Seeding operation regulation and control device and method of full-straw hard stubble field wide rotary seeding machine

Abstract

The invention discloses a seeding operation regulation and control device and method of a full-straw hard stubble field wide rotary seeding machine. The seeding operation regulation and control device comprises a rotary tillage depth detection device, a seed discharge pipe regulation device and a controller, the rotary tillage depth detection device is arranged in the flow guide part and comprises two groups of detection wheel mechanisms, and each group of detection wheel mechanism comprises a roller, a wheel carrier and an angle sensor for detecting the attitude angle of the wheel carrier; the seed-metering pipe adjusting device comprises a deflection seat and a first motor for driving the deflection seat to rotate; and the seed-metering pipe is arranged on the deflection seat through a translation driving mechanism. According to the invention, the installation position of the rotary tillage depth detection device is reasonable, field straw clusters can be prevented from interfering with the collected data, the collected two-way angle data can reflect the ground height and gradient of the position, and the controller adjusts the angle and height of the seed-metering pipe through the seed-metering pipe adjusting device based on the two-way angle data. The seed-metering pipe can be kept vertical and the seeding depth is proper.

Description

Technical Field

[0001] The present invention relates to the technical field of sowing control of agricultural sowing machinery, and in particular to a sowing operation control device and method for a wide-width rotary seeder on a full-straw hard stubble field. Background Art

[0002] The rice-wheat rotation system is an important model for wheat production, and expanding the production area and yield of wheat after rice is of great significance. However, mechanized sowing of wheat after rice is limited by many factors, including a short cropping period, large amounts of rice straw returned to the field, and sticky and compacted soil.

[0003] In view of the above problems, the applicant's prior application CN 112042299 A provides a wide seed belt sowing and post-soil covering device and a seeder, which has a straw crushing mechanism, a strip laying mechanism, a seed belt rotary tillage mechanism and a uniform sowing structure. The strip laying mechanism slides forward and cuts in the straw flow state, forming a staggered layout of straw belts and seed belts, the seed belt rotary tillage mechanism performs rotary tillage on the seed belt, and the uniform sowing structure evenly sows seeds on the land after rotary tillage. The machine can complete straw crushing, straw inter-row covering and returning to the field, seed bed preparation and wide-width sowing operations in one operation in the field, and can effectively solve the problems of machine weeding, seed racking, and seed drying caused by the large amount of previous rice straw, and the problem of soil accumulation of the entering parts caused by the sticky soil of the rice stubble field. It is an effective technical approach to achieve efficient and smooth machine sowing of rice stubble and wheat in full rice straw hard stubble fields (rice stubble fields where no rice straw mobile removal and tillage treatment are done after rice harvest).

[0004] In the production process of wheat after rice stubble, poor sowing uniformity and too deep sowing depth can easily lead to problems such as missing seedlings, weak seedlings, and weakened tillering ability. Improving the uniformity of the lateral distribution of wheat in the seed strip, the qualified rate of sowing depth, and the consistency of sowing depth are beneficial to improving the emergence rate of wheat after rice stubble, reducing poor growth, and increasing the ear formation rate, which is of great significance to improving the yield of wheat after rice stubble. In the above-mentioned prior application CN112042299 A, 6 seeding pipes are set for each seed strip. This mechanism cannot adapt to the change of rotary tillage depth to adjust the sowing depth. In other technologies, a sowing operation mode is used in which a wide-width uniform sowing is carried out by a seed plate, and the soil is thrown up by rotary tillage to cover the seeds. In this sowing mode, the angle between the axis of the seed pipe and the ground and the height of the seed plate above the ground significantly affect the uniformity of the lateral distribution of wheat in the seed strip and the sowing depth. However, there are many factors in the rice stubble field, such as rice straw accumulation, indentation of the operating vehicle, and uneven ground, which cause the angle between the axis of the seed pipe and the ground and the height of the seed plate above the ground to change significantly during the sowing operation, thereby affecting the sowing quality.

