajectory, thus covering the seeds and completing the covering process. This completes a single sowing operation.

[0081] This application also relates to a control method for a seeding robot, applied to the control module of a seeding robot, wherein the seeding robot is the seeding robot described in the above embodiments, see reference. Figure 7 As shown, the control method includes the following steps:

[0082] S101. Receive a sowing instruction, which includes a sowing route, at least one preset sowing position set along the sowing route, and a preset sowing quantity corresponding to each sowing position.

[0083] S102. Control the walking mechanism to move along the sowing route and reach the preset sowing position according to the sowing command;

[0084] S103, Control the lifting module to move down, and make contact with the ground through the sinking and gradually opening trencher to form a trench;

[0085] S104. Control the sowing mechanism to discharge a preset amount of seeds into the furrow according to the sowing instruction;

[0086] S105. Control the lifting module to move upward, so that the trencher returns to its initial position and closes;

[0087] S106. Repeat the above steps until sowing is complete.

[0088] Specifically, the control module first initializes the drive motor, servo motor, and lifting module motors. Next, it controls the drive motor's operation via PWM signals and stops it after a set time. Then, the lifting module descends to the designated position to complete furrowing and waits. Next, the servo motor controls the fan-shaped seed metering device to rotate and complete the sowing task, after which the lifting module returns to its initial position. Finally, the drive motor continues forward. This entire process is executed cyclically, ensuring continuous and automated operation, suitable for tasks requiring repetitive execution, and improving system efficiency and reliability.

[0089] This method allows for precise seed placement at the sowing location, reducing seed waste, improving sowing uniformity, ensuring neat crop arrangement, and facilitating subsequent mechanized management. The device's flexible structural design is suitable for different crop seed sizes, meeting the sowing needs of various crops and enhancing the equipment's versatility and market applicability. Simultaneously, this invention achieves fully automated sowing, reducing manual labor, lowering labor intensity, effectively improving the sowing efficiency of small-seed crops, and contributing to the development of agricultural mechanization.

[0090] In some implementations, the seeding instruction also includes a target movement speed;

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

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

[0093] By comparing the expected movement speed with the real-time movement speed, movement error data is obtained;

[0094] Adjust the walking speed of the walking mechanism according to the movement error data, and control the walking mechanism to move along the sowing route and reach the preset sowing position according to the adjusted walking speed; and / or;

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

[0096] By comparing the sowing route with the real-time movement path, path error data is obtained;

[0097] Adjust the movement path of the walking mechanism according to the path error data, and control the walking mechanism to move along the sowing route and reach the preset sowing position according to the adjusted movement speed; and / or;

[0098] According to the sowing instructions, the sowing mechanism is controlled to discharge a preset amount of seeds into the furrows, including:

[0099] Obtain the actual amount of seeds discharged from the furrows by the seeding mechanism in the previous operation;

[0100] By comparing the actual sowing amount with the preset sowing amount, the sowing amount error data is obtained;

[0101] Adjust the seeding rate of the next sowing mechanism based on the seeding rate error data, and control the sowing mechanism to discharge the adjusted seeding rate into the furrow.

[0102] In this embodiment, the real-time moving speed of the walking mechanism is first acquired; the control module then compares the expected moving speed with the real-time moving speed to obtain moving error data; finally, the control module adjusts the moving speed of the walking mechanism based on 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. This can further improve the accuracy of the sowing speed.

[0103] Specifically, the implementation process of the above control module for adjusting the movement speed is as follows: The expected speed of the seeder is input into the system as a positive excitation input to the microcontroller control center of the control module. The microcontroller 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 from the microcontroller control center and make corresponding motion states to represent the actual speed of the seeder. At the same time, the speed sensor on the walking mechanism monitors the speed of the seeder robot in real time and feeds it back to the microcontroller control center in real time. The microcontroller control center compares and analyzes the data error between the actual speed and the expected speed, and then feeds back a new motion output signal to the two-phase stepper motors on the left and right sides of the seeder to control the movement speed, completing a single movement speed output processing cycle.

[0104] In this embodiment, the real-time movement path of the walking mechanism is first obtained; then, the sowing route and the real-time movement path are compared to obtain path error data; finally, the movement path of the walking mechanism is adjusted based on 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 movement speed. This can further improve the accuracy of the sowing route.

[0105] Specifically, the control module's implementation process for adjusting the movement path is as follows: The expected travel path of the seeding robot is input into the system, and the path is monitored and adjusted in real time using a microcontroller control center and path sensors. First, the computer plans the path based on the set travel path and then sends the planning data to the microcontroller control center. After receiving the data, the microcontroller control center controls the seeding robot's trajectory using the left and right motors. During travel, the path sensors collect the actual travel trajectory of the seeding robot in real time and feed the data back to the microcontroller control center. The microcontroller control center compares the actual travel trajectory with the set travel path and adjusts the motor speed based on the comparison results to correct the seeding robot's direction of travel, ensuring that the seeding robot travels along the set path. The entire system achieves precise control of the seeding robot's path through cyclical feedback and adjustment.

[0106] In this embodiment, the actual seeding amount discharged from the furrow by the sowing mechanism in the previous operation is first obtained; then, the actual seeding amount is compared with the preset seeding amount to obtain seeding amount error data; finally, the seeding amount of the sowing mechanism is adjusted according to the seeding amount error data for the next operation, and the sowing mechanism is controlled to discharge the adjusted seeding amount into the furrow. This can further improve the accuracy of seeding amount.

