Dynamic method for air seed meter

Abstract

The application provides a dynamic seed supplementing method of an air suction type seed sowing device, relates to the technical field of intelligent agriculture, and utilizes an infrared sensor to detect seed suction conditions of N seed sowing units at a distance from a seed sowing position in real time; if it is detected that a seed sowing unit does not suck seeds, the seed sowing unit is recorded as a seed missing unit; if it is detected that a seed sowing unit sucks seeds, the seed sowing unit is recorded as normal; seed missing conditions of the N seed sowing units are obtained; according to the seed missing conditions of the N seed sowing units, a corresponding FOC control strategy is selected to drive a permanent magnet synchronous motor to drive a seed sowing disc to accelerate rotation, and seeding is completed, so that the number of seed sowing units passing through the seed sowing position is larger within a normal seeding time, seed missing is effectively reduced, and the problem that the existing air suction type seed sowing device cannot reduce seed missing during seeding is solved. The application is suitable for dynamic seed supplementing of the air suction type seed sowing device.

Description

Technical Field

[0001] This invention relates to the field of smart agriculture technology, and in particular to a dynamic replanting method using an air-suction seed metering device. Background Technology

[0002] Existing pneumatic seed metering devices include a seed metering disc comprising multiple equally spaced seed metering units. These units adsorb seeds, and when a unit rotates to the seeding position, sowing occurs. This rotation of the seed metering disc enables continuous sowing. However, during corn sowing operations using pneumatic seed metering devices, inherent mechanical defects, insufficient air pressure, and other factors can cause seed metering units to fail to adsorb seeds, resulting in missed sowing. Missed sowing not only reduces corn yield but also wastes land resources. Therefore, replanting in missed areas is a crucial measure to ensure corn yield. Summary of the Invention

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

[0004] The technical solution adopted by this invention to solve the above-mentioned technical problems is: a dynamic reseeding method for an air-suction seed metering device, wherein the air-suction seed metering device includes a seed metering disc, the seed metering disc includes multiple equally spaced seed metering units, the seed metering units are used to adsorb seeds, and when the seed metering unit rotates to the seeding position, sowing is performed, and the dynamic reseeding method includes the following steps:

[0005] S1. Use an infrared sensor to detect the seed adsorption status of N seeding units at a distance from the seeding position in real time. If a seeding unit is found to have no seeds adsorbed, the seeding unit is recorded as a missed seeding unit. If a seeding unit is found to have seeds adsorbed, the seeding unit is recorded as normal. The missed seeding status of N seeding units is obtained.

[0006] S2. Based on the missing seeding situation of N seeding units, select the corresponding FOC control strategy, drive the permanent magnet synchronous motor to accelerate the rotation of the seeding disc, and complete the seeding.

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

[0008] Furthermore, infrared sensors are used to detect whether seeds are adsorbed within N seed-rearing units at the seed-dispensing position, specifically including:

[0009] If there is only one seed metering disc, then an infrared sensor is installed above the seed metering unit that is N seed metering units away from the seeding position.

[0010] If N is even, and there are two seed metering discs, with the two discs sowing alternately, then the distance from the seeding position on each disc is... Infrared sensors are installed above the seeding units of each seeding unit;

[0011] The infrared sensor detects whether the seed metering unit has absorbed seeds after passing the infrared sensor installation position, and records whether all seed metering units between the infrared sensor installation position and the seeding position have absorbed seeds.

[0012] Furthermore, with N equal to 8, the 8 planting units are sequentially designated as the first planting unit, the second planting unit, the third planting unit, the fourth planting unit, the fifth planting unit, the sixth planting unit, the seventh planting unit, and the eighth planting unit. Then, there are sixteen possible missed planting scenarios for these 8 planting units, which are as follows:

[0013] Scenario 1: The third seeding unit misses a seed, while the other seeding units absorb seeds normally;

[0014] The second scenario: the third and fifth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0015] The third scenario: the third and sixth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0016] The fourth scenario: the third and fourth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0017] Fifth scenario: The third, fifth, and sixth planting units miss planting, while the remaining planting units absorb seeds normally;

[0018] The sixth scenario: the third, sixth, and seventh planting units miss planting, while the remaining planting units absorb seeds normally;

[0019] The seventh scenario: the third, fourth, and sixth planting units miss planting, while the remaining planting units absorb seeds normally;

[0020] Eighth scenario: The third, fourth, and fifth planting units miss planting, while the remaining planting units absorb seeds normally;

[0021] Ninth scenario: The third, fifth, sixth, and seventh planting units miss planting, while the remaining planting units absorb seeds normally;