[0005] Currently, real-time control of the sowing device during wheat mechanized sowing primarily focuses on sowing depth control. The main methods for sowing depth control include furrowing mechanism profiling, depth-limiting wheels limiting the machine's operating depth, and overall operating depth control. For example, the stubble-clearing no-till seeder disclosed in patent CN 203675564 U has profiling wheel mechanisms installed on either side of the machine. The control system regulates the overall posture of the machine based on the left and right profiling wheel mechanisms. The profiling wheel mechanisms in this patent utilize vertical sliding to obtain displacement. Other existing technologies, such as CN 208095194 U, disclose profiling mechanisms that obtain ground height data by collecting arm angle data. These profiling technologies are subject to constraints such as the large amount of previous rice straw in full-straw rice fields, high soil moisture content, and ruts in the rice fields. This can easily lead to axial deviation of the seed tube, insufficient profiling capability, and insufficient finesse in controlling individual seed strips. These can result in poor lateral uniformity of seeds within the seed strip, a low sowing depth qualification rate, and poor sowing depth consistency. Summary of the Invention

[0006] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a wide-width rotary seeder for full-straw stubble fields and a sowing operation control method thereof, which can ensure the lateral uniformity and sowing depth of sowing within the seed belt.

[0007] Technical solution: To achieve the above-mentioned purpose, the present invention provides a sowing operation control device for a wide rotary seeder on a full-straw hard stubble field. The wide rotary seeder on a full-straw hard stubble field comprises a frame on which a straw crushing device, a straw diversion device, a seed belt rotary tillage device, and a sowing device are installed;

[0008] The seed belt rotary tillage device includes a plurality of partitions separating the seed belt and the straw belt, the seed belt and the straw belt are arranged alternately in the left and right directions, and the seed belt rotary tillage device also includes a rotary tillage knife group provided for each seed belt; the straw diversion device includes a plurality of diversion members, which are located on the seed belt and can guide the crushed straw to the straw belt so that the seed belt is not covered with straw; the sowing device has a seed discharge tube provided for each seed belt and a seed leveling member located at the lower end of the seed discharge tube; the sowing device also includes a seed box and a seed discharge mechanism; all the seed discharge tubes are connected to the seed box, and a seed discharge mechanism is provided between the seed discharge tube and the seed box;

[0009] The seed leveling piece evenly disperses the seeds discharged from the seed discharging tube within the width of the seed belt. The seed leveling piece is a trumpet tube structure that gradually widens and tilts downward in the direction away from the tube mouth of the seed discharging tube. Its outlet end is a square structure, and the bottom plate of the seed leveling piece is an arc-shaped plate with a high middle and low two sides, so that the seeds can be discharged evenly in the left and right directions.

[0010] The sowing operation control device includes a rotary tillage depth detection device, a seeding tube adjustment device and a controller, and the rotary tillage depth detection device and the seeding tube adjustment device are both connected to the controller;

[0011] The guide member is a hollow structure with an open bottom, and the rotary tillage depth detection device is installed in the guide member;

[0012] The rotary tillage depth detection device includes two sets of detection wheel mechanisms, left and right. Each set of the detection wheel mechanisms includes a roller, a wheel frame, and an angle sensor for detecting the attitude angle of the wheel frame relative to the frame. The roller is rotatably mounted on the wheel frame.

[0013] The seed tube adjustment device includes a deflection seat and a first motor that drives the deflection seat to rotate; the seed tube is installed on the deflection seat through a translation drive mechanism.

[0014] Furthermore, the wheel frame is connected to the frame through a connecting frame; the connecting frame extends from the bottom of the guide member to the upper rear side of the guide member, and the frame has a first crossbeam connecting all the connecting frames; the wheel frame is hingedly installed relative to the connecting frame, and the wheel frame is tilted backward relative to the hinge point; a limit pin is fixed on the connecting frame, and the limit pin can limit the maximum rotation angle of the wheel frame, which can ensure that under the extreme condition of lifting the machine, the roller still maintains an acute angle with the horizontal direction, so that when the machine is lowered, the roller is located on the rear side of the hinge point between the wheel frame and the connecting frame.

