Intelligent precision seed metering device based on electromagnetic control and seed metering method

Abstract

The application belongs to the technical field of seeding, and particularly relates to an intelligent precision seed sowing device based on electromagnetic control and a seed sowing method. The seed sowing device comprises a seed sowing disc assembly and an electromagnetic intelligent seed pushing assembly. The seed sowing disc assembly is provided with a seed hole with a ring-shaped permanent magnet; the electromagnetic intelligent seed pushing assembly comprises a control module, an energized solenoid and a flexible seed pushing assembly with a permanent magnet sliding block and a flexible pushing disc. During work, the magnetic attraction force between the permanent magnet of the seed sowing disc and the permanent magnet sliding block is utilized, and the controllable electromagnetic force generated by the energized solenoid is combined to cooperatively drive the sliding block to complete the seed pushing action. Through programming control of the electric signal, various operation modes such as super-high speed, precision low loss and variable skip sowing can be switched in real time. The application also utilizes the electric signal generated by the sliding block movement in the induction coil to realize the embedded real-time monitoring and fault diagnosis of the seed pushing action. The application solves the problem that the existing seed sowing device is difficult to consider high speed, low loss, multi-mode operation and intelligent monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seeding, in particular to an intelligent precision seed metering device based on electromagnetic control and a seed metering method. BACKGROUND

[0002] Precision seeding is a key technology in modern agricultural production, and the performance of its core component, the seed metering device, directly affects the seeding quality. Existing seed metering device technologies are mainly divided into mechanical and pneumatic types, but there are inherent limitations in the following three aspects in terms of high-speed operation, precise control and state monitoring:

[0003] 1. In terms of driving method and response speed, existing technologies are difficult to balance high speed and low loss. Mechanical seed metering devices (such as finger clamp type and spoon wheel type) rely on cam, connecting rod, spring and other rigid or elastic components to achieve seed pushing or seed dropping. Their movement trajectories are fixed, and at high speed, mechanical impact and component inertia can increase seed breakage rate and reduce seeding accuracy. Moreover, elastic elements such as springs are prone to fatigue failure under high-frequency reciprocating motion, limiting their service life and reliability. Pneumatic seed metering devices (such as air suction type) can hold seeds flexibly, but in the seed dropping process, whether through mechanical scraping or air blowing, their response speed is limited by the movement speed of mechanical components or the pressure response time of air paths, making it difficult to achieve millisecond-level instantaneous and accurate seed dropping, thus restricting their application potential in ultra-high-speed (more than 12 kilometers / hour) working conditions. Therefore, existing technologies lack a driving method that can respond at high speed and operate reliably for a long time.

[0004] 2. In terms of seeding state monitoring, existing technologies rely on external indirect monitoring and cannot achieve embedded diagnosis. To monitor missed or repeated seeding, existing seeding machines generally install photoelectric or infrared sensors in the seed drop tube below the seed metering device. This monitoring method has three problems: first, it is "post-monitoring", which can only discover problems after the seeding failure occurs and cannot predict or correct the action at the moment; second, it is "indirect monitoring", which only knows whether a seed passes through or not, but cannot determine the root cause of the seeding failure; finally, it increases the complexity, cost and failure points of the system, and the additional sensors and wires also reduce the overall reliability of the system in harsh field environments. Therefore, existing technologies lack a solution that can integrate the actuator itself and achieve real-time monitoring and fault diagnosis of the seeding action without additional components.

[0005] 3. In the adaptability of the operation mode, the prior art is "one machine, one ability", lacking dynamic switching capability. The mechanical structure and working parameters of the traditional seed metering device are basically fixed once determined. For example, the mechanical strength and motion parameters of the seed metering device designed to adapt to high-speed seeding may not be suitable for gently handling fragile seeds, and the seed metering device designed for precision seeding is difficult to meet the requirements of high-speed operation. When executing a variable seeding prescription map, "skipping" (i.e., not seeding at certain positions) needs to be performed according to the field information. For mechanical seed metering devices, it is almost impossible to achieve selective rejection of a single seed at high speed. For pneumatic seed metering devices, their slow response speed also makes it difficult to achieve precise skip control at high travel speed. Therefore, the prior art solution is difficult to integrate and switch multiple operation modes such as ultra-high speed, precision low loss, variable skip, etc. on a single device. SUMMARY

[0006] The purpose of the present application is to solve the above-mentioned shortcomings in the prior art and propose an intelligent precision seed metering device based on electromagnetic control and a seed metering method.

