Two-stage automatic seed supply and discharge device and method for wheat ear row seeder

Abstract

According to the two-stage automatic seed supply and discharge device and method for the wheat ear row seeder, during working, a certain amount of wheat seeds of different strains are contained in the seed supply cups distributed along the circumference of the seed supply disc, and the seed supply disc rotates by a fixed angle every time; the seed supply cup aligned with the seed supply funnel enables wheat seeds to fall into the seed supply funnel under the combined action of the wheel pressure device and the ejector rod, then the electromagnetic linear lifting device is powered on to drive the seed supply funnel to ascend, the wheat seeds fall into the conical lattice plate seed-metering device through the wedge-shaped gap, and finally the rotating conical lattice plate seed-metering device discharges the wheat seeds in the lattice plate. Automatic seed supplying and discharging operation of multi-row continuous non-stop seed changing can be achieved, seed discharging residual detection is achieved through multi-sensor fusion, and the seed cleaning link is automatically adjusted according to the residual seed condition. Through cooperation of the rotating disc seed supply cup and the lifting funnel, the conical disc grid bar is uniformly matched with the Archimedes spiral line seed falling opening, quantitative uniform sowing is guaranteed through multiple sensors, and the wheat ear row sowing efficiency and uniformity are improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to a two-stage automatic seed supply and dispensing device and method for wheat ear row seeders. Background Technology

[0002] Row sowing is a sowing method used in breeding experiments, a crucial step in variety improvement and seed propagation. The quality of this sowing directly impacts the accuracy of comparative, regional, and production trials. Research on row sowing machinery in my country started relatively late. Some companies and research institutions have developed row seeders with numerous problems regarding field turning, sowing quality, and automation. Imported plot seeders are expensive, large, and unsuitable for my country's wheat row sowing, and their maintenance services are relatively scarce. Currently, most breeding research institutions still rely on manual sowing methods, using simple tools for furrowing, broadcasting, covering, and compaction. This method suffers from high labor intensity, low sowing efficiency, and poor sowing uniformity, limiting the cultivation and promotion of superior varieties.

[0003] The requirements for wheat ear row seeders are: to sow a certain amount of seeds exactly within a specified row length, with strict requirements for sowing uniformity; simultaneously, all seeds sown within a row must come from the same ear of wheat, and seeds from different ears must not be mixed between rows, meaning that a seed replacement operation must be performed when changing rows, and this replacement must be thorough. In summary, how to improve the seed uniformity, seed replacement efficiency, and seed cleaning rate of wheat ear row seeders, thereby increasing operational efficiency and economic benefits, and ensuring the accuracy and standardization of key aspects of breeding experiments, has become an urgent problem to be solved. Summary of the Invention

[0004] To address the problems existing in actual row sowing, the purpose of this invention is to provide a two-stage automatic seed supply and metering device and method for wheat row sowing machines. This device is suitable for single-person operation of single-row wheat row sowing, and uses automated components to drive the seed supply and metering devices. Multi-sensor fusion is used to control the metering and clearing processes. To achieve the above objective, firstly, the technical solution adopted by this invention is: A two-stage automatic seed supply and dispensing device for a wheat ear-row seeder includes a primary seed supply device, a secondary seed supply device, and a seed dispensing device arranged from top to bottom above the wheat ear-row seeder. This device performs a "first-stage uniform seed supply - second-stage uniform seed supply - uniform seed dispensing" action on the wheat ear-row seeder. The secondary seed supply device is entirely located above the seed dispensing device. The primary seed supply device is entirely located above the secondary seed supply device. The primary seed supply device includes a wheel pressure device, a seed cup, a seed supply disc, a push rod, a seed supply motor, and a transmission gear set. The wheel pressure device applies pressure to the seed cup from top to bottom. There are n seed cups, where n ≥ 1. 2. The seed supply holes are evenly distributed around the circumference of the seed supply disc; the top rod is located directly below the wheel pressing device and fixed to the top of the seed metering device, used to support the seed supply cup; the seed supply motor and transmission gear set are installed below the wheel pressing device, the seed supply cup, and the seed supply disc, and the transmission gear set is used to transmit power to the seed supply motor; the secondary seed supply device includes a solenoid valve linear lifting device and a seed supply funnel; the solenoid valve linear lifting device is used to drive the seed supply funnel to move up and down; the seed metering device includes a seed metering monitoring visual sensor, a seed metering motor, and a conical grid seed meterer; the seed metering motor is fixedly installed below the conical grid seed meterer.

[0005] Specifically, the wheel pressing device includes a pressure wheel and a support arm, which are connected by threads. One end of the support arm base passes through the central hole of the seed supply disc and is fixed to the seed supply installation platform by bolts. The cantilever end is equipped with a pressure wheel that can rotate 360°. The seed supply cup includes a seed supply cup lid, a spring, a seed supply cup body, a limiting nut, and a ball-shaped cup bottom. The top of the seed supply cup lid is arc-shaped with a seed inlet at its center, a downward-curving edge on the outside, and a threaded tube at the bottom. The ball-shaped cup bottom is a steel ball placed inside the seed supply cup body. The upper part of the seed supply cup body is a hollow cylinder, and the lower part is a hollow frustum. The upper end of the cylindrical part has internal threads, and the lower end has external threads. The diameter of the bottom opening of the frustum part is slightly smaller than the diameter of the ball-shaped cup bottom. During assembly, the seed supply cup lid is installed on the upper part of the seed supply cup body. The spring passes through the seed supply cup body and abuts against the inner wall of the arc-shaped top of the seed supply cup lid, supporting the seed supply cup to stand on the seed supply disc. The lower part of the seed supply cup body passes through the seed supply disc, and the lower end is connected to the limiting nut, clamping the seed supply disc between the spring and the limiting nut.