[0015] Furthermore, a plurality of seeding tubes are installed on the deflection seat, and all the seeding tubes are installed on the deflection seat through the translation drive mechanism. That is, the sowing device is equipped with a plurality of seeding tubes corresponding to each seed belt.

[0016] Furthermore, the deflection seat is a horizontal rod-shaped structure, and all the translation drive mechanisms are arranged horizontally on the deflection seat; the translation drive mechanism includes a base, a slide rail, a slider, a synchronous belt assembly and a second motor; the slide rail is fixed on the base; the slider slides in cooperation with the slide rail, and the relative sliding of the two is driven by the second motor through the synchronous belt assembly; a pipe clamping mechanism for fixing the seed tube is installed on the slider, and the pipe clamping mechanism includes two half-split tubes installed around the seed tube, and the two half-split tubes are connected by screws.

[0017] In addition, the first motor is mounted on the base plate, and a speed reduction mechanism connecting the first motor and the deflection seat is mounted on the base plate. The frame has a second crossbeam, and the base plates of all the seeding devices are fixed on the second crossbeam.

[0018] Furthermore, the translation drive mechanism also includes a displacement sensor and a displacement detection plate used in conjunction with each other. In addition, a shell is installed on the base to cover the synchronous belt assembly. The displacement sensor is installed on the shell, and the displacement detection plate can move with the slider; the displacement sensor is connected to the controller, so that the controller can know the position of the slider in real time, that is, the height of the seeding piece in real time, and can accurately adjust the sowing depth.

[0019] Furthermore, the seed pipe adjustment device is placed above the outer side of the retaining plate; the outer side of the retaining plate is fixed with reinforcing ribs at positions corresponding to both sides of each seed belt;

[0020] A window for the seeding tube to pass through is provided on the retaining plate; a cover plate that can slide relative to the retaining plate is provided on the outer side of the retaining plate; the cover plate covers the window and has a circular hole for the seeding tube to pass through; both sides of the cover plate are respectively placed between the reinforcing ribs and the retaining plate on the corresponding side.

[0021] Based on the above-mentioned sowing operation control method, which is implemented by the controller, the method includes:

[0022] Set the minimum execution threshold for deflection angle adjustment And the minimum execution threshold for deep adjustment ;

[0023] Obtaining and saving displacement data of each of the translation drive mechanisms, wherein the displacement data is obtained by obtaining data from a displacement sensor;

[0024] Obtaining left and right angle data of each rotary tillage depth detection device, calculating an average angle value, and saving the data;

[0025] Determine whether the roll angle of the frame is greater than If yes, an adjustment instruction is sent to the first motor based on the roll angle; otherwise, the process proceeds directly to the next step. In this step, the roll angle of the frame refers to the deflection angle of the frame relative to the horizontal line in the left and right directions. The roll angle of the frame can be measured by an inclination sensor installed on the frame.

[0026] The following operations are performed for the front and rear corresponding rotary tillage depth detection devices and the seed tube adjustment devices respectively: Is it established? If yes, then according to [ The calculated value sends an adjustment instruction to the displacement adjustment mechanism; wherein and Respectively Second and The average angle value obtained by the calculation is Specifically, based on the formula The value of determines the target adjustment amount of the displacement adjustment mechanism, based on the formula [ ] is greater than 0 or less than 0 to determine the adjustment direction. <0, indicating that the ground is sunken and the seed pipe needs to be moved down. 0 means the ground is convex and the seed tube needs to be moved upward.

[0027] Beneficial effects: The wide-width rotary seeder for full-straw hard stubble land and the sowing operation control method thereof of the present invention have the following beneficial effects:

[0028] (1) In the present invention, a sowing operation control device is separately provided for each seed strip. On the one hand, the installation position of the rotary tillage depth detection device is reasonable. There is a seed strip without straw obstacles below the guide member. Installing the rotary tillage depth detection device below the guide member can prevent straw clumps in the field from interfering with the data collection of the rotary tillage depth detection device. The two-way angle data collected by each rotary tillage depth detection device can not only reflect the ground height at the location, but also reflect the inclination. On the other hand, by setting a seed pipe adjustment device to adjust the angle and height of the seed pipe, the seed pipe can be kept vertical to ensure uniform sowing on the seed strip and ensure that the sowing depth is appropriate, so that the emergence rate is guaranteed.