[0007] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0008] An intelligent precision seed metering device based on electromagnetic control, comprising:

[0009] A seed metering disc assembly, the seed metering disc assembly comprising a seed metering base plate and a ring-shaped permanent magnet, the seed metering base plate being provided with seed holes, and the ring-shaped permanent magnet being correspondingly arranged beside the seed holes;

[0010] An electromagnetic intelligent seed pushing assembly, the electromagnetic intelligent seed pushing assembly comprising a control module, an energized solenoid, and a flexible seed pushing assembly, the flexible seed pushing assembly comprising a permanent magnetic slider and a flexible seed pushing disc, the permanent magnetic slider being slidably arranged, and the flexible seed pushing disc being fixed to an end of the permanent magnetic slider;

[0011] The control module is electrically connected with the energized solenoid, and the energized solenoid surrounds the movement path of the permanent magnetic slider.

[0012] When the seed metering disc assembly rotates to make the ring-shaped permanent magnet close to the permanent magnetic slider, the control module controls the energized solenoid to be energized, so as to generate an electromagnetic force that interacts with the magnetic attraction force of the ring-shaped permanent magnet, thereby driving the permanent magnetic slider to move and making the flexible seed pushing disc push the seeds in the seed holes out.

[0013] As a further improvement of the above-mentioned technical solutions:

[0014] The seed storage and pretreatment assembly further comprises a seed storage mechanism and a seed guiding mechanism, the seed guiding mechanism comprising a seed guiding wheel, the blades of the seed guiding wheel being helical, for conveying the seeds from the seed storage mechanism to the seed holes of the seed metering disc assembly.

[0015] The seed conveying and bearing assembly comprises a seed conveying mechanism, and the seed conveying mechanism is provided between the seed guiding mechanism and the seed plate assembly, and a curved guide groove is formed in the seed conveying mechanism to guide the seeds into the seed holes.

[0016] The flexible seed pushing assembly further comprises a sliding rail, and the permanent magnetic sliding block is slidingly assembled on the sliding rail.

[0017] The electromagnetic intelligent seed pushing assembly further comprises a magnetoresistance effect sensor, which is arranged beside the seed plate assembly to detect the position of the annular permanent magnet and send a signal to the control module.

[0018] The flexible seed pushing assembly further comprises a first induction coil and a second induction coil, which are arranged along the movement direction of the permanent magnetic sliding block to monitor the movement state of the permanent magnetic sliding block.

[0019] The control module is configured to determine whether the permanent magnetic sliding block has a forward blocking failure or a homing failure according to the signals of the first induction coil and the second induction coil.

[0020] The control module is configured to control the current of the energized solenoid to realize the super-high-speed seeding, precision seeding or skip-seeding mode.

[0021] An intelligent precision seed metering method based on electromagnetic control is applied to the seed metering device, and the method comprises the following steps:

[0022] Monitoring the position of the annular permanent magnet of the seed plate assembly;

[0023] When the annular permanent magnet reaches a predetermined position, the control module controls the energized solenoid to be energized according to the seeding instruction;

[0024] The energized solenoid generates an electromagnetic force, which interacts with the magnetic attraction force of the annular permanent magnet to drive the permanent magnetic sliding block to move;

[0025] The permanent magnetic sliding block drives the flexible pushing disc to push the seeds in the seed holes out, and after the seed pushing is completed, the control module outputs a reverse reset current to the energized solenoid to generate a reverse magnetic field to push the permanent magnetic sliding block back to the initial position, and if the signal of the first induction coil does not return to the initial state after a preset time, it is determined that a homing failure occurs, and the control module will cut off the next seed pushing instruction.

[0026] Advantages

[0027] In the application, the intelligent precision seed metering device based on electromagnetic control directly drives the permanent magnet slider through the electromagnetic coil, the driving force is directly generated by the current, the response time reaches microsecond to millisecond level, which is significantly faster than mechanical transmission or gas pressure change. Since there is no physical contact in the driving process, and the electromagnetic force replaces the traditional mechanical return spring, the mechanical fatigue elements such as spring are completely eliminated, the friction and wear between the moving parts are reduced, and the long-term working reliability and service life of the actuator are improved;

[0028] In the application, the intelligent precision seed metering device based on electromagnetic control utilizes the principle that the electromagnetic induction signal is generated when the actuating slider moves in the induction coil, and the actual movement position, speed and state of the slider can be obtained in real time by processing the signal. This function is integrated in the actuator, without the need to install any photoelectric sensor externally, which not only can monitor whether the seeding action is completed, but also can perform fault diagnosis through analyzing the abnormal induction signal waveform when the fault such as jamming occurs, thereby reducing the overall cost and wiring complexity, and improving the anti-interference ability and reliability of the monitoring system.

