Seeding operation regulating device and method of full-amount straw stubble wide-width spin seeder

Abstract

The application discloses a seeding operation regulation device and method of a full-quantity straw stubble wide rotary seeder, wherein the seeding operation regulation device comprises a rotary tillage depth detection device, a seed tube adjusting device and a controller; the rotary tillage depth detection device is arranged in the interior of a flow guide, and comprises two groups of detection wheel mechanisms; each group of detection wheel mechanisms comprises a roller, a wheel frame and an angle sensor for detecting the posture angle of the wheel frame; the seed tube adjusting device comprises a deflection seat and a first motor for driving the deflection seat to rotate; and the seed tube is installed on the deflection seat through a translation driving mechanism. In the application, the installation position of the rotary tillage depth detection device is reasonable, so that the data collected by the rotary tillage depth detection device can be prevented from being disturbed by straw clumps in the field, and the two-way angle data collected can reflect the ground height and the inclination at the position; and the controller can adjust the angle and the height of the seed tube through the seed tube adjusting device based on the two-way angle data, so that the seed tube can be kept vertical and the seeding depth can be suitable.

Description

Technical Field

[0001] This invention relates to the field of seeding control technology for agricultural seeding machinery, and in particular to a seeding operation control device and method for a wide-width rotary seeder for full-scale straw stubble land. Background Technology

[0002] Rice-wheat rotation is an important model for wheat production, and expanding the acreage and yield of rice-wheat stubble is of great significance. However, mechanized sowing of rice-wheat stubble is subject to many constraints, such as a short cropping period, a large amount of rice straw returned to the field, and soil compaction and stickiness.

[0003] In view of the above problems, the applicant's prior application CN 112042299 A provides a wide seed strip broadcasting and covering soil device and seeder. The machine has a straw crushing mechanism, a strip laying mechanism, a seed strip rotary tillage mechanism, and a uniform sowing structure. The strip laying mechanism advances and slides in the flow of straw, forming a pattern of straw strips and seed strips interlaced. The seed strip rotary tillage mechanism performs rotary tillage on the seed strips. The uniform sowing structure evenly broadcasts seeds on the tilled land. The machine completes straw crushing, straw inter-row covering and returning to the field, seedbed preparation, and wide-width sowing in one operation. It can effectively solve the problems of straw accumulation, seed staking, and seed drying caused by the large amount of rice straw in the previous crop, and the problems of soil clogging of the soil entry parts caused by the sticky and wet soil in rice stubble fields. It is an effective technical approach to achieve efficient and smooth mechanized sowing of rice stubble wheat in rice stubble fields with a full amount of hard rice straw (rice stubble fields where no rice straw removal or tillage treatment has been carried out after rice harvest).

[0004] In rice-stubble wheat production, poor sowing uniformity and excessive sowing depth can easily lead to problems such as missing or weak seedlings and reduced tillering ability. Improving the lateral distribution uniformity 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 rice-stubble wheat, reducing poor growth, and increasing the ear-forming rate, which is of great significance for increasing the yield of rice-stubble wheat. In the aforementioned prior application CN112042299 A, six seed delivery pipes are set up for each seed strip. This mechanism cannot adapt to changes in rotary tillage depth to adjust the sowing depth. In other technologies, a sowing operation mode of wide-width uniform sowing using a seed distribution plate and rotary tillage to throw up the soil to cover the seeds is used. In this sowing mode, the angle between the seed metering pipe axis and the ground, as well as the height of the seed distribution plate above the ground, significantly affect the lateral distribution uniformity of wheat in the seed strip and the sowing depth. However, in rice stubble fields, factors such as rice straw accumulation, vehicle marks, and uneven ground cause significant changes in the angle between the seed metering pipe axis and the ground, as well as the height of the seed distribution plate above the ground, during sowing operations, thus affecting the sowing quality.