[0006] Specifically, the transmission gear set includes bearings, a pinion, and a crossed roller gear bearing. The inner ring of the crossed roller gear bearing is connected to the seed supply mounting platform by bolts, and the outer ring is connected to the seed supply disc by bolts. The outer ring has a gear that meshes with the pinion to transmit power to the seed supply motor, thereby driving the seed supply disc to rotate. The seed supply motor is installed below the seed supply mounting platform, and its output shaft is installed upward and connected to the pinion. The bearing is used to connect the output shaft of the seed supply motor to the seed supply mounting platform.

[0007] Specifically, the electromagnetic valve linear lifting device includes an electromagnetic valve, a linear guide rail, a slider, and a connecting plate. The electromagnetic valve and linear guide rail are vertically mounted on the side wall of the seed metering mounting frame via bolts. The slider can slide up and down along the linear guide rail. The slider has threaded holes on both its side and front. The side threaded hole is connected to the threaded end of the electromagnetic valve stem, and the front threaded hole is fixed to the connecting plate via bolts. The other end of the connecting plate has a fastening collar structure for fixing the seed supply funnel, which is coaxially nested with the top rod. The seed metering mounting frame is a bent steel plate, serving as the direct mounting carrier for the electromagnetic linear lifting device and the conical grid seed meterer.

[0008] The main components of the primary seed supply device are installed on the seed supply mounting platform. The top rod is fixed to the center top of the grid-retaining cone, and the pressure roller is located directly above the axis of the seed supply funnel. The secondary seed supply device and the seed metering device are both installed on the seed metering mounting frame. The seed supply funnel is coaxially installed above the grid-retaining cone and nested outside the top rod. Its installation height should be such that when the solenoid valve rod retracts, the lower end of the seed supply funnel just contacts the grid-retaining cone. The coordinated operation of the three devices can improve the efficiency of wheat ear row sowing, improve the uniformity of seed supply and metering, and reduce the difficulty of seed cleaning.

[0009] The primary seed supply device, secondary seed supply device, and seed metering device work in sequence, mainly by enhancing the uniformity of wheat seed dispersion through the annular space formed by the beaded bottom of the seed supply cup, the seed supply funnel, and the top rod, as well as the grid-shaped cone with grid strips on its surface.

[0010] The seed metering and seed supply mounting frame and the seed supply mounting platform are only carriers for the installation of the two-stage automatic seed supply and metering device. Their specific form is not limited and should be installed according to the structural layout of different wheat ear row seeders.

[0011] Specifically, the conical grid seed metering device includes a grid-ring type cone and a weighing grid base. The grid-ring type cone is installed below the seed supply funnel and arranged coaxially. The top rod is fixed to the cone top of the grid-ring type cone. The surface of the grid-ring type cone is evenly distributed with grid plate structures, which can improve the uniformity of seed distribution. A retaining ring structure is connected to the outside of the grid plate structure to prevent seed jamming during seed metering and reduce the difficulty of seed cleaning. It can be movably inserted into the outer ring groove structure of the weighing grid base. The weighing grid base is fixed to the seed metering mounting frame by bolts. The bottom part of the grid space used to carry seeds during seed metering is divided into a weighing sensor, which can weigh the seeds in the seed metering device. On one side of the weighing sensor, there is a sloping curved seed drop port for discharging seeds. The grid-ring type cone is driven by a seed metering motor, which is installed at the center of the bottom of the weighing grid base. Its output shaft passes through the central hole of the weighing grid base and is connected to the grid-ring type cone.

[0012] Specifically, the seed-raising monitoring visual sensor is bolted to the connecting plate and is located directly above the first grid space along the seed-raising rotation direction adjacent to the oblique curve seed-dropping opening. It collects and counts the seed images in the grid space that has just passed the oblique curve seed-dropping opening.

[0013] Specifically, the seed-dropping side curve of the oblique curve seed-dropping inlet is an Archimedean spiral, and the equation of the curve is: ; In the formula: —Outer radius of the grid space, mm; —Inner arc radius of the grid space, mm; —Central angle of the grid space, °.

[0014] The above scheme ensures that wheat seeds in the same grid space fall into the seed metering tube one after another, and that the seeding in adjacent grid spaces is continuously connected.

[0015] Secondly, based on the above-mentioned device, a two-stage automatic seed supply and dispensing method for a wheat ear row seeder is provided, comprising the following steps: Step S1: Before the machine starts operating, manually add equal amounts of wheat seeds of different ears through the seed inlet of each seed supply cup; Step S2: Power on the solenoid valve, start the seed supply motor, and rotate (360 / n)°, where n is the number of seed supply cups and n≥2, so that one seed supply cup completes the seed supply; Step S3: De-energize the solenoid valve, raise the seed supply funnel, and let the wheat seeds fall into the grid space along the grid-shaped cone. Step S4: The main controller starts the automatic seed discharge task. The grid-type cone rotates, carrying wheat seeds out through the inclined curve seed discharge port at the bottom of the weighing grid base. Step S5, repeat S2 to S4 until all seeds in the seed supply cups have been supplied and planted.