[0029] In the application, the intelligent precision seed metering device based on electromagnetic control, the pushing force, speed curve and start-stop action of the actuator are completely determined by the electrical signal waveform and timing applied to the electromagnetic coil. Through controller software programming, different electrical signals can be output to the actuator, so that different operation modes such as super-speed mode, precision mode and skip-seeding mode can be realized on the same hardware structure. This ability to define hardware behavior through software is not possessed by fixed-structure mechanical or pneumatic seed metering devices. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 A three-dimensional structural schematic diagram of the intelligent precision seed metering device based on electromagnetic control is provided for the application;

[0031] Figure 2 An exploded structural schematic diagram of the intelligent precision seed metering device based on electromagnetic control is provided for the application;

[0032] Figure 3 A seed guiding mechanism structural schematic diagram of the intelligent precision seed metering device based on electromagnetic control is provided for the application;

[0033] Figure 4 A guiding mechanism structural schematic diagram of the intelligent precision seed metering device based on electromagnetic control is provided for the application;

[0034] Figure 5 A driving mechanism structural schematic diagram of the intelligent precision seed metering device based on electromagnetic control is provided for the application;

[0035] Figure 6A structure schematic diagram of a seed feeding mechanism of an intelligent precision seed sowing device based on electromagnetic control is provided in the present application.

[0036] Figure 7 A structure schematic diagram of an intelligent seed pushing mechanism of an intelligent precision seed sowing device based on electromagnetic control is provided in the present application.

[0037] Figure 8 A structure schematic diagram of a flexible seed pushing assembly of an intelligent precision seed sowing device based on electromagnetic control is provided in the present application.

[0038] Figure 9 A structure schematic diagram of a seed sowing disc assembly of an intelligent precision seed sowing device based on electromagnetic control is provided in the present application.

[0039] Figure 10 A working process schematic diagram of an intelligent seed pushing mechanism of an intelligent precision seed sowing device based on electromagnetic control is provided in the present application.

[0040] Figure 11 A working flow chart of an intelligent precision seed sowing device based on electromagnetic control is provided in the present application.

[0041] In the figure: 1, protective baffle; 2, front shell; 3, seed storage mechanism; 4, seed guiding mechanism; 5, seed feeding mechanism; 6, intelligent seed pushing mechanism; 7, seed sowing disc assembly; 8, seed sowing shaft; 9, seed bearing bottom disc; 10, rear shell; 401, seed guiding mechanism top plate; 402, guiding mechanism; 403, driving mechanism; 404, seed guiding mechanism bottom plate; 402-1, driven gear; 402-2, driven gear seat; 402-3, driven gear bolt; 402-4, driven gear shaft; 402-5, seed guiding wheel; 403-1, driving gear; 403-2, driving gear motor; 403-3, driving gear bolt; 403-4, driving gear seat; 601, intelligent seed pushing mechanism top plate; 602, control module; 603, energized solenoid sleeve; 604, magnetoresistance effect sensor; 605, energized solenoid; 606, intelligent seed pushing mechanism bottom plate; 607, flexible seed pushing assembly; 607-1, first induction coil; 607-2, slide rail; 607-3, second induction coil; 607-4, slide block; 607-5, flexible pushing disc; 701, seed sowing bottom disc; 702, annular permanent magnet. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0043] Embodiment 1

[0044] Reference Figures 1-11The utility model provides an intelligent precision seed metering device based on electromagnetic control, which is applied in the field of seeding technology and mainly used for precision seeding of common crops such as corn and soybean, has compact overall structure, is suitable for the installation interface of mainstream seeding machines, provides a stable installation base and reliable protection for internal functional components through a protective frame, and realizes whole-process control from disordered seeds to single-precision soil entry through the cooperation of a seed storage and pretreatment component, a seed conveying and bearing component, an electromagnetic intelligent seed pushing component and a seed discharge component.