[0005] Currently, real-time control of the sowing device during wheat mechanized sowing mainly focuses on controlling the sowing depth. The main methods for controlling sowing depth include three types: contouring via the furrowing mechanism, limiting the machine's operating depth via depth-limiting wheels, and overall operating depth control. For example, in the stubble-removing no-till planter disclosed in patent CN 203675564 U, contouring wheel mechanisms are installed on both sides of the machine. The control system adjusts the overall posture of the machine based on these two contouring wheel mechanisms. In this patent, the contouring wheel mechanism is a vertical sliding mechanism that obtains displacement. Other existing technologies, such as CN208095194 U, disclose a contouring mechanism that obtains ground height data by collecting the angle data of the rotating arm. However, these contouring technologies are constrained by factors such as the large amount of previous rice straw in the full-grain rice straw field, high soil moisture content, and paddy field furrows. This can easily lead to problems such as the seed pipe being skewed in the axial direction, insufficient contouring ability, and insufficient precision in controlling the single seed zone area. Consequently, problems such as poor lateral uniformity of seeds within the seed zone, low sowing depth qualification rate, and poor sowing depth consistency may occur. Summary of the Invention

[0006] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a wide-span rotary seeder for full-volume straw stubble land and its seeding operation control method, which can ensure the lateral uniformity of seeding within the seed strip and the seeding depth.

[0007] Technical solution: To achieve the above objectives, the present invention provides a seeding operation control device for a wide-width rotary seeder for full-volume straw hard stubble land. The wide-width rotary seeder for full-volume straw hard stubble land includes a frame, on which a straw crushing device, a straw guiding device, a seed belt rotary tillage device, and a seeding device are installed.

[0008] The seed-strip rotary tillage device includes multiple partitions separating the seed strip and the straw strip, which are arranged alternately in the left-right direction. The device also includes a set of rotary tillage blades for each seed strip. The straw guiding device includes multiple guiding elements located on the seed strip and guiding chopped straw to the straw strip, ensuring the seed strip is free of straw cover. The sowing device has a seed-dispensing pipe for each seed strip and a seed-equalizing element located at the lower end of the seed-dispensing pipe. The sowing device also includes a seed box and a seed-dispensing mechanism. All seed-dispensing pipes are connected to the seed box, and a seed-dispensing mechanism is provided between the seed-dispensing pipe and the seed box.

[0009] The seed leveling device ensures that the seeds discharged from the seed metering tube are evenly distributed within the width of the seed strip. The seed leveling device is a trumpet-shaped tube structure that gradually widens and slopes downwards in the direction away from the opening of the seed metering tube. Its outlet end has a square structure, and the bottom plate of the seed leveling device is an arc-shaped plate that is high in the middle and low on both sides, so that the seeds can be evenly distributed in the left and right directions.

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

[0011] The flow guide is a hollow, open-bottom structure, and the rotary tillage depth detection device is installed inside the flow guide;

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

[0013] The seeding tube adjustment device includes a deflector seat and a first motor for driving the deflector seat to rotate; the seeding tube is mounted on the deflector seat via a translation drive mechanism.

[0014] Furthermore, the wheel frame is connected to the frame via a connecting frame; the connecting frame extends from below the guide to above the rear side of the guide, and the frame has a first crossbeam connecting all the connecting frames; the wheel frame is hinged 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, which can limit the maximum rotation angle of the wheel frame, ensuring that the roller maintains an acute angle with the horizontal direction even under the extreme condition of lifting the machine, so that when the machine is lowered, the roller is located behind the hinge point between the wheel frame and the connecting frame.

[0015] Furthermore, a plurality of seed metering tubes are mounted on the deflection seat, and all the seed metering tubes are respectively mounted on the deflection seat via the translation drive mechanism. That is, the sowing device is equipped with a plurality of seed metering tubes corresponding to each seed strip.

[0016] Furthermore, the deflection seat is a horizontally placed rod-shaped structure, and all the translation drive mechanisms are arranged laterally 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 between the two is achieved by the second motor through the synchronous belt assembly; a clamping mechanism for fixing the seeding tube is installed on the slider, and the clamping mechanism includes two half-section tubes installed around the seeding tube, and the two half-section tubes are connected by screws.

[0017] In addition, a first motor is mounted on a base plate, and a 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 to the second crossbeam.

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

[0019] Furthermore, the seeding pipe adjustment device is positioned above and outside the retaining plate; reinforcing ribs are fixed to the outside of the retaining plate corresponding to the positions on both sides of each seed strip;

[0020] The retaining plate has a window for the seeding pipe to pass through; the outer side of the retaining plate has a cover plate that can slide relative to it; the cover plate covers the window and has a round hole for the seeding pipe to pass through; the two sides of the cover plate are respectively placed between the reinforcing ribs on the corresponding sides and the retaining plate.

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

[0022] Set the minimum execution threshold for deflection angle adjustment. and depth adjustment minimum execution threshold ;

[0023] The displacement data of each translation drive mechanism is acquired and saved. The displacement data here is obtained by acquiring data from the displacement sensor.