[0022] The tenth scenario: the third, sixth, seventh, and eighth planting units miss planting, while the remaining planting units absorb seeds normally;

[0023] Eleventh scenario: The third, fourth, fifth, and seventh seeding units are missing seeds, while the remaining seeding units absorb seeds normally;

[0024] The twelfth scenario: the third, fourth, fifth, and eighth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0025] The thirteenth scenario: the third, fourth, fifth, seventh, and eighth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0026] The fourteenth scenario: the third, fourth, sixth, seventh, and eighth planting units miss planting, while the remaining planting units absorb seeds normally;

[0027] The fifteenth scenario: the third, fourth, fifth, and sixth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0028] The sixteenth case: missing planting in the third, fourth, fifth, sixth, seventh, and eighth planting units.

[0029] Furthermore, the FOC control strategy includes: when the missed seeding situation is the first, second, or third situation, and the seeding unit marked as missing seeding is the next seeding unit to pass the seeding position, control strategy one is adopted; when the missed seeding situation is the sixteenth situation, an alarm is issued; when the missed seeding situation is the third, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, or fifteenth situation, and the seeding unit marked as missing seeding is the next seeding unit to pass the seeding position, control strategy two is adopted; control strategy one is: within time T1, the motor performs uniform acceleration and then uniform deceleration, so that within time T1, the seeding disc rotates by the rotation angle corresponding to four seeding units; control strategy two is: within time T1, the motor performs uniform acceleration and then uniform deceleration, so that within time T1, the seeding disc rotates by the rotation angle corresponding to six seeding units; the time T1 is the normal seeding interval.

[0030] The beneficial effects of this invention are as follows: This invention provides a dynamic reseeding method for a pneumatic seed metering device. It utilizes an infrared sensor to detect the seed adsorption status of N seed metering units at a distance from the seeding position in real time. If a seed metering unit is found to have no seeds adsorbed, it is recorded as a missed seeding unit; if it is found to have seeds adsorbed, it is recorded as normal. This obtains the missed seeding status of N seed metering units. Based on the missed seeding status of these N units, a corresponding FOC control strategy is selected to drive a permanent magnet synchronous motor to accelerate the rotation of the seed metering disc, completing the sowing process. This results in a greater number of seed metering units passing through the seeding position within the normal sowing time, effectively reducing missed seeding and solving the problem of existing pneumatic seed metering devices being unable to reduce missed seeding during sowing. Attached Figure Description

[0031] Figure 1 This is a flowchart illustrating a dynamic replanting method for a pneumatic seed metering device provided by the present invention.

[0032] Figure 2 This is a schematic diagram of the seed metering disc structure in a dynamic replanting method for a pneumatic seed metering device provided by the present invention, wherein 1 represents the seeding position, 2 represents the seed metering unit, and 3 represents the detection position of the infrared sensor. Detailed Implementation

[0033] Existing air-suction seed metering devices include a seed metering disc comprising multiple equally spaced seed metering units. These seed metering units are used to absorb seeds, and when a seed metering unit rotates to the seeding position, it performs sowing. This is achieved by rotating the circular seed metering disc to absorb and sow seeds. However, if the seed metering unit fails to absorb seeds, it will result in missed sowing.

[0034] This invention addresses the problem of inaccurate reseeding in existing methods by providing a dynamic reseeding method using a pneumatic seed metering device, such as... Figure 1 As shown, it includes the following steps:

[0035] S1. Use an infrared sensor to detect the seed adsorption status of N seeding units at a distance from the seeding position in real time. If a seeding unit is found to have no seeds adsorbed, the seeding unit is recorded as a missed seeding unit. If a seeding unit is found to have adsorbed seeds, the seeding unit is recorded as normal. The missed seeding status of N seeding units is obtained.

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

[0037] The infrared sensor is used to detect whether seeds have been adsorbed within N seeding units at the seeding position. Specifically, this includes:

[0038] If there is only one seed metering disc, then an infrared sensor is installed above the seed metering unit that is N seed metering units away from the seeding position.

[0039] If N is even, and there are two seed metering discs, with the two discs sowing alternately, then the distance from the seeding position on each disc is... Infrared sensors are installed above the seeding units of each seeding unit;

[0040] The infrared sensor detects whether the seed metering unit has absorbed seeds after passing the infrared sensor installation position, and records whether all seed metering units between the infrared sensor installation position and the seeding position have absorbed seeds.