[0016] The automatic seed removal task in step S4 includes the following steps: Step S401: The main controller receives the rotational speed signal from the machine's ground wheel, calculates and sets the rotational speed of the seed metering motor and the sampling frequency of the seed metering monitoring vision sensor; Step S402: Start the seeding motor to rotate one revolution, and at the same time, the seeding monitoring vision sensor acquires an image of each grid space after seeding is completed; Step S403: The seed metering monitoring visual sensor processes the image and transmits the data to the main controller to determine whether there are any remaining seeds in the seed meterer. If any remaining seeds are detected, proceed to step S404; if no remaining seeds are detected, proceed to step S405. Step S404: Start the seed metering motor to make the grid retaining ring cone start rotating and start the seed cleaning mode; Step S405: The weighing sensor detects the seed mass m in the cone grid seed metering device at this time and transmits the data to the main controller to determine whether there are any remaining seeds. If the detected weight m>0, it means that there are still seeds remaining, and then proceed to step S404. If the detected weight m=0, it means that there are no seeds remaining, and then proceed to step S406. Step S406: Turn off the seed metering motor and end the seed cleaning mode.

[0017] The formula for calculating the rotational speed of the seed metering motor is: ; In the formula: —Ground wheel speed, r / min; —Seed metering motor speed, r / min; —Diameter of the ground wheel, mm; — Row length of the grain, mm.

[0018] The formula for calculating the sampling frequency of the seeding monitoring visual sensor is as follows: ; In the formula: —Sampling frequency of the seeding monitoring visual sensor, Hz; —Number of disk spaces; —Ground wheel speed, r / min; —Diameter of the ground wheel, mm; — Row length of the grain, mm.

[0019] Furthermore, the rotational speed of the seeding motor is adjusted in real time by the main controller according to the rotational speed of the ground wheel to achieve quantitative and uniform sowing within a certain row length. The frequency of image acquisition by the seeding monitoring vision sensor is adjusted synchronously in real time to ensure that images of each grid space are acquired during the rotation of the grid-ring cone. Since the first grid space has not yet been seeded when the seeding monitoring vision sensor acquires the image for the first time, when the number of grid spaces is N, the seeding monitoring vision sensor should perform N+1 samplings after one cycle of seeding, and the first sampling is not included in the image processing.

[0020] Furthermore, the seed cleaning process is generally carried out at the edge of the field after one row of seeds is sown. At this time, the rotation speed of the seed metering motor and the sampling frequency of the seed metering monitoring visual sensor are the same as the values ​​at the last moment of seed metering.

[0021] The beneficial effects of this invention are: 1) This invention uses a rotary seed cup automatic seed supply device as the first-level seed supply device, with a stepper motor as the power source. The device is installed on top of the funnel-type seed supply device, which has good versatility and high working efficiency. The opening and closing of the seed supply channel is realized by the action of the pressure roller, spring and movable ball plug. The device is simple.

[0022] 2) This invention uses an electromagnetic linear lifting seed supply funnel device as a secondary seed supply device. The lifting and lowering of the seed supply funnel is achieved by the extension and retraction of the valve rod of the electromagnetic valve caused by the on and off of the electromagnetic valve. The device is simple. By using a linear guide rail to control the linearity of the seed supply funnel’s up and down movement, it avoids uneven seed distribution caused by the vibration during the lifting process.

[0023] 3) This invention uses a conical grid-type seed metering device with a grid baffle. The grid plates evenly distributed along the generatrix of the cone help to homogenize the distribution of wheat seeds in the grid. By adding a baffle to the outside of the conical grid and cooperating with the annular groove of the seed metering device base, the seed jamming phenomenon that is prone to occur during the rotation of the seed metering device is avoided, and the difficulty of seed cleaning is reduced. An Archimedes spiral-shaped seed drop opening is designed to optimize the continuity of seed drop.

[0024] 4) This invention develops a two-stage automatic seed supply and metering method based on a conical grid seed metering device, which enables wheat seeds to fall in a ring-shaped distribution in the seed supply funnel, and optimizes the uniformity of seed supply and metering through two homogenization effects of "spherical surface + grid conical surface", while improving the automation and efficiency of wheat ear row sowing.

[0025] 5) This invention adopts a multi-sensor fusion automatic control method for seed clearing, which adjusts the seed clearing speed in real time according to the machine's operating speed to achieve quantitative and uniform sowing within a certain row length. By automatically detecting the remaining seed status in the seed meterer, the adaptive adjustment of the seed clearing process is realized. Attached Figure Description

[0026] The present invention includes the following figures: Figure 1 This is a schematic diagram of the two-stage automatic seed supply and dispensing device of the present invention; Figure 2 This is an isometric view of the two-stage automatic seed supply and dispensing device of the present invention; Figure 3 This is a flowchart illustrating the two-stage automatic seeding and discharging method of the present invention. Figure 4a This is an exploded view of the seed cup structure for the present invention; Figure 4b This is a diagram showing the main structure of the bottom of the seed cup of the present invention; Figure 5 This is a schematic diagram of the main structure of the rotary seed supply cup primary seed supply device of the present invention; Figure 6 This is a schematic diagram showing the connection between the primary seed supply device and the seed supply installation platform of the present invention; Figure 7 This is a schematic diagram of the main structure of the funnel-lifting two-stage seed supply device of the present invention; Figure 8 This is a schematic diagram of the automatic seed removal task process of the present invention; Figure 9 This is a schematic diagram showing the installation location of the seeding monitoring sensor of the present invention; Figure 10 This is a schematic diagram of the main structure of the cone-shaped grid seed metering device of the present invention; Figure 11a This is a schematic diagram of the inclined curve seed inlet of the weighing grid base of the present invention; Figure 11b This is a schematic diagram of the cone-shaped grid seed metering device of the present invention.

