Dynamic reseeding method of air suction type seed metering device

Abstract

The invention provides a dynamic reseeding method of an air-suction type seed-metering device, and relates to the technical field of intelligent agriculture, an infrared sensor is used for detecting the seed adsorption condition of a seed-metering unit N away from a seed throwing position in real time, if it is detected that the seed-metering unit does not adsorb seeds, the seed-metering unit is marked as seed leakage, and if it is detected that the seed-metering unit adsorbs seeds, the seed-metering unit is marked as seed leakage. If yes, recording the seed metering unit as normal, obtaining seed leakage conditions of the N seed metering units, selecting a corresponding FOC control strategy according to the seed leakage conditions of the N seed metering units, and driving the permanent magnet synchronous motor to drive the seed metering disc to rotate in an accelerated manner to complete seeding, so that the number of the seed metering units passing through the seed throwing position is larger within normal seeding time, and the seeding efficiency is improved. Miss-seeding is effectively reduced, the problem that miss-seeding cannot be reduced during seeding of an existing air-aspiration type seed-metering device is solved, and the air-aspiration type seed-metering device is suitable for dynamic reseeding of the air-aspiration type seed-metering device.

Description

Technical Field

[0001] The present invention relates to the technical field of smart agriculture, and particularly to a dynamic reseeding method for a pneumatic seeder. Background Art

[0002] Existing pneumatic seeders include a seed metering disc. The seed metering disc includes a plurality of seed metering units spaced equally. The seed metering units are used to adsorb seeds and, when a seed metering unit rotates to the seed dropping position, sowing is carried out. By rotating the seed metering disc in this way, continuous sowing is achieved. However, during the process of maize sowing operation by a pneumatic seeder, affected by various factors such as the inherent defects of the mechanical structure and insufficient air pressure, it may cause the seed metering unit not to adsorb seeds, resulting in missed sowing. Missed sowing not only reduces the maize yield but also causes waste of land resources. Therefore, reseeding in the missed sowing area has become a key measure to ensure the maize yield. Summary of the Invention

[0003] The technical problem solved by the present invention: The present invention provides a dynamic reseeding method for a pneumatic seeder, which solves the problem that the existing pneumatic seeder cannot reduce missed sowing during sowing.

[0004] The technical solution adopted by the present invention to solve the above technical problem: A dynamic reseeding method for a pneumatic seeder. The pneumatic seeder includes a seed metering disc. The seed metering disc includes a plurality of seed metering units spaced equally. The seed metering units are used to adsorb seeds and, when a seed metering unit rotates to the seed dropping position, sowing is carried out. The dynamic reseeding method includes the following steps:

[0005] S1. Use an infrared sensor to detect the seed adsorption situation of N seed metering units away from the seed dropping position in real time. If it is detected that a seed metering unit does not adsorb seeds, then mark this seed metering unit as a missed seed. If it is detected that a seed metering unit adsorbs seeds, then mark this seed metering unit as normal, and obtain the missed seed situation of N seed metering units.

[0006] S2. According to the missed seed situation of N seed metering units, select the corresponding FOC control strategy, drive a permanent magnet synchronous motor to drive the seed metering disc to rotate at an accelerated speed, and complete sowing.

[0007] Further, the seed metering unit includes a hole, and seeds are adsorbed and sown through the hole.

[0008] Further, using an infrared sensor to detect whether N seed metering units away from the seed dropping position adsorb seeds specifically includes:

[0009] If there is one seed metering disc, install an infrared sensor above the seed metering unit of the seed metering disc that is N seed metering units away from the seed dropping position.

[0010] If N is an even number and there are two seed metering discs, and the two seed metering discs alternate and sow in turn, then at each seed metering disc away from the seed dropping position An infrared sensor is installed above the metering unit of each metering unit;

[0011] The infrared sensor is used to detect whether the metering unit passing through the installation position of the infrared sensor adsorbs seeds, and record whether all the metering units between the installation position of the infrared sensor and the seed dropping position adsorb seeds.