[0041] For example, if N is 8, and there is only one seed metering tray, an infrared sensor is installed above the seeding unit 8 units away from the seeding position on that tray. If there are two seed metering trays, and the two trays are used alternately for sowing, an infrared sensor is installed above the seeding unit 4 units away from the seeding position on each tray. Since sowing with two seed metering trays is equivalent to sowing with one seed metering tray, we will analyze the process using the seed metering tray as a single unit. Figure 2 As shown, infrared sensors are installed above the seeding units eight units away from the seeding position. These sensors are used to check if a seeding unit passing the sensor's location has absorbed seeds. If a seeding unit is detected as not absorbing seeds, it is recorded as having missed seeds; if it is detected as absorbing seeds, it is recorded as normal. This process obtains the missed seeding status of the eight seeding units. These eight seeding units are sequentially designated as the first, second, third, fourth, fifth, sixth, seventh, and eighth seeding units. The missed seeding situations of these eight units can be categorized into sixteen types. All other missed seeding situations can essentially be considered as a superposition of different forms of these sixteen types. The sixteen types are as follows:

[0042] Scenario 1: The third seeding unit misses a seed, while the other seeding units absorb seeds normally;

[0043] The second scenario: the third and fifth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0044] The third scenario: the third and sixth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0045] The fourth scenario: the third and fourth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0046] Fifth scenario: The third, fifth, and sixth planting units miss planting, while the remaining planting units absorb seeds normally;

[0047] The sixth scenario: the third, sixth, and seventh planting units miss planting, while the remaining planting units absorb seeds normally;

[0048] The seventh scenario: the third, fourth, and sixth planting units miss planting, while the remaining planting units absorb seeds normally;

[0049] Eighth scenario: The third, fourth, and fifth planting units miss planting, while the remaining planting units absorb seeds normally;

[0050] Ninth scenario: The third, fifth, sixth, and seventh planting units miss planting, while the remaining planting units absorb seeds normally;

[0051] The tenth scenario: the third, sixth, seventh, and eighth planting units miss planting, while the remaining planting units absorb seeds normally;

[0052] Eleventh scenario: The third, fourth, fifth, and seventh seeding units are missing seeds, while the remaining seeding units absorb seeds normally;

[0053] The twelfth scenario: the third, fourth, fifth, and eighth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0054] The thirteenth scenario: the third, fourth, fifth, seventh, and eighth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0055] The fourteenth scenario: the third, fourth, sixth, seventh, and eighth planting units miss planting, while the remaining planting units absorb seeds normally;

[0056] The fifteenth scenario: the third, fourth, fifth, and sixth seeding units miss planting, while the remaining seeding units absorb seeds normally;

[0057] The sixteenth case: missing planting in the third, fourth, fifth, sixth, seventh, and eighth planting units.

[0058] S2. Based on the missing seeding situation of N seeding units, select the corresponding FOC control strategy, drive the permanent magnet synchronous motor to accelerate the rotation of the seeding disc, and complete the seeding.

[0059] Specifically, the accelerated rotation includes uniform acceleration followed by uniform deceleration, ensuring that the seed metering disc's speed is greater than the normal sowing speed under the FOC control strategy. The FOC control strategy includes: for scenarios with a small missed sowing range and minimal requirements for replanting angle, control strategy one can be selected. For example, when the missed sowing situation is the first, second, or third scenario, and the seed metering unit marked as missing is the next seed metering unit to pass the seeding position, control strategy one is adopted. When the missed sowing range is relatively large and a larger replanting 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 scenario, and the seed metering unit marked as missing is the next seed metering unit to pass the seeding position, control strategy two is adopted. In particular, when the missed sowing situation is the sixteenth scenario, which is a serious missed sowing situation, an alarm is issued.

[0060] The first control strategy is as follows: During time T1, the motor performs uniform acceleration followed by uniform deceleration, so that during time T1, the seed metering disc accelerates and rotates by the rotation angles corresponding to the four seed metering units. Specifically, it accelerates through two seed metering units and decelerates through two seed metering units, with both acceleration and deceleration times being equal to... The T1 time is the normal sowing time interval.

[0061] The second control strategy is as follows: During time T1, the motor performs uniform acceleration followed by uniform deceleration, so that within time T1, the seed metering disc rotates by the rotation angle corresponding to the six seed metering units. Specifically, it accelerates uniformly through three seed metering units and decelerates uniformly through three seed metering units, with both the acceleration and deceleration times being [missing information]. The T1 time is the normal sowing time interval.

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

[0063] In particular, other control strategies similar to control strategy one and control strategy two can be formulated to work with the missed seeding situation one by one, so that at any time T1, a seeding unit marked as normal passes through the seeding position, thereby perfectly solving the missed seeding situation.