[0029] (2) In each seed strip, multiple seed tubes and seed leveling devices work together to implement uniform seeding operations for the seed strip, which can achieve uniform seeding within the width of a wider seed strip.

[0030] (3) The seed pipe adjustment device is installed on the outer side of the upper cover and the retaining wall, and is provided with a window for making way and a movable cover for covering the window. This can prevent the seed pipe adjustment device from being affected by splashing soil while ensuring that the seed pipe has sufficient adjustment space and preventing soil from leaking out of the retaining wall.

[0031] (4) The sowing operation control method of the present invention is that the controller can dynamically control the operation of the sowing device according to the rotary tillage depth detection device, with high real-time performance, and can effectively adapt to terrain changes. It ensures that under the working conditions of the machine deflection and uneven ground, data is collected for each seed belt and the angle and displacement of the seed tube are adjusted in a targeted manner, so that the seed tube can be kept in a vertical state and the sowing depth is appropriate, thereby ensuring the consistency of sowing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a three-dimensional structural diagram of a wide-width rotary seeder for full-scale straw stubble land;

[0033] Figure 2 This is a cross-sectional structural diagram of a wide-width rotary seeder for full-scale straw stubble fields;

[0034] Figure 3 It is the structural diagram of the seeding piece;

[0035] Figure 4 This is the installation structure diagram of the rotary tillage depth detection device;

[0036] Figure 5 This is a structural diagram of a rotary tillage depth detection device;

[0037] Figure 6 This is the structural diagram of the rear half of the wide rotary seeder for full-scale straw stubble land;

[0038] Figure 7 This is a diagram of the combined structure of the seed pipe adjustment device and the seed pipe;

[0039] Figure 8 This is a structural diagram of the seed tube adjustment device;

[0040] Figure 9 This is a partial structural diagram of the inner side of the tailgate;

[0041] Figure 10 for Figure 6 A magnified structural diagram of part A;

[0042] Figure 11 Schematic diagram of the control system;

[0043] Figure 12 Schematic diagram of the principle of the sowing operation control method.

[0044] In the figure: 1-frame; 11-first crossbeam; 12-second crossbeam; 2-straw crushing device; 3-straw diversion device; 31-diversion member; 4-rotary tillage device with seed belt; 41-partition plate; 42-rotary tillage blade group; 43-upper cover; 44-soil retaining plate; 44a-window; 45-reinforcement rib; 46-cover plate; 5-seeding device; 51-seed pipe; 52-seed box; 53-seed discharging mechanism; 54-seed leveling member; a-herringbone folding plate; b-first guide plate; c-second guide plate; 6-pressing wheel; 7-rotary tillage depth Degree detection device; 71-roller; 72-wheel frame; 73-angle sensor; 8-seed tube adjustment device; 81-deflection seat; 82-first motor; 8A-translational drive mechanism; 83-base; 84-slide rail; 85-slider; 86-synchronous belt assembly; 87-second motor; 88-pipe clamping mechanism; 89-displacement sensor; 810-displacement detection plate; 811-housing; 812-base plate; 813-speed reduction mechanism; 9-connecting frame; 91-limiting pin; 10-front straw pressure roller; 20-rear straw pressure roller. DETAILED DESCRIPTION

[0045] The present invention will be further described below with reference to the accompanying drawings.

[0046] like Figure 1 and Figure 2The sowing operation control device of the wide rotary seeder for full-straw hard stubble land shown in the figure includes a frame 1, on which are installed a front straw pressing roller 10, a straw crushing device 2, a straw diversion device 3, a rear straw pressing roller 20, a seed belt rotary tillage device 4, a sowing device 5 and a pressing wheel 6.