[0045] The protective frame serves as the installation carrier and protective barrier of the whole seed metering device and comprises a protective baffle 1, a front shell 2, a rear shell 10 and a seed metering shaft 8. Preferably, the front shell 2 and the rear shell 10 are made of 6061 aluminum alloy by pressure casting, and the two are detachably buckled through eight internal hexagonal bolts, and rubber sealing pads are additionally installed between the buckling surfaces, which can not only enhance the sealing property but also buffer the vibration during field operation and reduce the abrasion of internal components caused by vibration. Dustproof sponges are attached to the inner walls of the formed sealed chamber, which can not only block dust and moisture but also adsorb possible seed debris in the chamber to avoid the entry of the debris into bearings or transmission components and affect the operation. The two ends of the seed metering shaft 8 are rotatably connected to the bearing seats of the front shell 2 and the rear shell 10 through deep groove ball bearings, and the bearing seats are fixed in the reserved installation holes of the shells through interference fit. Long-term smooth rotation of the seed metering shaft 8 is ensured by adding long-acting lubricating grease into the bearings during installation. The protective baffle 1 is fixed to the front end face of the front shell 2 through four plastic buckles and completely covers the opening area of the front shell 2. After daily field operation, the inside of the front shell 2 can be cleaned without disassembling the whole shell, and the baffle 1 can be removed only by unfastening the buckles, which is convenient to operate. In addition, the edges of the baffle 1 are rounded to avoid scratches during cleaning by the operator.

[0046] The seed storage pretreatment assembly is responsible for combing disordered seeds into a uniform seed flow, including a seed storage mechanism 3 and a seed guiding mechanism 4. The seed guiding mechanism 4 is the core of the assembly, which is assembled by a seed guiding mechanism top plate 401, a seed guiding mechanism bottom plate 404, a guiding mechanism 402 and a driving mechanism 403. Preferably, the seed guiding mechanism bottom plate 404 is a PP material double-layer injection molding part, with uniform thickness of the middle partition layer, and a circular hole is opened on the partition layer for the driven gear shaft 402-4 to pass through, and a rubber sealing ring is sleeved around the circular hole, which can ensure smooth rotation of the driven gear shaft 402-4 and prevent seed debris or dust from entering the mechanical transmission area on the right side, avoiding gear jamming. The seed guiding mechanism top plate 401 is fixed on the upper surface of the seed guiding mechanism bottom plate 404 by four self-tapping screws, and the closed pretreatment space formed by the two can avoid seeds from splashing out of the assembly during the combing process, and also reduce the falling of foreign matter from the outside. Preferably, the seed storage mechanism 3 is made of transparent PC material injection molding, which can not only facilitate the observation of the remaining seed amount, but also directly observe whether the internal seeds are caked, and once caking is found, the operator can stop the machine for processing in time to avoid clogging of the bottom conical outlet. The seed storage mechanism 3 is fixed on the top of the seed guiding mechanism top plate 401 by four bolts, and the bottom conical outlet is coaxially aligned with the circular hole on the seed guiding mechanism top plate 401, and the inner wall of the circular hole is smooth, so that the seeds can smoothly enter the seed processing area of the seed guiding mechanism bottom plate 404 when falling.

[0047] The driving mechanism 403 provides power for the guiding mechanism 402, the driving gear seat 403-4 is fixed on the middle layer of the mechanical transmission area of the guiding mechanism bottom plate 404 through a plurality of driving gear bolts 403-3, one side of the driving gear seat 403-4 is fixedly connected with the driving gear motor 403-2, the power line of the motor is led out through the reserved threading hole of the guiding mechanism bottom plate 404 and connected with the control module 602, the threading hole is provided with a rubber sleeve to protect the wire and prevent the wire from being abraded. The output shaft of the driving gear motor 403-2 is connected with the driving gear 403-1 through a key, a small amount of lubricating grease is smeared in the keyway during installation, so that stable power transmission is ensured. The driven gear seat 402-2 of the guiding mechanism 402 is fixed on the middle layer of the mechanical transmission area of the guiding mechanism bottom plate 404 through a plurality of driven gear bolts 402-3, the driven gear shaft 402-4 is arranged on one side of the driven gear seat 402-2, the driven gear shaft 402-4 is rotatably connected with the driven gear seat 402-2 through a deep groove ball bearing, and the bearing is also filled with lubricating grease to reduce the rotating resistance. One end of the driven gear shaft 402-4 is connected with the driven gear 402-1 through a key, when the driven gear 402-1 is engaged with the driving gear 403-1, the center distance of the two is adjusted to ensure that the engagement gap is uniform, so that excessive noise or rapid gear wear is avoided during engagement. The other end of the driven gear shaft 402-4 extends to the seed treatment area through the middle layer, and the outer wall of the driven gear shaft 402-4 is fixedly provided with the seed guiding wheel 402-5 through interference fit, the pitch of the spiral blades of the seed guiding wheel 402-5 is designed according to the size of common crop seeds, the surface of the blades is smooth, the seeds can be gently pushed during rotation, the seed skin will not be scratched, at the same time, the spiral structure can gradually push the seeds from one side of the seed treatment area to the other side of the outlet, forming uniform seed flow, avoiding the accumulation of seeds in the treatment area.