[0027] The attached figures are labeled as follows: 1-Roller pressing device, 2-Seed supply cup, 3-Seed supply disc, 4-Top rod, 5-Seed metering monitoring vision sensor, 6-Solenoid valve linear lifting device, 7-Seed metering mounting frame, 8-Seed metering motor, 9-Conical grid seed meterer, 10-Seed supply funnel, 11-Seed supply mounting platform, 12-Seed supply motor, 13-Transmission gear set, 101-Pressure roller, 102-Support arm, 201-Seed supply cup cover, 202-Spring, 203-Seed supply cup body, 204-Limit nut, 205-Ball Cup bottom, 211-Seed inlet, 212-Downward-curving edge, 601-Solenoid valve, 602-Linear guide rail, 603-Slider, 604-Connecting plate, 641-Fastening ring structure, 901-Grid retaining ring type cone, 902-Weighing grid base, 911-Grid plate structure, 912-Retaining ring structure, 921-Outer ring groove structure, 922-Sloping curve type seed inlet, 923-Weighing sensor, 131-Bearing, 132-Pinary gear, 133-Crossed roller gear bearing. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0029] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] like Figure 1 , Figure 2 As shown, in one embodiment of the present invention, a two-stage automatic seed feeding and metering device for a wheat ear-row seeder includes a wheel pressing device 1, a seed cup 2, a seed feeding disc 3, a top rod 4, a seed metering monitoring vision sensor 5, a solenoid valve linear lifting device 6, a seed metering mounting frame 7, a seed metering motor 8, a conical grid seed meterer 9, a seed feeding funnel 10, a seed feeding mounting platform 11, a seed feeding motor 12, and a transmission gear set 13. The seed feeding mounting platform 11 is a cut aluminum alloy plate, serving as the direct mounting carrier for the wheel pressing device 1, the seed feeding motor 12, and the transmission gear set 13. The seed metering mounting frame 7 is a bent steel plate, serving as the direct mounting carrier for the electromagnetic linear lifting device 6 and the conical grid seed meterer 9. The seed feeding mounting platform 11 and the seed metering mounting frame 7 can be further regarded as part of the frame of the entire wheat ear-row seeder.

[0031] The wheel pressing device 1, seed cup 2, seed feeding disc 3, top rod 4, seed feeding motor 12, and transmission gear set 13 can be considered as a primary seed feeding device, wherein the support arm 101 is fixed to the seed feeding installation platform 11 by bolts. The solenoid valve linear lifting device 6 and seed feeding funnel 10 can be considered as a secondary seed feeding device, wherein the solenoid valve 601 and linear guide rail 602 are both fixed to the side wall of the seed metering mounting frame 7 by bolts. The seed metering monitoring vision sensor 5, seed metering motor 8, and conical grid seed meterer 9 can be considered as a seed metering device. The conical grid seed meterer 9 includes a grid-ring type cone 901 and a weighing grid base 902. The seed metering monitoring visual sensor 5 is fixed to the connecting plate 604 by bolts, the weighing grid base 902 is fixed to the seed metering mounting frame 7 by bolts, and the seed metering motor 8 is installed at the bottom of the weighing grid base 902 to provide power to the grid retaining ring cone 901; the secondary seed supply device is located above the seed metering device, wherein the seed supply funnel 10 is coaxial with the grid retaining ring cone 901, and the top rod 4 is coaxially nested in the seed supply funnel 10 and fixedly connected to the grid retaining ring cone 901; the primary seed supply device is located above the secondary seed supply device, wherein the pressure roller 101 is located directly above the seed supply funnel 10.

[0032] Based on the device structure shown above, as Figure 3 The diagram shown is a flowchart of a two-stage automatic seeding and discharging method provided by an embodiment of the present invention, including the following steps: Step S1: Before the machine starts operating, an equal amount of wheat seeds of different ears are manually added through the seed inlet 211 of the seed supply cup 2.

[0033] Specifically, such as Figure 4a , Figure 4b As shown, the seed supply cup 2 includes a seed supply cup lid 201, a spring 202, a seed supply cup body 203, a limiting nut 204, and a beaded cup bottom 205. The seed supply cup body 203 is open at both ends; the upper part is a hollow cylinder, and the lower part is a downward-convex hollow truncated cone. The upper end of the hollow cylinder has an internal thread that mates with the cylindrical threaded portion of the seed supply cup lid 201. The lower end of the hollow cylinder has an external thread that mates with the internal thread of the limiting nut 204. Above the cylindrical thread of the seed supply cup lid 201 is an arc-shaped cup top, with a seed inlet 211 at its center. Before seed supply, wheat seeds are manually added to the seed supply cup 2 through this inlet, ensuring proper seed alignment from the first step and facilitating even dispersion of the seeds around the bottom of the beaded cup bottom 205 after they fall into the seed supply cup 2. There is an annular space between the downward-curving edge 212 of the seed cup lid 201 and the seed cup body 203, where the spring 202 is placed, passing through the seed cup body 203. The ball bottom 205 is a steel ball with a diameter slightly larger than the circular hole at the bottom of the seed cup body 203. It is placed inside the seed cup body 203 and can move upward. Under normal conditions, it seals the bottom opening of the seed cup body 203 by gravity.