[0012] Further, N is 8. The eight metering units are sequentially denoted as the first metering unit, the second metering unit, the third metering unit, the fourth metering unit, the fifth metering unit, the sixth metering unit, the seventh metering unit, and the eighth metering unit. Then, there are sixteen kinds of seed leakage situations for the eight metering units, which are respectively:

[0013] The first situation: The third metering unit leaks seeds, and the other metering units normally adsorb seeds;

[0014] The second situation: The third metering unit and the fifth metering unit leak seeds, and the other metering units normally adsorb seeds;

[0015] The third situation: The third metering unit and the sixth metering unit leak seeds, and the other metering units normally adsorb seeds;

[0016] The fourth situation: The third metering unit and the fourth metering unit leak seeds, and the other metering units normally adsorb seeds;

[0017] The fifth situation: The third metering unit, the fifth metering unit, and the sixth metering unit leak seeds, and the other metering units normally adsorb seeds;

[0018] The sixth situation: The third metering unit, the sixth metering unit, and the seventh metering unit leak seeds, and the other metering units normally adsorb seeds;

[0019] The seventh situation: The third metering unit, the fourth metering unit, and the sixth metering unit leak seeds, and the other metering units normally adsorb seeds;

[0020] The eighth situation: The third metering unit, the fourth metering unit, and the fifth metering unit leak seeds, and the other metering units normally adsorb seeds;

[0021] The ninth situation: The third metering unit, the fifth metering unit, the sixth metering unit, and the seventh metering unit leak seeds, and the other metering units normally adsorb seeds;

[0022] The tenth situation: The third metering unit, the sixth metering unit, the seventh metering unit, and the eighth metering unit leak seeds, and the other metering units normally adsorb seeds;

[0023] The eleventh situation: The third metering unit, the fourth metering unit, the fifth metering unit, and the seventh metering unit leak seeds, and the other metering units normally adsorb seeds;

[0024] The twelfth case: The third, fourth, fifth, and eighth seed - planting units miss seeding, and the remaining seed - planting units suck seeds normally;

[0025] The thirteenth case: The third, fourth, fifth, seventh, and eighth seed - planting units miss seeding, and the remaining seed - planting units suck seeds normally;

[0026] The fourteenth case: The third, fourth, sixth, seventh, and eighth seed - planting units miss seeding, and the remaining seed - planting units suck seeds normally;

[0027] The fifteenth case: The third, fourth, fifth, and sixth seed - planting units miss seeding, and the remaining seed - planting units suck seeds normally;

[0028] The sixteenth case: The third, fourth, fifth, sixth, seventh, and eighth seed - planting units miss seeding.

[0029] Furthermore, the FOC control strategy includes: When the seeding - missing situation is the first, second, or third case, and the seed - planting unit marked as seeding - missing is the next seed - planting unit passing through the seed - dropping position, control strategy one is adopted; When the seeding - missing situation is the sixteenth case, an alarm is issued; When the seeding - missing situation is the third, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, or fifteenth case, and the seed - planting unit marked as seeding - missing is the next seed - planting unit passing through the seed - dropping position, control strategy two is adopted; Control strategy one is: Within the T1 time, the motor performs uniformly accelerated motion and then uniformly decelerated motion, so that within the T1 time, the seed - metering disc rotates by the rotation angle corresponding to four seed - planting units; Control strategy two is: Within the T1 time, the motor performs uniformly accelerated motion and then uniformly decelerated motion, so that within the T1 time, the seed - metering disc rotates by the rotation angle corresponding to six seed - planting units; The T1 time is the seeding time interval for normal seeding.

[0030] Advantages of the present invention: The present invention provides a dynamic reseeding method for a pneumatic suction seeder. An infrared sensor is used to detect the seed adsorption situation of N seed metering units at a distance from the seed dropping position in real time. If a seed metering unit is detected without adsorbed seeds, the seed metering unit is marked as a missed seeding; if a seed metering unit is detected with adsorbed seeds, the seed metering unit is marked as normal. The missed seeding situation of N seed metering units is obtained. According to the missed seeding situation of N seed metering units, a corresponding FOC control strategy is selected to drive a permanent magnet synchronous motor to drive the seed metering disc to rotate at an accelerated speed to complete seeding. Thus, within the normal seeding time, the number of seed metering units passing through the seed dropping position is increased, effectively reducing missed seeding and solving the problem that the existing pneumatic suction seeder cannot reduce missed seeding during seeding. Description of the Drawings

[0031] Figure 1 is a schematic flow chart of a dynamic reseeding method for a pneumatic suction seeder provided by the present invention;

[0032] Figure 2 is a schematic structural diagram of a seed metering disc in a dynamic reseeding method for a pneumatic suction seeder provided by the present invention, where 1 represents the seed dropping position, 2 represents the seed metering unit, and 3 represents the detection position of the infrared sensor. Detailed Embodiments

[0033] The existing pneumatic suction seeder includes a seed metering disc. The seed metering disc includes a plurality of seed metering units spaced equally. The seed metering units are used to adsorb seeds and perform seeding when the seed metering units rotate to the seed dropping position. By rotating the circular seed metering disc, seed suction and seeding are realized. However, if the seed metering unit does not adsorb seeds, missed seeding will occur.