[0048] The seed conveying and bearing assembly is responsible for accurately conveying the combed single seeds to the seed pushing station, including the seed conveying mechanism 5 and the seed metering disc assembly 7. The seed conveying mechanism 5 is preferably an ABS injection molding part, and two symmetrical curved guide grooves are formed on one side of the seed conveying mechanism 5. The inner wall of the guide groove is polished to be smooth, and the friction resistance is small when the seed slides in the guide groove, so that the seed skin will not be damaged due to friction. The two guide grooves simultaneously convey seeds, which can improve the efficiency of supplying seeds to the seed metering disc assembly 7. The end of the guide groove is slightly inclined downward, and the seed can fall into the seed hole of the seed metering disc 701 smoothly with the help of gravity when it reaches the outlet, and will not be stuck at the outlet of the guide groove. One end of the seed conveying mechanism 5 is fixed to the bottom of the seed guiding mechanism bottom plate 404 through four self-tapping screws. When installing, the angle of the seed conveying mechanism 5 will be adjusted to ensure that the outlet of the guide groove is accurately corresponding to the seed hole of the seed metering disc assembly 7, so as to avoid seed deviation. The seed metering disc assembly 7 is composed of a seed metering disc 701 and a ring-shaped permanent magnet 702. The seed metering disc 701 is fixedly connected with the seed metering shaft 8 through a key, and anti-rust agent is applied at the cooperation position of the key and the keyway during installation to prevent rusting and difficulty in disassembly after long-term use. The circumference of the seed metering disc 701 is uniformly provided with a plurality of seed holes, and the inner wall of the seed hole is rounded without sharp edges, so that the seed will not be scratched when falling into and being pushed out, ensuring the integrity of the seed. The ring-shaped permanent magnet 702 is correspondingly pasted beside the seed hole through epoxy glue. Before pasting, the oil stains and dust on the surface of the seed metering disc 701 are cleaned to ensure firm pasting. The epoxy glue selected is a high-temperature resistant type, so that even if the seed metering disc slightly warms up due to rotation friction during field operation, the glue layer will not soften and fall off. The magnetic pole direction of the permanent magnet is strictly controlled to be radial, so that when rotating to the seed pushing station, stable magnetic attraction force can be generated with the permanent magnet sliding block 607-4.

[0049] The electromagnetic intelligent seed pushing assembly is the core of realizing precision seeding, which is an intelligent seed pushing mechanism 6, including an intelligent seed pushing mechanism top plate 601, an intelligent seed pushing mechanism bottom plate 606, a control module 602, a power-on solenoid 605, a power-on solenoid sleeve 603, a magnetic resistance effect sensor 604, and a flexible seed pushing assembly 607. The intelligent seed pushing mechanism top plate 601 and the intelligent seed pushing mechanism bottom plate 606 are fixedly connected through four self-tapping screws to form a closed installation space, and a certain gap is reserved between the components to avoid mutual collision during operation. The whole is fixed on the inner side wall of the rear shell 10 through four bolts, and the position of the intelligent seed pushing mechanism 6 is adjusted using a level during installation to ensure that the flexible pushing disc 607-5 can accurately align with the seed hole of the seed metering disc 701, and will not be misaligned to cause seed pushing failure.

[0050] The control module 602 is fixed on the inner side of the intelligent seed pushing mechanism top plate 601 by four self-tapping screws, and the surface is covered with a waterproof and dustproof transparent protective shell. The protective shell is fixed by buckles and is convenient to disassemble for later maintenance. The control module 602 is electrically connected with the power solenoid 605, the magnetic resistance effect sensor 604 and the sensing coil of the flexible seed pushing assembly 607 through copper core wires. The wires are arranged in wire grooves on the intelligent seed pushing mechanism top plate 601 and the bottom plate 606, and will not hinder the movement of the permanent magnet sliding block 607-4. At the same time, the connection of the wires is treated by welding and then sleeving a heat shrink tube, which ensures reliable electrical connection and prevents poor contact caused by humid environment in the field. The control module 602 also has the function of receiving the seeding machine running speed signal. When the seeding machine running speed changes, the current response time of the power solenoid 605 can be adjusted in time to ensure that the seed pushing rhythm matches the running speed of the seeding machine and to avoid missing or over-seeding.