[0034] It should be noted that before step S1, the seed inlet 201 of an empty seed cup 2 on the seed supply disc 3 should be placed directly below the pressure roller 101 to complete the initial alignment of the seed supply position. Seed cups 2 filled with wheat seeds should be placed in the remaining seed supply holes on the seed supply disc 3.

[0035] Step S2: Power on solenoid valve 601 to start seed supply motor 12, rotate 45° to complete seed supply for one seed supply cup 2; Specifically, Figure 5 An exemplary embodiment of the present invention provides a rotary seed supply cup primary seed supply device, comprising eight seed supply cups 2, each containing wheat seeds. Each seed supply cup 2 is installed in a seed supply hole of a seed supply disc 3, evenly distributed along the circumference, with an included angle of 45° between adjacent seed supply cups 2. The cylindrical external thread portion of the seed supply cup body 203 passes through the seed supply hole of the seed supply disc 3 and connects to a limiting nut 204. Seed supply cups 2 not involved in seed supply are pressed tightly against the lower surface of the seed supply disc 3 under the combined action of a spring 202 and a limiting nut 204. As the seed supply cup 2 rotates with the seed supply disc 3 to the coaxial position with the seed supply funnel 10, the pressure roller 101 rolls along the arc surface of the seed supply cup cover 201, causing the seed supply cup 2 to descend against the spring force. During the descent, the bottom 205 of the beaded cup first contacts the top rod 4 and stops, while the rest of the seed supply cup 2 continues to move downward, creating a gap between the bottom hole of the seed supply cup body 203 and the bottom 205 of the beaded cup. The wheat seeds inside the seed supply cup 2 fall in a ring shape into the secondary seed supply device below under the uniform dispersion of the spherical surface of the bottom 205 of the beaded cup. At this time, one seed supply is completed, and the pressure roller 101 is precisely engaged with the seed inlet 211 of the seed supply cup cover 201, which plays a positioning role.

[0036] Specifically, Figure 6 An exemplary embodiment of the present invention illustrates the installation and transmission method of the primary seed supply device. The seed supply motor 12 is a stepper motor, installed at the bottom of the seed supply installation platform 11, rotating 45° for each seed supply. The pinion 132 is connected to the motor shaft of the seed supply motor 12. The inner ring of the crossed roller gear bearing 133 is connected to the seed supply installation platform 11 below by bolts, and the outer ring is connected to the seed supply disc 3 above by bolts. The outer ring has gears that mesh with the pinion 132 to transmit the power of the seed supply motor 12, thereby driving the seed supply disc 3 to rotate. The bearing 131 is used to connect the output shaft of the seed supply motor 12 to the seed supply installation platform 11.

[0037] Step S3: De-energize the solenoid valve 602, raise the seed supply funnel 10, and let the wheat seeds fall into the grid space along the grid baffle cone 901. Specifically, Figure 7An exemplary embodiment of the present invention provides a funnel-lifting two-stage seed supply device. In one embodiment, the seed supply funnel 10 is coaxially mounted with the grid-retaining cone 901. The solenoid valve 601 and the linear guide rail 602 are bolted to the side wall of the seed metering mounting frame 7. The valve stem of the solenoid valve 601 has a threaded end, which engages with the threaded hole on the side wall of the slider 603, causing the slider 603 to move up and down. One end of the connecting plate 604 is a fastening collar structure 641 used to clamp the seed supply funnel 10, and the other end is threaded to the slider 603, allowing the solenoid valve 601 to drive the seed supply funnel 10 to move synchronously via the linearly movable slider 603. In the non-working state, the solenoid valve 601 is not energized, and its valve stem is extended. At this time, there is a certain gap between the lower end of the seed supply funnel 10 and the grid-retaining cone 901. When the primary seed supply device performs the seed supply process, the solenoid valve 601 is energized, and its valve stem retracts, causing the seed supply funnel 10 to descend. When the grid-shaped cone 901 is in complete contact with the seed cup 2, and the seeds in the seed cup 2 fall completely into the wedge-shaped seed storage space formed between the seed funnel 10 and the grid-shaped cone 901, the solenoid valve 601 is de-energized and restored, and the seed funnel 10 rises, allowing the wheat seeds to flow out evenly from all directions along the cone surface. This lifting method can effectively improve the linearity of the movement of the seed funnel 10 and avoid the coaxiality deviation between the seed funnel 10 and the grid-shaped cone 901 caused by the installation error of the solenoid valve 601 during the lifting process, which would affect the uniformity of seed supply.

[0038] Step S4: The main controller starts the automatic seed discharge task. The grid-type cone 901 rotates, carrying wheat seeds out through the inclined curve seed outlet 922 at the bottom of the weighing grid base 902. Specifically, such as Figure 8 The diagram shown is a schematic of the automatic seed removal task process provided in an embodiment of the present invention, including the following steps: Step S401: The main controller receives the rotational speed signal from the machine's ground wheel, calculates and sets the rotational speed of the seed metering motor 8 and the sampling frequency of the seed metering monitoring vision sensor 5. Furthermore, the main controller is the master controller for all data processing when the wheat ear row seeder is performing this machine operation. It can be installed at any position on the frame depending on the specific situation. The ground wheels are the walking wheels of the wheat ear row seeder. Their rotation speed information can be obtained through a rotation speed sensor and used as the input signal for the seeding task of this invention.