[0034] In view of the problem of inaccurate reseeding in the prior art, the present invention provides a dynamic reseeding method for a pneumatic suction seeder, as Figure 1 shown, including the following steps:

[0035] S1. Use an infrared sensor to detect the seed adsorption situation of N seed metering units at a distance from the seed dropping position in real time. If a seed metering unit is detected without adsorbed seeds, the seed metering unit is marked as a missed seeding; if a seed metering unit is detected with adsorbed seeds, the seed metering unit is marked as normal. The missed seeding situation of N seed metering units is obtained.

[0036] Specifically, the seed metering unit includes a hole, and seeds are adsorbed and seeded through the hole.

[0037] Using an infrared sensor to detect whether N seed metering units at a distance from the seed dropping position adsorb seeds specifically includes:

[0038] If there is one seed metering disc, an infrared sensor is installed above the seed metering unit of N seed metering units at a distance from the seed dropping position of the seed metering disc;

[0039] If N is an even number, there are two seed metering disks, and the two seed metering disks sow seeds alternately in sequence. Then, an infrared sensor is installed above the seed metering unit that is seed metering units away from the seed dropping position on each seed metering disk. Above the seed metering unit that is seed metering units away from the seed dropping position on each seed metering disk.

[0040] The infrared sensor is used to detect whether the seed metering unit passing through the installation position of the infrared sensor adsorbs seeds, and records whether all the seed metering units between the installation position of the infrared sensor and the seed dropping position adsorb seeds.

[0041] For example, when N = 8, if there is one seed metering disk, an infrared sensor is installed above the seed metering unit that is 8 seed metering units away from the seed dropping position on this seed metering disk; if there are two seed metering disks and the two seed metering disks sow seeds alternately in sequence, an infrared sensor is installed above the seed metering unit that is 4 seed metering units away from the seed dropping position on each seed metering disk. Since the sowing of two seed metering disks can be equivalent to the sowing of one seed metering disk, therefore, taking one seed metering disk for analysis, as shown in the seed metering disk Figure 2 , the infrared sensor is installed above the seed metering unit that is 8 seed metering units away from the seed dropping position, and is used to detect whether the seed metering unit passing through the installation position of the infrared sensor adsorbs seeds. If it is detected that the seed metering unit does not adsorb seeds, this seed metering unit is recorded as a missed seeding; if it is detected that the seed metering unit adsorbs seeds, this seed metering unit is recorded as normal, and the missed seeding situation of 8 seed metering units is obtained. The 8 seed metering units are sequentially recorded as the first seed metering unit, the second seed metering unit, the third seed metering unit, the fourth seed metering unit, the fifth seed metering unit, the sixth seed metering unit, the seventh seed metering unit, and the eighth seed metering unit. Then, the missed seeding situations of the 8 seed metering units can be divided into the following sixteen types. The remaining missed seeding situations can essentially be regarded as the superposition of different forms of these sixteen missed seeding situations. The sixteen situations are as follows: Figure 2 As shown, the infrared sensor is installed above the seed metering unit that is 8 seed metering units away from the seed dropping position, and is used to detect whether the seed metering unit passing through the installation position of the infrared sensor adsorbs seeds. If it is detected that the seed metering unit does not adsorb seeds, this seed metering unit is recorded as a missed seeding; if it is detected that the seed metering unit adsorbs seeds, this seed metering unit is recorded as normal, and the missed seeding situation of 8 seed metering units is obtained. The 8 seed metering units are sequentially recorded as the first seed metering unit, the second seed metering unit, the third seed metering unit, the fourth seed metering unit, the fifth seed metering unit, the sixth seed metering unit, the seventh seed metering unit, and the eighth seed metering unit. Then, the missed seeding situations of the 8 seed metering units can be divided into the following sixteen types. The remaining missed seeding situations can essentially be regarded as the superposition of different forms of these sixteen missed seeding situations. The sixteen situations are as follows:

[0042] The first situation: The third seed metering unit misses seeding, and the rest of the seed metering units adsorb seeds normally;

[0043] The second situation: The third seed metering unit and the fifth seed metering unit miss seeding, and the rest of the seed metering units adsorb seeds normally;

[0044] The third situation: The third seed metering unit and the sixth seed metering unit miss seeding, and the rest of the seed metering units adsorb seeds normally;

[0045] The fourth situation: The third seed metering unit and the fourth seed metering unit miss seeding, and the rest of the seed metering units adsorb seeds normally;

[0046] The fifth situation: The third seed metering unit, the fifth seed metering unit, and the sixth seed metering unit miss seeding, and the rest of the seed metering units adsorb seeds normally;