[0107] Specifically, the implementation process of the above-mentioned control module for adjusting the seeding rate is as follows: Based on the seeding rate manually given by the system, the microcontroller control center of the control module inputs the given seeding rate data. The microcontroller processes the given data and issues corresponding motion commands to the servo motor. The servo motor receives the commands from the microcontroller control center and rotates the fan-shaped seed metering device connected to the seeding mechanism at a fixed angle, allowing the corresponding number of seeds to be discharged from the box. The output seeding rate is then monitored by the seeding rate sensor to measure and feedback the actual seeding rate. By processing the error between the actual seeding rate and the given seeding rate, the input seeding rate to the microcontroller control center is fed back to adjust the machine, completing a single seeding rate control cycle for the seeder.

[0108] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0109] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on 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, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0110] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. 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 embodiments, or in a different order, or several steps can be performed simultaneously.

[0111] The foregoing flowcharts and / or block diagrams of methods according to embodiments of the present disclosure have described various aspects of the present disclosure. It should be understood that each block in the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to create a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the function / action specified in one or more blocks of the flowcharts and / or block diagrams. Such a 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 is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified function or action, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0112] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A seeding robot for precision seeding, characterized in that, include: Walking mechanism, used for movement; A trenching mechanism is mounted on a traveling mechanism. The trenching mechanism includes a trencher, a lifting module, and two limiters. The trencher includes a first trenching component and a second trenching component arranged at relative angles. The upper parts of the first trenching component and the second trenching component are streamlined, and the lower parts of the first trenching component and the second trenching component are straight. The lifting module is connected to the trenching mechanism to drive the trencher to move up and down. The two limiters are located on the outer sides of the first trenching component and the second trenching component, respectively. When the lifting module drives the trencher to move downward, the limiters abut against the outer sides of the upper parts of the first trenching component and the second trenching component, causing the end of the trencher to change from a closed state to an open state. When the lifting module drives the trencher to move upward, the end of the trencher changes from an open state to a closed state. A seeding mechanism, wherein the seed outlet of the seeding mechanism is located directly above the end of the furrow opener; The control module is connected to the control terminals of the lifting module and the sowing mechanism respectively to control the sowing mechanism to sow seeds through the seed outlet when the furrow opener is in the open state; It also includes a soil coverer, which is disposed at the rear end of the walking mechanism to push soil onto the central axis of the walking mechanism's running trajectory; The included angle between the lower halves of the first trenching component and the second trenching component is between 30° and 50°.

2. The seeding robot for precision seeding according to claim 1, characterized in that, The top of the walking mechanism is equipped with a load-bearing frame, and the ditching mechanism, the sowing mechanism and the control module are all installed on the load-bearing frame.

3. The seeding robot for precision seeding according to claim 1, characterized in that, The seeding mechanism includes a box for holding seeds, a fan-shaped seed metering device, and a seed metering port. The bottom of the box is provided with an opening, and the seed metering port is located below the opening. The fan-shaped seed metering device is located between the opening and the seed metering port to transport the seeds in the box to the seed metering port for discharge by rotating the fan blades.

4. The seeding robot for precision seeding according to claim 1, characterized in that, The walking mechanism includes two tracked traveling structures, a drive motor, and a support frame. The two tracked traveling structures are arranged opposite each other on both sides of the support frame. The drive motor is installed in the middle of the support frame and is connected to the two tracked traveling structures respectively to provide power.

5. The seeding robot for precision seeding according to claim 4, characterized in that, The tracked traveling structure includes a track, a drive wheel, multiple load-bearing wheels, and guide wheels. The drive wheel's shaft is connected to the drive motor, and the drive wheel meshes with the track. The multiple load-bearing wheels are arranged in a row and are all located inside the track for bearing weight. The guide wheels are located at the front end of the track to guide the track's movement direction.

6. The seeding robot for precision seeding 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.

7. A control method for a seeding robot, characterized in that, A control module for a seeding robot, wherein the seeding robot is the seeding robot for precision seeding as described in any one of claims 1 to 6, and the method includes the following steps: Receive a sowing instruction, which includes a sowing route, at least one preset sowing location set along the sowing route, and a preset sowing quantity corresponding to each sowing location; According to the sowing command, the walking mechanism is controlled to move along the sowing route and reach the preset sowing position; The lifting module is controlled to move downward, and the trencher, which sinks and gradually opens at its end, contacts the ground and forms a trench; According to the sowing command, the sowing mechanism is controlled to discharge a preset amount of seeds into the furrow; Control the lifting module to move upward, so that the trencher returns to its initial position and closes; Repeat the above steps until sowing is complete.

8. The control method according to claim 7, characterized in that, The seeding instruction also includes the expected movement speed; The step of controlling the walking mechanism to move along the sowing route and reach the preset sowing position according to the sowing command includes: Obtain the real-time moving speed of the walking mechanism; By comparing the expected movement speed with the real-time movement speed, movement error data is obtained; Adjust the walking speed of the walking mechanism according to the movement error data, and control the walking mechanism to move along the sowing route and reach the preset sowing position according to the adjusted walking speed; and / or; Obtain the real-time movement path of the walking mechanism; By comparing the sowing route with the real-time movement path, path error data is obtained; Adjust the movement path of the walking mechanism according to the path error data, and control the walking mechanism to move along the sowing route and reach the preset sowing position according to the adjusted movement speed; and / or; The step of controlling the sowing mechanism to discharge a preset amount of seeds into the furrow according to the sowing command includes: Obtain the actual amount of seeds discharged from the furrows by the seeding mechanism in the previous operation; By comparing the actual sowing amount with the preset sowing amount, the sowing amount error data is obtained; The seeding rate of the next sowing mechanism is adjusted based on the seeding rate error data, and the sowing mechanism is controlled to discharge the adjusted seeding rate into the furrow.

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