[0039] Specifically, during machine operation, fluctuations in the forward speed affect the uniformity of seeding. Therefore, the speed of the seed metering device is adjusted in real time according to the rotation speed of the ground wheel to achieve quantitative and uniform seeding under a certain row length. The calculation formula for the speed of the seed metering motor 8 is as follows: ; In the formula: —Ground wheel speed, r / min; —Seed metering motor speed, r / min; —Diameter of the ground wheel, mm; — Row length of the grain, mm.

[0040] Specifically, the installation location of the seeding monitoring visual sensor 5 is as follows: Figure 9 Image acquisition is performed on the first grid space adjacent to the inclined curve seeding inlet 922 along the seeding rotation direction. The purpose is to obtain the remaining seed situation in each grid space after seeding is completed, just as the grid baffle cone 901 rotates one revolution. The sampling frequency is calculated using the following formula: ; In the formula: —Sampling frequency of the seeding monitoring visual sensor, Hz; —Number of disk spaces; —Ground wheel speed, r / min; —Diameter of the ground wheel, mm; — Row length of the grain, mm.

[0041] Furthermore, before proceeding to step S401, the wheel diameter needs to be input into the main controller in advance. Guangzhou Bank President and the number of partition spaces .

[0042] Furthermore, since the first grid space has not yet been planted when the seeding monitoring visual sensor 5 first acquires the image, when the number of grid spaces is N, the seeding monitoring visual sensor 5 should perform N+1 samplings after one week of seeding, and the first sampling is not included in the image processing.

[0043] Step S402: Start the seeding motor 8 to rotate one revolution, and at the same time, the seeding monitoring vision sensor 5 acquires the image of each grid space after seeding is completed; Step S403: The seed metering monitoring vision sensor 5 processes the image and transmits the data to the main controller to determine whether there are any remaining seeds in the seed meterer. If any remaining seeds are detected, proceed to step S404; if no remaining seeds are detected, proceed to step S405. Step S404: Start the seed metering motor 8 to make the grid retaining ring cone 901 start rotating and start the seed cleaning mode; In step S405, the weighing sensor 923 detects the seed mass in the cone grid seed metering device 9 and transmits the data to the main controller to determine whether there are any remaining seeds. If the detected weight m>0, it means that there are still seeds remaining, and then proceed to step S404. If the detected weight m=0, it means that there are no seeds remaining, and then proceed to step S406. Step S406: Turn off seed metering motor 8 to end seed cleaning mode.

[0044] Specifically, the seed removal process involves key working components such as Figure 10 As shown, the top rod 4 is coaxially nested within the seed supply funnel 10 and fixedly connected to the grid-ring type cone 901. The grid-ring type cone 901 is a solid cone with straight grid structure 911 evenly arranged along its generatrix on its surface. A retaining ring structure 912 is connected to the end of the grid structure 911. The lower end of the retaining ring structure 912 is inserted into the outer ring groove structure 921 on the inner wall of the weighing grid base 902. The upper end of the retaining ring structure 912 is connected to two adjacent grid structures 911 and the weighing sensor 92 on the bottom surface of the weighing grid base 902. The three parts together form several grid spaces. When wheat seeds are released from the seed feeding funnel 10 through the apex of the grid-type cone 901, the seeds are evenly dispersed into the various grid spaces at the bottom by the homogenizing effect of the conical structure and the grid plate structure. The seed metering motor 8 is a stepper motor, which is fixed to the bottom of the weighing grid base 902 by bolts. When seed metering begins, the seed metering motor 8 drives the grid-type cone 901 to rotate one revolution, which just discharges all the wheat seeds in the grid spaces through the inclined curved seed outlet 922 at the bottom of the weighing grid base 902. This structure can effectively avoid the seed jamming phenomenon that easily occurs in traditional cone-shaped grid seed meterers and reduce the difficulty of seed cleaning.

[0045] Furthermore, such as Figure 11a , Figure 11b As shown, the grid space is a sector-shaped region with a corresponding central angle of . Its outer arc length s2 is approximately twice the inner arc length s1. As the grid-ring cone 901 rotates, the wheat seeds in the grid space tend to adhere to one side of the inner wall of the rear grid plate and be pushed to rotate. The seed drop opening 922 on the bottom surface of the weighing grid base 902 is a sloping curve type, and its seed drop side curve is a section of Archimedean spiral. During seed drop, the grid structure 911 passes through this point first. The purpose is to ensure that the wheat seeds in the same grid space, which are linearly distributed, arrive at the seed drop opening one after another, so that they fall into the seed metering tube successively, and the seed metering in adjacent grid spaces is continuously connected. Its curve equation is: ; In the formula: —Outer radius of the grid space, mm; —Inner arc radius of the grid space, mm; —Central angle of the grid space, °.

[0046] In one embodiment, the inner width a of the oblique curve type seed drop opening 922 is approximately equal to the inner arc length s1 of a grid space, the outer width b is approximately equal to the outer arc length s2 of a grid space, and the radial distance is equal to the grid space, which is equal to the difference between the outer arc radius R and the inner arc radius r of the grid space.