[0047] The seed belt rotary tillage device 4 includes a plurality of partitions 41 for separating the seed belt and the straw belt, and the seed belt and the straw belt are arranged alternately in the left and right directions. The seed belt rotary tillage device 4 also includes a rotary tillage knife group 42 set for each seed belt, an upper cover body 43 located above the rotary tillage knife group 42, and a retaining plate 44 located on the rear side of the rotary tillage knife group 42.

[0048] The straw diversion device 3 includes a plurality of diversion members 31 . The diversion members 31 are located on the seed belt and can guide the chopped straw to the straw belt so that the seed belt is not covered with straw.

[0049] The sowing device 5 comprises a seed discharging tube 51 for each seed strip and a seed leveling member 54 located at the lower end of each seed discharging tube 51. The sowing device 5 also includes a seed box 52 and a seed discharging mechanism 53. All seed discharging tubes 51 are connected to the seed box 52, and the seed discharging mechanism 53 is located between the seed discharging tubes 51 and the seed box 52. The seed leveling member 54 evenly distributes the seeds discharged from the seed discharging tubes 51 across the width of the seed strip. The seed leveling member 54 is a trumpet-shaped structure that gradually widens and slopes downward away from the nozzle of the seed discharging tube 51. Its outlet end is square in shape, and the bottom plate of the seed leveling member 54 is a circular arc-shaped plate with a high center and low sides, which ensures uniform seed discharge in the left and right directions.

[0050] like Figure 3 As shown, the arc-shaped plate at the bottom of the seed leveling member 54 is equipped with a herringbone folding plate a, two first guide plates b arranged in an eight-shaped pattern, and three second guide plates c arranged in parallel, which can fully divert the seeds discharged from the seed tube 51 to ensure the seed leveling effect.

[0051] The sowing operation control device includes a rotary tillage depth detection device 7, a seeding tube adjustment device 8 and a controller. The rotary tillage depth detection device 7 and the seeding tube adjustment device 8 are both connected to the controller.

[0052] like Figure 4 As shown, the guide member 31 is a hollow structure with an open bottom, and the rotary tillage depth detection device 7 is installed in the guide member 31. Figure 5 As shown, the rotary tillage depth detection device 7 includes two groups of detection wheel mechanisms, left and right. Each group of the detection wheel mechanisms includes a roller 71, a wheel frame 72 and an angle sensor 73 for detecting the posture angle of the wheel frame 72 relative to the frame 1. The roller 71 is rotatably mounted on the wheel frame 72.

[0053] The wheel frame 72 is connected to the frame 1 through the connecting frame 9; the connecting frame 9 extends from the bottom of the guide member 31 to the upper rear side of the guide member 31, and the frame 1 has a first crossbeam 11 connecting all the connecting frames 9; the wheel frame 72 is hingedly installed relative to the connecting frame 9, and the wheel frame 72 is tilted backward relative to the hinge point; a limit pin 91 is fixed on the connecting frame 9, and the limit pin 91 can limit the maximum rotation angle of the wheel frame 72, ensuring that the roller 71 still maintains an acute angle with the horizontal direction under the extreme condition of lifting the tool, so that when the tool is lowered, the roller 71 is located on the rear side of the hinge point between the wheel frame 72 and the connecting frame 9.

[0054] The seed tube adjustment device 8 includes a deflection seat 81 and a first motor 82 for driving the deflection seat 81 to rotate; the seed tube 51 is mounted on the deflection seat 81 via a translation drive mechanism 8A.

[0055] The operating principle of the wide-width rotary seeder is as follows: the tractor drives the machine forward and outputs power from the rear power output shaft to the machine, the straw crushing device 2 crushes the previous straw, and the crushed straw is ejected from the straw crushing device 2 and slidingly coupled with the straw diversion device 3 to be guided to the straw belt, forming a straw-free seed belt under the straw diversion device 3, thus forming a layout in which the seed belt and the straw belt are staggered; the rotary tillage knife group 42 of the seed belt rotary tillage device 4 performs shallow rotation to break the stubble in the seed belt, and the sowing device 5 sows between the thrown soil particles and the ground surface. Most of the thrown soil passes over the seed leveling piece 54 and collides with the soil retaining plate 44 of the seed belt rotary tillage device 4 and falls back to the ground surface, realizing soil covering after sowing, and then the pressing wheel 6 presses the ground surface after sowing.