[0051] Preferably, the power solenoid sleeve 603 is made of soft iron, and the two ends are open. The opening size matches the movement path of the permanent magnet sliding block 607-4, ensuring that the permanent magnet sliding block 607-4 can smoothly pass through the inside of the sleeve. At the same time, the soft iron material can concentrate the magnetic field generated by the power solenoid 605, reduce the dispersion of the magnetic field, and make the magnetic field more effectively act on the permanent magnet sliding block 607-4, improving the utilization efficiency of electromagnetic force. The power solenoid 605 is nested in the power solenoid sleeve 603, and the two ends of the coil are led out through the small holes reserved on the sleeve and connected with the control module 602. The small holes are sealed with rubber plugs to prevent dust from entering the inside of the sleeve.

[0052] The magnetic resistance effect sensor 604 is fixed on the inner wall of one side of the intelligent seed pushing mechanism bottom plate 606 through an L-shaped metal support. The support has a long circular hole, and the detection angle and height of the sensor can be adjusted by adjusting the fixed position of the support in the long circular hole during installation, so that the detection end of the sensor can accurately align with the movement track of the annular permanent magnet 702, and the sensor will not miss or misjudge due to slight shaking of the seed plate assembly 7 during rotation. The output wire of the sensor is also sleeved with a protective tube and connected with the signal input end of the control module 602 to ensure stable transmission of the detection signal.

[0053] The flexible pushing assembly 607 comprises a sliding rail 607-2, a permanent magnetic sliding block 607-4, a flexible pushing disc 607-5, a first induction coil 607-1 and a second induction coil 607-3. The sliding rail 607-2 is fixed on the outer side of the intelligent pushing mechanism base plate 606 by two screws, and is arranged along the radial direction of the seed arranging disc assembly 7. Limiting blocks are arranged at the two ends of the sliding rail to prevent the permanent magnetic sliding block 607-4 from moving beyond the stroke range. Preferably, the limiting blocks are made of rubber material, which can buffer the impact force when the sliding block reaches the end of the stroke, reducing the wear of the components.

[0054] The flexible pushing disc 607-5 is fixed on one end of the permanent magnetic sliding block 607-4 facing the seed arranging disc assembly 7 by silicone adhesive. The front end of the pushing disc is designed in an arc shape, which can better fit the inner wall of the seed hole of the seed arranging base plate 701, and can push the seeds out of the seed hole completely during seed pushing, without leaving any seeds in the seed hole. At the same time, the silicone material has a certain elasticity, so that even if there is a slight misalignment between the pushing disc and the seed hole, it can also adapt through its own deformation to ensure the success of the seed pushing action. In addition, the silicone material is soft and will not scratch the seeds.

[0055] The first induction coil 607-1 and the second induction coil 607-3 are fixed on the two sides of the sliding rail 607-2 along the movement direction of the permanent magnetic sliding block 607-4, and are connected to the intelligent pushing mechanism base plate 606 by screws. A plastic protective shell is sleeved outside the coil, and a small air vent is opened on the protective shell, which can prevent seed debris from falling on the coil and affecting the induction signal, and also ensure the heat dissipation of the coil during work to avoid damage due to overheating. The wire of the coil uses a shielded wire, which can reduce the interference of the magnetic field generated by the power coil 605 on the induction signal, ensuring that the control module 602 can accurately receive the induction signal of the sliding block movement, so as to accurately judge the position of the sliding block.

[0056] The seed discharging assembly is a seed receiving base plate 9, which is an ABS injection molded part and has a disc shape as a whole. The seed receiving base plate 9 is fixed on the inner side wall of the rear housing 10 by four screws and is located on the other side of the seed arranging disc assembly 7. One side of the seed receiving base plate 9 is provided with a seed discharging outlet which is accurately aligned with the working position of the intelligent pushing mechanism 6. The seeds pass through this outlet to leave the seed arranging device and fall into the soil under the action of gravity.