[0047] Furthermore, the seed metering device is also used to complete the seed cleaning process. Generally, after completing one row of seeding, the machine is stopped at the edge of the field. At this time, the rotation speed of the seed metering motor 8 and the frequency of the images acquired by the seed metering monitoring vision sensor 5 are the same as the values ​​at the last moment of seed metering.

[0048] Step S5, repeat S2 to S4 until all seeds in the seed supply cup 2 have been supplied and planted.

[0049] Specifically, after the seed supply cup 2 has completed the previous seed supply, it continues to rotate with the seed supply disc 3 and move away from the top rod 4. The pressure roller 101 gradually releases the pressure on the seed supply cup 2, and under the action of the spring 202, the seed supply cup 2 finally returns to its original position.

[0050] It should be noted that any process or method description in the embodiments can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which the embodiments of the invention pertain.

[0051] It should be noted that the logic and / or steps in the embodiments, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0052] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0053] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0054] Furthermore, in the embodiments of the present invention, the functional modules can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0055] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0056] The above embodiments have provided a detailed description of the technical solution of the present invention. Obviously, the present invention is not limited to the described embodiments. Based on the embodiments of the present invention, those skilled in the art can make various modifications, but any modifications that are equivalent to or similar to the present invention fall within the scope of protection of the present invention.

[0057] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A two-stage automatic seed supply and metering device for a wheat ear-row seeder, characterized in that, The device includes a primary seed supply device, a secondary seed supply device, and a seed metering device arranged from top to bottom above the wheat ear row seeder, used to realize the action of one uniform seed supply, two uniform seed supply, and uniform seed metering on the wheat ear row seeder; the secondary seed supply device is located entirely above the seed metering device; the primary seed supply device is located entirely above the secondary seed supply device; The primary seed supply device includes a wheel pressing device (1), a seed supply cup (2), a seed supply disc (3), a push rod (4), a seed supply motor (12), and a transmission gear set (13); The wheel pressure device (1) is used to apply pressure to the seed supply cup from top to bottom; The seed supply cups (2) are n in number, n≥2, and are placed at the n seed supply holes evenly distributed along the circumference of the seed supply disc to realize the turntable seed supply. The top rod (4) is located directly below the wheel pressing device (1) and fixed to the top of the seed metering device, and is used to support and position the seed supply cup (2); The seed supply motor (12) and transmission gear set (13) are installed below the wheel pressure device (1), the seed supply cup (2), and the seed supply disc (3). The transmission gear set (13) is used to transmit the power of the seed supply motor (12). The secondary seed supply device includes a solenoid valve linear lifting device (6) and a seed supply funnel (10); The electromagnetic valve linear lifting device (6) is used to drive the seed supply funnel (10) to move up and down; The seed metering device includes a seed metering monitoring visual sensor (5), a seed metering motor (8), and a cone grid seed meterer (9); The seed metering motor (8) is fixedly installed below the cone grid seed metering device (9).

2. The two-stage automatic seed supply and dispensing device as described in claim 1, characterized in that, The wheel pressing device (1) includes a pressing wheel (101) and a support arm (102), which are connected by threads. One end of the base of the support arm (102) passes through the center hole of the seed supply disc (3) and is fixed to the seed supply installation platform (11) by bolts. The cantilever end is equipped with a pressing wheel (101) that can rotate 360°. The seed supply cup (2) includes a seed supply cup lid (201), a spring (202), a seed supply cup body (203), a limiting nut (204), and a ball-shaped cup bottom (205). The top of the seed supply cup lid (201) is arc-shaped, with a seed inlet (211) at its center, a downward-curving edge (212) on the outside, and a circular tube with external threads at the bottom. The ball-shaped cup bottom (205) is a steel ball placed inside the seed supply cup body (203). The upper part of the seed supply cup body (203) is a hollow cylinder, and the lower part is a hollow truncated cone. The upper end of the cylindrical part has internal threads, and the lower end has external threads. The truncated cone part has internal threads. The diameter of the bottom opening is slightly smaller than the diameter of the bottom of the bead cup (205); during assembly, the seed supply cup cover (201) is installed on the upper end of the seed supply cup body (203); the spring (202) passes through the seed supply cup body (203) and abuts against the inner wall of the arc top of the seed supply cup cover (201), supporting the seed supply cup (2) to stand on the seed supply disc (3); the lower part of the seed supply cup body (203) passes through the seed supply disc (3), and the lower end is connected to the limiting nut (204), clamping the seed supply disc (3) between the spring (202) and the limiting nut (204).

3. The two-stage automatic seed supply and dispensing device as described in claim 1, characterized in that, The transmission gear set (13) includes a bearing (131), a pinion (132), and a crossed roller bearing (133). The inner ring of the crossed roller bearing (133) is connected to the seed supply mounting platform (11) by bolts, and the outer ring is connected to the seed supply disc (3) by bolts. The outer ring has a gear that meshes with the pinion (132) to transmit the power of the seed supply motor (12), thereby driving the seed supply disc (3) to rotate. The seed supply motor (12) is installed below the seed supply mounting platform (11), and its output shaft is installed upward and connected to the pinion (132). The bearing (131) is used to connect the output shaft of the seed supply motor (12) to the seed supply mounting platform (11).