[0024] Acquire the left and right angle data of each rotary tillage depth detection device, calculate the average angle value, and save the data;

[0025] Determine whether the roll angle of the frame is greater than 1. If yes, an adjustment command is sent to the first motor based on the roll angle; otherwise, proceed directly to the next step. In this step, the roll angle of the frame refers to the angle of the frame relative to the horizontal line in the left-right direction. The roll angle of the frame can be measured by an angle sensor installed on the frame.

[0026] The following operations are performed on the rotary tillage depth detection device and the seed metering pipe adjustment device corresponding to the front and rear respectively: Judgment and discrimination formula Whether it is true or not, if so, then according to [ The calculated value is sent to the displacement adjustment mechanism as an adjustment command; wherein and The first Next and first The average angle value obtained from the calculation. Specifically, based on formulas The value determines the target adjustment amount for the displacement adjustment mechanism, based on the formula [ Whether the value of ] is greater than 0 or less than 0 determines the direction of adjustment. <0 indicates that the ground has sunken and the seeding pipe needs to be moved down. 0 indicates that the ground is raised and the seeding pipe needs to be moved upwards.

[0027] Beneficial effects: The wide-span rotary seeder for full-scale straw stubble land and its seeding operation control method of the present invention have the following beneficial effects:

[0028] (1) In this invention, a separate sowing operation control device is set up for each seed strip. On the one hand, the installation position of the rotary tillage depth detection device is reasonable. The seed strip below the guide is free of straw obstruction. Installing the rotary tillage depth detection device below the guide can avoid the interference of straw clumps in the field with the data collected by the rotary tillage depth detection device. The two angle data collected by each rotary tillage depth detection device can not only reflect the ground height at its location, but also the inclination. On the other hand, by setting up a seed metering pipe adjustment device to adjust the angle and height of the seed metering pipe, the seed metering pipe can be kept vertical to ensure the uniformity of sowing on the seed strip and to ensure the appropriate sowing depth, so as to ensure the germination rate.

[0029] (2) Within each seed strip, multiple seeding tubes and seed leveling devices work together to perform uniform sowing operations on the seed strip, which can achieve uniform sowing within a wide range of seed strip width.

[0030] (3) The seed pipe adjustment device is installed on the outside of the upper cover and the retaining plate, and a window for clearance and a movable cover plate for covering the window are provided. This can prevent the seed pipe adjustment device from being affected by splashed soil, ensure that the seed pipe has sufficient adjustment space, and prevent soil from leaking out of the retaining plate.

[0031] (4) The sowing operation control method of the present invention can dynamically control the operation of the sowing device according to the rotary tillage depth detection device. It has high real-time performance and can effectively adapt to terrain changes. It can ensure that under the working conditions of machine tilt and uneven ground, data is collected for each seed strip and the angle and displacement of the seed metering pipe are adjusted accordingly. This can keep the seed metering pipe vertical and the sowing depth appropriate, ensuring the consistency of sowing quality. Attached Figure Description

[0032] Figure 1 A 3D structural diagram of a wide-span rotary seeder for full-scale straw stubble land;

[0033] Figure 2 A cross-sectional view of a wide-span rotary seeder for full-scale straw stubble land;

[0034] Figure 3 This is a structural diagram of the uniform seed component;

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

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

[0037] Figure 6 This is a structural diagram of the rear section of a wide-span rotary seeder for full-scale straw stubble land.

[0038] Figure 7 A structural diagram showing the combination of the seed metering pipe adjustment device and the seed metering pipe;

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

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

[0041] Figure 10 for Figure 6 Enlarged structural diagram of section A;

[0042] Figure 11 This is a schematic diagram of the control system.

[0043] Figure 12 This is a schematic diagram illustrating the principle of the sowing operation control method.

[0044] In the diagram: 1-Frame; 11-First crossbeam; 12-Second crossbeam; 2-Straw crushing device; 3-Straw guiding device; 31-Guiding component; 4-Seed belt rotary tillage device; 41-Partition; 42-Rotary tillage blade assembly; 43-Upper cover; 44-Soil retaining plate; 44a-Window; 45-Reinforcing rib; 46-Cover plate; 5-Sowing device; 51-Seed metering pipe; 52-Seed box; 53-Seed metering mechanism; 54-Equalizing component; a-Hinge-shaped folding plate; b-First guide plate; c-Second guide plate; 6-Pressing wheel; 7-Rotary tillage depth 71-Degree detection device; 72-Roller frame; 73-Angle sensor; 8-Seedling tube adjustment device; 81-Deflection seat; 82-First motor; 8A-Translation 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-Outer shell; 812-Base plate; 813-Reduction mechanism; 9-Connecting frame; 91-Limit pin; 10-Front straw pressing roller; 20-Rear straw pressing roller. Detailed Implementation

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

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

[0047] The seed strip rotary tillage device 4 includes multiple partitions 41 that separate the seed strip and the straw strip. The seed strip and the straw strip are arranged alternately in the left and right direction. The seed strip rotary tillage device 4 also includes a rotary tillage blade group 42 for each seed strip, an upper cover 43 located above the rotary tillage blade group 42, and a soil retaining plate 44 located behind the rotary tillage blade group 42.