[0057] The driving mechanism is based on the cooperation of the intelligent pushing mechanism 6 and the seed plate assembly 7. When the seed plate assembly 7 rotates, a certain permanent magnet 702 on the seed plate assembly 7 moves to a position opposite to the sliding block 607-4, and the magnetic attraction force between the two constitutes the basic driving force for driving the sliding block 607-4 to move forward to push the seeds. The fixed solenoid 605 surrounds the movement path of the sliding block 607-4, and the solenoid 605 is controlled to be powered on by the control module 602, so as to generate an adjustable electromagnetic force. The electromagnetic force interacts with the basic driving force, so as to realize accurate control of the pushing action of the sliding block 607-4.

[0058] Based on the above-mentioned cooperative driving mechanism, the control module 602 can flexibly realize various operation modes through software programming. In the super-high-speed seeding mode, when high-speed seeding is required, the control module 602 instructs the solenoid 605 to pass a positive large current at the moment when the permanent magnet 702 generates an attractive force on the sliding block 607-4. At this time, the electromagnetic thrust generated by the solenoid and the basic attractive force of the permanent magnet are in the same direction and are superimposed to form a strong driving resultant force, so that the sliding block 607-4 obtains a very high instantaneous acceleration, and super-high-speed pushing is realized.

[0059] In the precision seeding mode, for seeds that are easily damaged or require gentle handling, the control module 602 can instruct the solenoid 605 to pass a controllable reverse current. The electromagnetic braking force generated by the current is opposite to the direction of the basic attractive force, and can dynamically weaken the total driving force, so as to accurately control the pushing speed and strength of the sliding block 607-4, and realize low-impact precision seeding.

[0060] In the skip-seeding mode, when a variable seeding prescription map is executed and some positions need to be skipped for not seeding, the control module 602 instructs the solenoid 605 to pass a reverse current strong enough. At this time, the electromagnetic repulsive force generated is enough to completely offset or even exceed the basic attractive force of the permanent magnet 702, so that the sliding block 607-4 is firmly locked in the initial position and cannot move forward, thereby realizing precise single-plant skip-seeding. Figure 10 As shown in FIG. 6, in any of the above-mentioned seeding modes, when the sliding block 607-4 is driven to move forward, the flexible pushing disc 607-5 at the front end of the sliding block 607-4 will accurately push the seeds in the seed holes out.

[0061] The application also includes an electromagnetic active reset mode. After the pushing action is completed and the permanent magnet 702 on the seed plate assembly 702 rotates away from the working position, the basic attractive force disappears. At this time, the control module 602 can instruct the solenoid 605 to generate a reverse magnetic field (repulsive force) to actively and quickly push the sliding block 607-4 back to its initial position. This electromagnetic reset mode replaces the traditional mechanical spring, avoids mechanical fatigue failure, and improves the maximum working frequency and reliability of the system.

[0062] To realize real-time monitoring of the pushing action, the application further provides an embedded fault diagnosis system. Figure 8 As shown in FIG. 6, a first inductive coil 607-1 and a second inductive coil 607-3 are arranged in sequence along the movement direction of the slider 607-4 on the movement path of the slider 607-4. Since the slider 607-4 itself is a moving permanent magnet, when it passes through the two coils during movement, it will generate a clear and high-intensity induced electric signal according to Faraday's law of electromagnetic induction. The two coils essentially constitute a non-contact position sensor, and the control module 602 realizes real-time closed-loop monitoring and fault diagnosis of the pushing action by monitoring the signals thereof.

[0063] For diagnosis of forward blockage or seed jamming, after execution of the pushing instruction, the control module 602 starts an internal timer. Under normal circumstances, the slider 607-4 should pass through the first inductive coil 607-1 and the second inductive coil 607-3 in sequence within a very short preset time. If the control module 602 detects that the slider triggers the first inductive coil, but fails to receive the trigger signal of the second inductive coil 607-3 within the preset time window, it is determined that a “forward blockage” or “seed jamming” fault has occurred.

[0064] For diagnosis of homing failure, after completion of a complete pushing-reset cycle, the slider 607-4 should return to the initial position at the starting point of movement, which is located on the side of the first inductive coil 607-1. The control module 602 judges the homing condition by monitoring the signal state of the first inductive coil 607-1. If the signal of the first inductive coil fails to return to the reference state when the slider is in the initial position after completion of the reset action, the system determines that a “homing failure” fault has occurred.

[0065] Figure 11 The control logic flow chart for seed spacing decision and monitoring performed by the control module 602 in the embodiment of the application. The flow chart embodies the intelligent core of the application, and the specific steps are as follows:

[0066] Steps S01-S02: The flow chart starts, and the control module 602 is in a standby state and continuously monitors the signals from the magnetoresistance effect sensor 604. When an effective signal representing that the permanent magnet 702 reaches the predetermined trigger position is received, a seed spacing control cycle is activated.