4. The two-stage automatic seed supply and dispensing device as described in claim 1, characterized in that, The electromagnetic valve linear lifting device (6) includes an electromagnetic valve (601), a linear guide rail (602), a slider (603), and a connecting plate (604). The electromagnetic valve (601) and the linear guide rail (602) are vertically mounted on the side wall of the seed metering mounting frame (7) by bolts. The slider (603) can slide up and down along the linear guide rail (602). The slider (603) has threaded holes on both its side and front. The threaded holes on its side are connected to the threaded ends of the electromagnetic valve stem. The threaded holes on its front are fixed to the connecting plate (604) by bolts. The other end of the connecting plate (604) is a fastening collar structure (641) for fixing the seed supply funnel (10). The seed supply funnel (10) is coaxially nested with the top rod (4). The seed metering mounting frame (7) is a bent steel plate, which serves as the direct mounting carrier for the electromagnetic linear lifting device and the conical grid seed meterer.

5. The two-stage automatic seed supply and dispensing device as described in claim 4, characterized in that, The conical grid seed metering device (9) includes a grid-ring type cone (901) and a weighing grid base (902); the grid-ring type cone (901) is installed below the seed supply funnel (10) and arranged coaxially, the top rod (4) is fixed to the cone top of the grid-ring type cone (901), the surface of the grid-ring type cone (901) is evenly distributed with grid plate structures (911), and a retaining ring structure (912) is connected and surrounded on the outside of the grid plate structure (911), which is movably inserted into the outer ring groove structure (921) of the weighing grid base (902), the weighing grid base (902) 902) is fixed to the seed metering mounting frame (7) by bolts. The bottom part of the grid space used to carry seeds during seed metering is divided into a weighing sensor (923) to weigh the seeds in the seed meterer. There is a sloping curve seed drop port (922) on one side of the weighing sensor (923) for discharging seeds. The grid retaining ring cone (901) is driven by the seed metering motor (8). The seed metering motor (8) is installed at the center of the bottom of the weighing grid base (902). Its output shaft passes through the center hole of the weighing grid base (902) and is connected to the grid retaining ring cone (901).

6. The two-stage automatic seed supply and dispensing device as described in claim 5, characterized in that, The seeding monitoring visual sensor (5) is bolted to the connecting plate (604) and is located directly above the first grid space along the seeding rotation direction adjacent to the oblique curve seeding port (922). It collects and counts the seed images in the grid space that has just passed the oblique curve seeding port (922).

7. The two-stage automatic seed supply and dispensing device as described in claim 6, characterized in that, The seed-dropping side curve of the oblique curve type seed-dropping inlet (922) is a segment of an Archimedean spiral, and the curve equation is: ; In the formula: —Outer radius of the grid space, mm; —Inner arc radius of the grid space, mm; —Central angle of the grid space, °.

8. A two-stage automatic seed supply and metering method for a wheat ear-row seeder, characterized in that, The apparatus according to claim 7 includes the following steps: Step S1: Before the machine starts operating, the same amount of wheat seeds of different ears are added manually through the seed inlet (211) of each seed cup (2); Step S2: Energize the solenoid valve (601) to start the seed supply motor (12), rotating it (360 / n)°. n is the number of seed cups, and n≥2, so that one seed cup (2) completes the seed supply; Step S3: De-energize the solenoid valve (602), raise the seed funnel (10), and let the wheat seeds fall into the grid space along the grid ring cone (901); Step S4: The main controller starts the automatic seed discharge task. The grid-type cone (901) rotates, carrying wheat seeds out through the inclined curve seed outlet (922) at the bottom of the weighing grid base (902). Step S5, repeat S2 to S4 until all seeds in the seed supply cups (2) have been supplied and planted.

9. The two-stage automatic seed supply and dispensing method as described in claim 8, characterized in that, The automatic seed removal task in step S4 includes the following steps: Step S401: The main controller receives the rotational speed signal from the machine's ground wheel, calculates and sets the rotational speed of the seeding motor (8) and the sampling frequency of the seeding monitoring vision sensor (5); Step S402: Start the seeding motor (8) to rotate one revolution, and at the same time, the seeding monitoring vision sensor (5) acquires the image of each grid space after seeding is completed; Step S403: The seed metering monitoring visual sensor (5) processes the image and transmits the data to the main controller to determine whether there are any remaining seeds in the seed meterer. If any remaining seeds are detected, proceed to step S404. If no remaining seeds are detected, proceed to step S405. Step S404: Start the seed metering motor (8) to make the grid retaining ring cone (901) start rotating and start the seed cleaning mode; Step S405: The weighing sensor (923) detects the seed mass m in the cone grid seed metering device (9) at this time and transmits the data to the main controller to determine whether there are any remaining seeds. If the detected weight m>0, it means that there are still seeds remaining, and then proceed to step S404. If the detected weight m=0, it means that there are no seeds remaining, and then proceed to step S406. Step S406: Turn off the seed metering motor (8) to end the seed cleaning mode.

10. The two-stage automatic seed supply and dispensing method as described in claim 9, characterized in that, The formula for calculating the rotational speed of the seed metering motor (8) is as follows: ; In the formula: —Ground wheel speed, r / min; —Seed metering motor speed, r / min; —Diameter of the ground wheel, mm; — Row length of the grain, mm; The formula for calculating the sampling frequency of the seeding monitoring visual sensor (5) is as follows: ; In the formula: —Sampling frequency of the seeding monitoring visual sensor, Hz; —Number of disk spaces; —Ground wheel speed, r / min; —Diameter of the ground wheel, mm; — Row length of the grain, mm.

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