[0048] The straw guiding device 3 includes multiple guiding elements 31, which 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 has a seed dispensing pipe 51 for each seed strip and a seed leveling component 54 located at the lower end of the seed dispensing pipe 51; the sowing device 5 also includes a seed box 52 and a seed dispensing mechanism 53; all seed dispensing pipes 51 are connected to the seed box 52, and a seed dispensing mechanism 53 is provided between the seed dispensing pipe 51 and the seed box 52. The seed leveling component 54 evenly disperses the seeds discharged from the seed dispensing pipe 51 within the width of the seed strip. The seed leveling component 54 is a trumpet-shaped structure that gradually widens and slopes downwards in the direction away from the opening of the seed dispensing pipe 51. Its outlet end has a square structure, and the bottom plate of the seed leveling component 54 is an arc-shaped plate that is high in the middle and low on both sides, so that the seeds are evenly dispensed in the left and right directions.

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

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

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

[0053] The wheel frame 72 is connected to the frame 1 via a connecting frame 9; the connecting frame 9 extends from below the guide member 31 to above the 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 hinged 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, which can limit the maximum rotation angle of the wheel frame 72, and can ensure that the roller 71 maintains an acute angle with the horizontal direction under the extreme condition of lifting the machine, so that when the machine is lowered, the roller 71 is located behind the hinge point between the wheel frame 72 and the connecting frame 9.

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

[0055] The working principle of the wide-width rotary seeder is as follows: The tractor drives the implement forward and outputs power from the rear power take-off shaft to provide power to the implement. The straw crushing device 2 crushes the previous crop straw. After the crushed straw is sprayed out from the straw crushing device 2, it is guided to the straw belt by sliding coupling with the straw guide device 3. A seed belt without straw obstruction is formed below the straw guide device 3, thus forming a layout in which the seed belt and straw belt are arranged alternately. The rotary tillage blade group 42 of the seed belt rotary tillage device 4 performs shallow rotary tillage on the seed belt to break up the stubble. The seeding device 5 sows between the thrown soil particles and the ground surface. Most of the thrown soil passes over the seed uniform part 54 and collides with the soil retaining plate 44 of the seed belt rotary tillage device 4 and falls back to the ground surface to achieve soil covering after sowing. Then the compaction wheel 6 compacts the ground surface after sowing.

[0056] When the wide-span rotary seeder is in operation, the rollers 71 of each set of detection wheel mechanisms in the rotary tillage depth detection device 7 are 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 channels of angle data, left and right. Based on the two channels of angle data, the controller can obtain the height information and left and right slope information of the current position of the rotary tillage depth detection device 7 in the seeding strip. These data can reflect the changes in the machine angle and rotary tillage depth. Accordingly, the controller drives the first motor 82 and the translation drive mechanism 8A of the seed metering pipe adjustment device 8 to operate, which can ensure that the seed metering pipe 51 is vertically arranged and the sowing depth is appropriate.

[0057] The sowing operation control device of the present invention has two advantages. First, the rotary tillage depth detection device 7 is installed in a reasonable position. Below the guide member 31 is a seed strip free of straw obstruction. Installing the rotary tillage depth detection device 7 below the guide member 31 can avoid interference from straw clumps in the field. The two angle data collected by each rotary tillage depth detection device 7 can reflect not only the ground height at its location but also the inclination. Second, by setting up a seed metering pipe adjustment device 8 to adjust the angle and height of the seed metering pipe 51, the seed metering pipe 51 can be kept vertical to ensure the uniformity of sowing on the seed strip and to ensure an appropriate sowing depth, thereby ensuring the germination rate.