[0056] When the wide-width rotary seeder is operating, the roller 71 of each set of detection wheel mechanisms in the rotary tillage depth detection device 7 is always in contact with the ground after rotary tillage. Due to the undulation of the ground, the wheel frame 72 rotates relative to the frame 1. Therefore, the angle data obtained by the angle sensor 73 can reflect the undulation of the ground. Each rotary tillage depth detection device 7 can generate two-way angle data on the left and right. Based on the two-way angle data, the controller can obtain the height information of the position of the rotary tillage depth detection device 7 in the current seed belt and the left and right slope information. These data can reflect the changes in the machine angle and rotary tillage depth. Based on this, the first motor 82 of the seed tube adjustment device 8 and the translation drive mechanism 8A are driven to operate, which can ensure that the seed tube 51 is arranged vertically and the sowing depth is appropriate.

[0057] The sowing operation control device of the present invention has, on the one hand, a reasonable installation position of the rotary tillage depth detection device 7, and a seed belt without straw obstacles below the flow guide 31. Installing the rotary tillage depth detection device 7 below the flow guide 31 can prevent the straw clumps in the field from interfering with the data collection of the rotary tillage depth detection device 7. The two-way angle data collected by each rotary tillage depth detection device 7 can not only reflect the ground height at the location, but also the inclination. On the other hand, by setting the seed pipe adjustment device 8 to adjust the angle and height of the seed pipe 51, the seed pipe 51 can be kept vertical to ensure the uniformity of sowing on the seed belt and ensure that the sowing depth is appropriate, so that the emergence rate is guaranteed.

[0058] Preferably, a plurality of seeding tubes 51 are mounted on the deflection seat 81, and all of the seeding tubes 51 are mounted on the deflection seat 81 via the translation drive mechanism 8A. That is, the sowing device 5 is configured with a plurality of seeding tubes 51 corresponding to each seed strip. In the illustrated embodiment, the number of seeding tubes 51 corresponding to each seed strip is two. Thus, within each seed strip, the plurality of seeding tubes 51 and the seed leveling member 54 work together to uniformly sow the seed strip, thereby achieving uniform sowing across the width of a relatively wide seed strip.

[0059] like Figure 7 and Figure 8 As shown, the deflection seat 81 is a horizontal rod-shaped structure, and all the translation drive mechanisms 8A are arranged horizontally on the deflection seat 81; the translation drive mechanism 8A includes a base 83, a slide rail 84, a slider 85, a synchronous belt assembly 86 and a second motor 87; the slide rail 84 is fixed on the base 83; the slider 85 slides with the slide rail 84, and the relative sliding of the two is driven by the second motor 87 through the synchronous belt assembly 86; a pipe clamping mechanism 88 for fixing the seeding tube 51 is installed on the slider 85, and the pipe clamping mechanism 88 includes two half-split pipes installed around the seeding tube 51, and the two half-split pipes are connected by screws.

[0060] In addition, the first motor 82 is mounted on a base plate 812, and a speed reduction mechanism 813 connecting the first motor 82 and the deflection seat 81 is mounted on the base plate 812. Figure 6 As shown, the frame 1 has a second crossbeam 12 , and the base plates 812 of all the sowing devices 5 are fixed on the second crossbeam 12 .

[0061] Preferably, the translation drive mechanism 8A also includes a displacement sensor 89 and a displacement detection plate 810 used in conjunction with each other. In addition, a shell 811 is installed on the base 83 to cover the synchronous belt assembly 86. The displacement sensor 89 is installed on the shell 811, and the displacement detection plate 810 can move with the slider 85; the displacement sensor 89 is connected to the controller, so that the controller can know the position of the slider 85 in real time, that is, the height of the seeding piece 54 in real time, and the sowing depth can be accurately adjusted.