Claims

1. A dynamic reseeding method for a pneumatic seed metering device, characterized in that, The air-suction seed metering device includes a seed metering disc, which comprises multiple equally spaced seed metering units. Each seed metering unit is used to adsorb seeds, and when it rotates to the seeding position, it performs sowing. The dynamic reseeding method includes the following steps: S1. Utilize infrared sensors to detect the distance to the seeding position in real time. The seed adsorption status of each seeding unit is monitored. If a seeding unit is found to have no seeds adsorbed, it is recorded as a missing seeding unit; if a seeding unit is found to have adsorbed seeds, it is recorded as normal. Missed planting situations in each planting unit; S2, according to If a seeding unit misses a seeding, the corresponding FOC control strategy is selected to drive the permanent magnet synchronous motor to accelerate the rotation of the seeding disc and complete the seeding. The number is 8. We will label the 8 planting units sequentially as the first planting unit, the second planting unit, the third planting unit, the fourth planting unit, the fifth planting unit, the sixth planting unit, the seventh planting unit, and the eighth planting unit. There are 16 possible missed planting scenarios within these 8 planting units, which are as follows: Scenario 1: The third seeding unit misses a seed, while the other seeding units absorb seeds normally; The second scenario: the third and fifth seeding units miss planting, while the remaining seeding units absorb seeds normally; The third scenario: the third and sixth seeding units miss planting, while the remaining seeding units absorb seeds normally; The fourth scenario: the third and fourth seeding units miss planting, while the remaining seeding units absorb seeds normally; Fifth scenario: The third, fifth, and sixth planting units miss planting, while the remaining planting units absorb seeds normally; The sixth scenario: the third, sixth, and seventh planting units miss planting, while the remaining planting units absorb seeds normally; The seventh scenario: the third, fourth, and sixth planting units miss planting, while the remaining planting units absorb seeds normally; Eighth scenario: The third, fourth, and fifth planting units miss planting, while the remaining planting units absorb seeds normally; Ninth scenario: The third, fifth, sixth, and seventh planting units miss planting, while the remaining planting units absorb seeds normally; The tenth scenario: the third, sixth, seventh, and eighth planting units miss planting, while the remaining planting units absorb seeds normally; Eleventh scenario: The third, fourth, fifth, and seventh seeding units are missing seeds, while the remaining seeding units absorb seeds normally; The twelfth scenario: the third, fourth, fifth, and eighth seeding units miss planting, while the remaining seeding units absorb seeds normally; The thirteenth scenario: the third, fourth, fifth, seventh, and eighth seeding units miss planting, while the remaining seeding units absorb seeds normally; The fourteenth scenario: the third, fourth, sixth, seventh, and eighth planting units miss planting, while the remaining planting units absorb seeds normally; The fifteenth scenario: the third, fourth, fifth, and sixth seeding units miss planting, while the remaining seeding units absorb seeds normally; The sixteenth scenario: missing seeds in the third, fourth, fifth, sixth, seventh, and eighth planting units; The FOC control strategy includes: when the missed seeding situation is the first, second, or third situation, and the seeding unit marked as missing seeding is the next seeding unit to pass the seeding position, control strategy one is adopted; when the missed seeding situation is the sixteenth situation, an alarm is issued; when the missed seeding situation is the fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, or fifteenth situation, and the seeding unit marked as missing seeding is the next seeding unit to pass the seeding position, control strategy two is adopted; the control strategy one is: in Within a given time period, the motor performs uniform acceleration followed by uniform deceleration, resulting in... Within a given time period, the seed metering disc rotates by the rotation angle corresponding to the four seed metering units; the second control strategy is: in Within a given time period, the motor performs uniform acceleration followed by uniform deceleration, resulting in... Within a given time period, the seed metering disc rotates by the rotation angle corresponding to the six seed metering units; the T1 time period is the normal seeding interval.

2. The dynamic reseeding method for the air-suction seed metering device according to claim 1, characterized in that, The seed dispensing unit includes a perforated hole through which seeds are adsorbed and sown.

3. The dynamic reseeding method for the air-suction seed metering device according to claim 1, characterized in that, Using infrared sensors to detect the distance to the seeding position Whether each seeding unit adsorbs seeds specifically includes: If there is only one seed metering tray, then the distance from the seeding position to the seed metering tray is... Infrared sensors are installed above the seeding units of each seeding unit; like If the number of seeds is even, and there are two seeding trays, with the two trays sowing alternately, then the distance from the seeding position on each tray is... Infrared sensors are installed above the seeding units of each seeding unit; The infrared sensor detects whether the seed metering unit has absorbed seeds after passing the infrared sensor installation position, and records whether all seed metering units between the infrared sensor installation position and the seeding position have absorbed seeds.

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