[0058] Preferably, a plurality of seed-discharging tubes 51 are mounted on the deflection seat 81, and all the seed-discharging tubes 51 are respectively mounted on the deflection seat 81 via the translation drive mechanism 8A. That is, the sowing device 5 is configured with a plurality of seed-discharging tubes 51 for each seed strip. In the illustrated embodiment, the number of seed-discharging tubes 51 corresponding to each seed strip is two. In this way, within each seed strip, the plurality of seed-discharging tubes 51 and the seed leveling component 54 work together to perform uniform sowing operations on the seed strip, which can achieve uniform sowing within a wider range of seed strip width.

[0059] like Figure 7 and Figure 8 As shown, the deflection seat 81 is a horizontally placed 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 is slidably engaged with the slide rail 84, and the relative sliding between the two is achieved by the second motor 87 through the synchronous belt assembly 86. A tube clamping mechanism 88 for fixing the seeding tube 51 is installed on the slider 85. The tube clamping mechanism 88 includes two half-section tubes installed around the seeding tube 51, and the two half-section tubes are connected by screws.

[0060] Furthermore, the first motor 82 is mounted on the base plate 812, and a 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 seeding devices 5 are fixed on the second crossbeam 12.

[0061] Preferably, the translation drive mechanism 8A further includes a displacement sensor 89 and a displacement detection plate 810 used in conjunction. In addition, a housing 811 is installed on the base 83, which covers the synchronous belt assembly 86. The displacement sensor 89 is installed on the housing 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, it can know the height of the seeding component 54 in real time, and can accurately adjust the sowing depth.

[0062] Figure 11 This is a schematic diagram of the control system. 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 seeding pipe adjustment device 8 based on the angle data. The displacement data generated by the displacement sensor 89 is used as feedback data input to the controller.

[0063] Preferably, such as Figure 6 As shown, the seeding pipe adjusting device 8 is positioned above and outside the retaining plate 44; reinforcing ribs 45 are fixed to the outer side of the retaining plate 44 corresponding to the positions on both sides of each seed strip; as shown Figure 9 As shown, the retaining plate 44 has a window 44a through which the seeding pipe 51 passes; the outer side of the retaining plate 44 is provided with a cover plate 46 that can slide relative to it; as shown Figure 10 As shown, the cover plate 46 covers the window 44a and has a round hole through which the seeding pipe 51 passes; the two sides of the cover plate 46 are respectively placed between the reinforcing rib 45 and the retaining plate 44 on the corresponding sides, and the reinforcing rib 45 has a notch, 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 metering pipe adjustment device 8 is installed on the outside of the upper cover 43 and the soil retaining plate 44, and is provided with a window 44a for clearance and a movable cover plate 46 for covering the window 44a. This can prevent the seed metering pipe adjustment device 8 from being affected by splashed soil, while ensuring that the seed metering pipe 51 has sufficient adjustment space and preventing soil from leaking out of the soil retaining plate 44.

[0065] The present invention also provides a method for controlling seeding operations based on the above-described seeding 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: Set the minimum execution threshold for deflection angle adjustment. and depth adjustment minimum execution threshold The threshold here is set by the controller based on the data input by the user.

[0067] Step S102: Obtain and save the displacement data of each of the translation drive mechanisms 8A. The displacement data here is obtained by acquiring the data of the displacement sensor 89.

[0068] Step S103: Obtain the left and right angle data of each rotary tillage depth detection device 7, that is, the data generated by the angle sensors 73 in the left and right detection wheel mechanisms, calculate the average angle value, and save the data;

[0069] Step S104: Determine whether the roll angle of the frame 1 is greater than 1 / 3. If so, an adjustment command is sent to the first motor based on the roll angle to correct the verticality of the seeding tube 51; otherwise, proceed directly to the next step. In this step, the roll angle of the frame 1 refers to the angle of deviation of the frame 1 relative to the horizontal line in the left-right direction. The roll angle of the frame 1 can be measured by an inclination sensor installed on the frame 1.

[0070] Step S105, for the rotary tillage depth detection device and the seed metering pipe adjustment device corresponding to the front and rear respectively, perform the following operations: judgment and discriminant formula If the condition is met, an adjustment command is sent to the displacement adjustment mechanism based on the deviation value; otherwise, return to step S102. and The first Next and first The average angle value obtained from the calculation. Specifically, based on formulas The value determines the target adjustment amount for the displacement adjustment mechanism, based on the formula [ Whether the value of ] is greater than 0 or less than 0 determines the direction of adjustment. <0 indicates that the ground has sunken and the seeding pipe needs to be moved down. 0 indicates that the ground is raised and the seeding pipe needs to be moved upwards.