[0062] Figure 11 It is a schematic diagram of the control system principle, in which the controller includes a fuzzy controller and a PID controller. The angle data collected by the angle sensor 73 is used as the input of the controller. The controller controls the operation of the seed tube adjustment device 8 based on the angle data, and the displacement data generated by the displacement sensor 89 is input into the controller as feedback data.

[0063] Preferably, if Figure 6 As shown, the seeding tube adjustment device 8 is placed above the outer side of the retaining plate 44; the outer side of the retaining plate 44 is fixed with reinforcing ribs 45 corresponding to the positions on both sides of each seed belt; Figure 9 As shown, the retaining plate 44 is provided with a window 44a for the seeding tube 51 to pass through; the outer side of the retaining plate 44 is provided with a cover plate 46 that can slide relative to it; Figure 10 As shown, the cover plate 46 covers the window 44a and has a circular hole for the seed tube 51 to pass through; the two sides of the cover plate 46 are respectively placed between the reinforcing rib 45 and the retaining plate 44 on the corresponding side, and a notch is reserved on the reinforcing rib 45, so that a sliding groove is formed between the reinforcing rib 45 and the retaining plate 44 for the cover plate 46 to slide in.

[0064] The seed pipe adjustment device 8 is installed on the outside of the upper cover 43 and the retaining plate 44, and is provided with a window 44a for making way and a movable cover 46 for covering the window 44a. This can prevent the seed pipe adjustment device 8 from being affected by splashing soil while ensuring that the seed pipe 51 has sufficient adjustment space and preventing soil from leaking out of the retaining plate 44.

[0065] The present invention also provides a sowing operation control method based on the sowing operation control device, which is implemented by the controller, such as Figure 12 As shown, the method includes the following steps S101-S105:

[0066] Step S101: Setting the minimum execution threshold for deflection angle adjustment And the minimum execution threshold for deep adjustment ;The threshold here is set by the controller based on the data entered by the user;

[0067] Step S102, obtaining and saving displacement data of each translation drive mechanism 8A, wherein the displacement data is obtained by obtaining data from the displacement sensor 89;

[0068] Step S103, obtaining the left and right angle data of each of the rotary tillage depth detection devices 7, that is, the data generated by the angle sensors 73 in the left and right detection wheel mechanisms, calculating the average angle value, and saving the data;

[0069] Step S104: determine whether the roll angle of the frame 1 is greater than If yes, an adjustment instruction is sent to the first motor based on the roll angle to correct the verticality of the seed tube 51; otherwise, the process proceeds directly to the next step. In this step, the roll angle of the frame 1 refers to the deflection angle of the frame 1 relative to the horizontal line in the left and right directions. The roll angle of the frame 1 can be measured by an inclination sensor installed on the frame 1.

[0070] Step S105: The following operations are performed on the front and rear corresponding rotary tillage depth detection devices and the seeding tube adjustment devices respectively: Determine the discriminant formula If yes, then send an adjustment instruction to the displacement adjustment mechanism according to the deviation value, otherwise return to step S102; and Respectively Second and The average angle value obtained by the calculation is Specifically, based on the formula The value of determines the target adjustment amount of the displacement adjustment mechanism, based on the formula [ ] is greater than 0 or less than 0 to determine the adjustment direction. <0, indicating that the ground is sunken and the seed pipe needs to be moved down. 0 means the ground is convex and the seed tube needs to be moved upward.

[0071] In this step, since the left and right angle data reflect the height distance of the detection position ground, the average angle value reflects the average height of the detection position ground. Calculate whether the difference between the average angle values ​​calculated twice is greater than , which can effectively reflect whether the change in ground height has reached a level that affects the optimal seeding height of the seed leveling member 54.

[0072] In the seeding operation control method of the present invention, the controller can dynamically control the operation of the seeding device 5 according to the rotary tillage depth detection device 7, has high real-time performance, can effectively adapt to terrain changes, ensure that the seed tube remains vertical and the seeding depth is appropriate under conditions where the machine is tilted and the ground is uneven, and ensure the consistency of seeding quality.