[0047] The sixth situation: The third seed metering unit, the sixth seed metering unit, and the seventh seed metering unit miss seeding, and the rest of the seed metering units adsorb seeds normally;

[0048] The seventh case: The seeding units in the third row, the fourth row, and the sixth row miss seeding, and the remaining seeding units suck seeds normally;

[0049] The eighth case: The seeding units in the third row, the fourth row, and the fifth row miss seeding, and the remaining seeding units suck seeds normally;

[0050] The ninth case: The seeding units in the third row, the fifth row, the sixth row, and the seventh row miss seeding, and the remaining seeding units suck seeds normally;

[0051] The tenth case: The seeding units in the third row, the sixth row, the seventh row, and the eighth row miss seeding, and the remaining seeding units suck seeds normally;

[0052] The eleventh case: The seeding units in the third row, the fourth row, the fifth row, and the seventh row miss seeding, and the remaining seeding units suck seeds normally;

[0053] The twelfth case: The seeding units in the third row, the fourth row, the fifth row, and the eighth row miss seeding, and the remaining seeding units suck seeds normally;

[0054] The thirteenth case: The seeding units in the third row, the fourth row, the fifth row, the seventh row, and the eighth row miss seeding, and the remaining seeding units suck seeds normally;

[0055] The fourteenth case: The seeding units in the third row, the fourth row, the sixth row, the seventh row, and the eighth row miss seeding, and the remaining seeding units suck seeds normally;

[0056] The fifteenth case: The seeding units in the third row, the fourth row, the fifth row, and the sixth row miss seeding, and the remaining seeding units suck seeds normally;

[0057] The sixteenth case: The seeding units in the third row, the fourth row, the fifth row, the sixth row, the seventh row, and the eighth row miss seeding.

[0058] S2. According to the seeding miss situations of the N seeding units, select the corresponding FOC control strategy, drive the permanent magnet synchronous motor to drive the seed plate to accelerate and rotate, and complete seeding.

[0059] Specifically, the accelerated rotation includes first uniform acceleration and then uniform deceleration, so that under the FOC control strategy, the speed of the seed metering disc is greater than the speed during normal sowing; the FOC control strategy includes: for scenarios with a relatively small missed sowing range and little requirement for the reseeding angle, control strategy one can be selected. For example, when the missed sowing situation is the first, second, or third situation, and the seed metering unit marked as missed sowing is the next seed metering unit passing through the seed dropping position, control strategy one is adopted; when the missed sowing range is relatively large and a larger reseeding angle is required, control strategy two can be selected. For example, when the missed sowing situation is the third, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, or fifteenth situation, and the seed metering unit marked as missed sowing is the next seed metering unit passing through the seed dropping position, control strategy two is adopted; particularly, when the missed sowing situation is the sixteenth situation, which is a serious missed sowing situation, an alarm is issued.

[0060] The control strategy one is: within the time T1, the motor performs uniform acceleration and then uniform deceleration, so that within the time T1, the seed metering disc rotates through the rotation angle corresponding to four seed metering units. Specifically, it uniformly accelerates through two seed metering units and uniformly decelerates through two seed metering units. The uniform acceleration time and the uniform deceleration time are both The time T1 is the sowing time interval during normal sowing.

[0061] The control strategy two is: within the time T1, the motor performs uniform acceleration and then uniform deceleration, so that within the time T1, the seed metering disc rotates through the rotation angle corresponding to six seed metering units. Specifically, it uniformly accelerates through three seed metering units and uniformly decelerates through three seed metering units. The uniform acceleration time and the uniform deceleration time are both The time T1 is the sowing time interval during normal sowing.

[0062] Particularly, in scenarios where the sowing speed is greater than 10 km / h, the normal sowing time interval of the air suction type seed metering device is usually only about 100 ms. Therefore, in order to ensure smooth completion within the sowing time interval, although the above two control strategies cannot perfectly solve the missed sowing situation, they can effectively reduce the missed sowing situation.

[0063] Particularly, other control strategies similar to control strategy one and control strategy two can also be formulated and matched with the missed sowing situations one by one, so that within any time T1, a seed metering unit marked as normal passes through the seed dropping position, thus perfectly solving the missed sowing situation.

Claims

1. Dynamic reseeding method for air suction type seed metering device, characterized in that, The air-suction type seed metering device includes a seed metering disc, the seed metering disc includes a plurality of seed metering units with equal intervals, the seed metering units are used to adsorb seeds, and when the seed metering unit rotates to the seed dropping position, sowing is carried out. The dynamic reseeding method includes the following steps: S1. Use an infrared sensor to detect the seed adsorption situation of the seed metering units N away from the seed dropping position in real time. If it is detected that a seed metering unit does not adsorb seeds, mark this seed metering unit as a missed seed. If it is detected that a seed metering unit adsorbs seeds, mark this seed metering unit as normal, and obtain the missed seed situation of N seed metering units; S2. According to the missed seed situation of N seed metering units, select the corresponding FOC control strategy, drive the permanent magnet synchronous motor to drive the seed metering disc to accelerate rotation, and complete sowing.