[0071] In this step, since the left and right angle data reflect the height and distance of the ground at the detection location, the average angle value reflects the average height of the ground at the detection location. The calculation checks whether the difference between two adjacent average angle values ​​is greater than... It can effectively reflect whether changes in ground height have reached the degree to which they affect the optimal seeding height of the seeding component 54.

[0072] The sowing operation control method of the present invention enables the controller to dynamically control the operation of the sowing device 5 according to the rotary tillage depth detection device 7. It has high real-time performance and can effectively adapt to changes in terrain. It ensures that the seeding pipe remains vertical and the sowing depth is appropriate under conditions of machine tilt and uneven ground, thus ensuring the consistency of sowing quality.

[0073] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A seeding operation control device for a wide-width rotary seeder for full-volume straw hard stubble land, the wide-width rotary seeder for full-volume straw hard stubble land includes a frame, on which a straw crushing device, a straw guiding device, a seed belt rotary tillage device and a seeding device are installed; The seed strip rotary tillage device includes multiple partitions separating the seed strip and the straw strip, and also includes a set of rotary tillage blades for each seed strip; the straw guiding device includes multiple guiding components; the seeding device has a seed dispensing pipe for each seed strip and a seed leveling component located at the lower end of the seed dispensing pipe; The seeding operation control device includes a rotary tillage depth detection device, a seed metering pipe adjustment device, and a controller. Its features are: The flow guide is a hollow, open-bottom structure, and the rotary tillage depth detection device is installed inside the flow guide; The rotary tillage depth detection device includes two sets of detection wheel mechanisms, left and right. Each set of detection wheel mechanisms includes a roller, a wheel frame, and an angle sensor that detects the attitude angle of the wheel frame. The seeding tube adjustment device includes a deflector seat and a first motor for driving the deflector seat to rotate; the seeding tube is mounted on the deflector seat via a translation drive mechanism. The wheel frame is connected to the frame via a connecting frame; the connecting frame extends from below the flow guide to above the rear side of the flow guide; the wheel frame is hinged 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.

2. The seeding operation control device for a wide-width rotary seeder for full-scale straw stubble land according to claim 1, characterized in that, The deflection seat is equipped with a plurality of seeding tubes, and all the seeding tubes are respectively mounted on the deflection seat through the translation drive mechanism.

3. The seeding operation control device for a wide-width rotary seeder for full-scale straw stubble land according to claim 2, characterized in that, The deflection seat is a horizontally placed 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 between the two is achieved by the second motor through the synchronous belt assembly; a clamping mechanism for fixing the seeding tube is installed on the slider.

4. The seeding operation control device for a wide-width rotary seeder for full-scale straw stubble land according to claim 3, characterized in that, The translation drive mechanism also includes a displacement sensor and a displacement detection plate used in conjunction with it. The displacement detection plate can move with the slider. The displacement sensor is connected to the controller.

5. The seeding operation control device for a wide-width rotary seeder for full-scale straw stubble land according to claim 1, characterized in that, The seed-row rotary tillage device also includes an upper cover located above the rotary tillage blade assembly and a soil retaining plate located behind the rotary tillage blade assembly; the seed discharge pipe adjustment device is located above and outside the soil retaining plate; and reinforcing ribs are fixed to the outside of the soil retaining plate corresponding to the positions on both sides of each seed strip. The retaining plate has a window for the seeding pipe to pass through; the outer side of the retaining plate has a cover plate that can slide relative to it; the cover plate covers the window and has a round hole for the seeding pipe to pass through; the two sides of the cover plate are respectively placed between the reinforcing ribs on the corresponding sides and the retaining plate.

6. A sowing operation control method based on the sowing operation control device according to claim 1, wherein the method is implemented by the controller, characterized in that, The methods include: Set the minimum execution threshold for deflection angle adjustment. and depth adjustment minimum execution threshold ; Obtain and save the displacement data of each of the translation drive mechanisms; Acquire the left and right angle data of each rotary tillage depth detection device, calculate the average angle value, and save the data; Determine whether the roll angle of the frame is greater than 1. If yes, an adjustment command is sent to the first motor based on the roll angle; otherwise, proceed directly to the next step. The following operations are performed on the rotary tillage depth detection device and the seed metering pipe adjustment device corresponding to the front and rear respectively: Judgment and discrimination formula Whether it is true or not, if so, then according to the formula [ The calculated value sends an adjustment command to the seeding pipe adjustment device, wherein... and They are respectively the ( Next and first The average angle value obtained from the calculation.

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