[0073] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A sowing operation control device for a wide rotary seeder for full-straw hard stubble land, the wide rotary seeder for full-straw hard stubble land comprising a frame on which are mounted a straw crushing device, a straw diversion device, a seed belt rotary tillage device, and a sowing device; The seed belt rotary tillage device includes a plurality of partitions separating the seed belt and the straw belt, and also includes a rotary tillage knife group provided for each seed belt; the straw diversion device includes a plurality of diversion members; the sowing device includes a seed discharge tube provided for each seed belt and a seed leveling member located at the lower end of the seed discharge tube; The sowing operation control device includes a rotary tillage depth detection device, a seed pipe adjustment device and a controller; Its characteristics are: The guide member is a hollow structure with an open bottom, and the rotary tillage depth detection device is installed in the guide member; The rotary tillage depth detection device includes two sets of detection wheel mechanisms, left and right, each set of the detection wheel mechanisms includes a roller, a wheel frame, and an angle sensor for detecting the posture angle of the wheel frame; The seed tube adjustment device includes a deflection seat and a first motor that drives the deflection seat to rotate; the seed tube is installed on the deflection seat through a translation drive mechanism.

2. The sowing operation control device of the wide rotary seeder for full straw stubble land according to claim 1 is characterized in that: The wheel frame is connected to the frame via a connecting frame; the connecting frame extends from below the guide member to above the rear side of the guide member; the wheel frame is hingedly mounted relative to the connecting frame, and the wheel frame is tilted backward relative to the hinge point; a limiting pin is fixed on the connecting frame.

3. The sowing operation control device of the wide rotary seeder for full straw stubble land according to claim 1 is characterized in that: A plurality of seed discharging tubes are installed on the deflection seat, and all of the seed discharging tubes are respectively installed on the deflection seat through the translation drive mechanism.

4. The sowing operation control device of the wide rotary seeder for full straw stubble land according to claim 3 is characterized in that: The deflection seat is a horizontal rod-shaped structure; the translation drive mechanism includes a base, a slide rail, a slider, a synchronous belt assembly and a second motor; the slide rail is fixed on the base; the slider slides in cooperation with the slide rail, and the relative sliding of the two is driven by the second motor through the synchronous belt assembly; a pipe clamping mechanism for fixing the seed tube is installed on the slider.

5. The sowing operation control device of the wide rotary seeder for full straw stubble land according to claim 4 is characterized in that: The translation drive mechanism further includes a displacement sensor and a displacement detection plate used in conjunction with each other, and the displacement detection plate can move along with the slider; the displacement sensor is connected to the controller.

6. The sowing operation control device of the wide rotary seeder for full straw stubble land according to claim 1 is characterized in that: The seed belt rotary tillage device also includes an upper cover located above the rotary tillage blade group and a retaining plate located at the rear side of the rotary tillage blade group; the seed pipe adjustment device is placed above the outer side of the retaining plate; and reinforcing ribs are fixed on the outer side of the retaining plate at positions corresponding to both sides of each seed belt; A window for the seeding tube to pass through is provided on the retaining plate; a cover plate that can slide relative to the retaining plate is provided on the outer side of the retaining plate; the cover plate covers the window and has a circular hole for the seeding tube to pass through; both sides of the cover plate are respectively placed between the reinforcing ribs and the retaining plate on the corresponding side.

7. The sowing operation control method based on the sowing operation control device according to claim 1, which is implemented by the controller, is characterized in that: Methods include: Set the minimum execution threshold for deflection angle adjustment And the minimum execution threshold for deep adjustment ; Acquiring and saving the displacement data of each translation drive mechanism; Obtaining left and right angle data of each rotary tillage depth detection device, calculating an average angle value, and saving the data; Determine whether the roll angle of the frame is greater than If yes, send an adjustment instruction to the first motor based on the roll angle; otherwise, go directly to the next step; The following operations are performed for the front and rear corresponding rotary tillage depth detection devices and the seed tube adjustment devices respectively: Is it true? If yes, then according to the formula [ The calculated value sends an adjustment instruction to the displacement adjustment mechanism, wherein and They are respectively Second and The average angle value obtained by calculation.

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