2. The dynamic reseeding method of the air-suction type seed metering device according to claim 1, wherein, The seed metering unit includes a hole, and seeds are adsorbed and sown through the hole.

3. The dynamic reseeding method of the air-suction type seed metering device according to claim 1, characterized in that Using an infrared sensor to detect whether the seed metering units N away from the seed dropping position adsorb seeds specifically includes: If there is one seed metering disc, install an infrared sensor above the seed metering unit of the seed metering disc N away from the seed dropping position; If N is an even number, there are two seed metering disks, and the two seed metering disks sow seeds alternately in sequence. Then, an infrared sensor is installed above the seed metering units of each seed metering disk at a distance of seed metering units from the seed dropping position; Detect whether the seed metering unit passing through the installation position of the infrared sensor adsorbs seeds through the infrared sensor, and record whether all the seed metering units between the installation position of the infrared sensor and the seed dropping position adsorb seeds.

4. The dynamic reseeding method of the air-suction type seed metering device according to claim 3, characterized in that N is 8. The eight seed metering units are sequentially denoted as the first seed metering unit, the second seed metering unit, the third seed metering unit, the fourth seed metering unit, the fifth seed metering unit, the sixth seed metering unit, the seventh seed metering unit, and the eighth seed metering unit. Then there are sixteen kinds of missed seed situations of the eight seed metering units, which are respectively: The first situation: The third seed metering unit misses seeds, and the rest of the seed metering units normally adsorb seeds; The second situation: The third seed metering unit and the fifth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The third situation: The third seed metering unit and the sixth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The fourth situation: The third seed metering unit and the fourth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The fifth situation: The third seed metering unit, the fifth seed metering unit, and the sixth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The sixth situation: The third seed metering unit, the sixth seed metering unit, and the seventh seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The seventh situation: The third seed metering unit, the fourth seed metering unit, and the sixth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The eighth situation: The third seed metering unit, the fourth seed metering unit, and the fifth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The ninth situation: The third seed metering unit, the fifth seed metering unit, the sixth seed metering unit, and the seventh seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The tenth situation: The third seed metering unit, the sixth seed metering unit, the seventh seed metering unit, and the eighth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The eleventh situation: The third seed metering unit, the fourth seed metering unit, the fifth seed metering unit, and the seventh seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The twelfth situation: The third seed metering unit, the fourth seed metering unit, the fifth seed metering unit, and the eighth seed metering unit miss seeds, and the rest of the seed metering units normally adsorb seeds; The thirteenth case: The seed metering units in the third row, fourth row, fifth row, seventh row, and eighth row miss seeding, and the other seed metering units suck seeds normally; The fourteenth case: The seed metering units in the third row, fourth row, sixth row, seventh row, and eighth row miss seeding, and the other seed metering units suck seeds normally; The fifteenth case: The seed metering units in the third row, fourth row, fifth row, and sixth row miss seeding, and the other seed metering units suck seeds normally; The sixteenth case: The seed metering units in the third row, fourth row, fifth row, sixth row, seventh row, and eighth row miss seeding.

5. The dynamic reseeding method of the air-suction type seed metering device according to claim 4, characterized in that, The FOC control strategy includes: When the seeding miss situation is the first case, the second case, or the third case, and the seed metering unit marked as missing seeding is the next seed metering unit passing through the seed dropping position, control strategy one is adopted; When the seeding miss situation is the sixteenth case, an alarm is issued; When the seeding miss situation is the third case, the fifth case, the sixth case, the seventh case, the eighth case, the ninth case, the tenth case, the eleventh case, the twelfth case, the thirteenth case, the fourteenth case, or the fifteenth case, and the seed metering unit marked as missing seeding is the next seed metering unit passing through the seed dropping position, control strategy two is adopted; Control strategy one is: Within the T1 time, the motor performs uniform acceleration motion and then uniform deceleration motion, so that within the T1 time, the seed metering disc rotates by the rotation angle corresponding to four seed metering units; Control strategy two is: Within the T1 time, the motor performs uniform acceleration motion and then uniform deceleration motion, so that within the T1 time, the seed metering disc rotates by the rotation angle corresponding to six seed metering units; The T1 time is the seeding time interval for normal seeding.

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