[0067] Step S03: The control module 602 queries the internally stored variable seeding prescription map to determine whether seeding is required at the current position. If yes, the flow chart proceeds to step S05; if no, it proceeds to step S04.

[0068] Step S04: Skip seeding is performed. The control module 602 controls the energized solenoid 605 to generate an electromagnetic repulsive force sufficient to prevent movement of the slider. After execution, the current control cycle ends and returns to step S01.

[0069] Step S05: According to the mode requirement (such as "super speed" or "precision seeding") contained in the seeding instruction, the corresponding current strategy is selected.

[0070] Step S06: The selected current strategy is output to drive the slider 607-4 to perform the pushing seeding, and an internal timer is started, entering the forward monitoring state.

[0071] Steps S07-S08: In the forward monitoring state, the control module 602 judges whether a trigger signal from the second induction coil 607-3 is received within a preset time threshold. If not, it is determined that a "forward blocking" fault (diagnostic mechanism as described above) has occurred, the fault information is recorded, and step S09 is entered; if it is successfully received, it indicates that the pushing seeding action is normal, and step S09 is directly entered.

[0072] Step S09: After the pushing seeding action is completed, the control module 602 outputs a "reset" instruction to drive the slider 607-4 to return to the initial position, and enters the homing monitoring state.

[0073] Steps S10-S11: In the homing monitoring state, the control module 602 judges whether the signal from the first induction coil 607-1 returns to the initial state. If not, it is determined that a "homing failure" fault (diagnostic mechanism as described above) has occurred, the fault information is recorded; if it has returned, it indicates that the homing is normal.

[0074] Step S12: The current seeding control cycle ends, the state variables are cleared, and step S01 is returned to wait for the next trigger

[0075] When the seed sowing device of the embodiment is working, first, the seeds to be sown are added to the seed storage mechanism 3, and the seeds fall into the seed processing area of the seed guide mechanism bottom plate 404 through the conical outlet at the bottom of the seed storage mechanism 3 under the action of gravity. The driving gear motor 403-2 is started, the motor output shaft drives the driving gear 403-1 to rotate, the driving gear 403-1 meshes with the driven gear 402-1 to drive the driven gear shaft 402-4 and the seed guide wheel 402-5 to rotate synchronously, and the spiral blades of the seed guide wheel 402-5 push the seeds in the seed processing area to move, breaking the "bridge" phenomenon formed by the accumulation of the seeds. If a larger seed block is encountered, the silica gel material of the seed guide wheel 402-5 will deform slightly to avoid hard top causing the block to become tighter, and the driving gear motor 403-2 has an overload protection function. When the resistance generated by the block exceeds the rated torque of the motor, the motor will pause operation, and the control module 602 will send a prompt after receiving the motor overload signal, reminding the operator to clean the block. After cleaning is completed, the motor can be restarted. The seed guide wheel 402-5 combs the disordered seeds into a seed stream with uniform single-particle spacing, and the seed stream enters the curved guide groove of the seed conveying mechanism 5 through the outlet at the bottom of the seed guide mechanism bottom plate 404.

[0076] The seeds slide along the curved guide groove of the seed conveying mechanism 5. Because the inner wall of the guide groove is smooth and the end is inclined, the seeds can fall smoothly from the guide groove outlet into the seed hole of the seed metering base 701. At this time, the seed metering shaft 8 rotates under the drive of the external transmission system, driving the seed metering plate assembly 7 to rotate synchronously. The seed hole carrying the seeds rotates with the seed metering base 701 and gradually approaches the seed pushing position of the intelligent seed pushing mechanism 6.

[0077] When the annular permanent magnet 702 on the seeding chassis 701 rotates to a position close to the magnetoresistive effect sensor 604, the magnetoresistive effect sensor 604 outputs a voltage signal. Upon receiving this seeding trigger signal, the control module 602 immediately queries the preset variable seeding prescription map to determine the seeding command for the current position. If the command is for ultra-high-speed seeding, the control module 602 outputs a positive DC current to the energized solenoid 605. The energized solenoid 605 generates a magnetic field, which, combined with the magnetic attraction of the annular permanent magnet 702 on the permanent magnet slider 607-4, pushes the permanent magnet slider 607-4 to slide rapidly along the slide rail 607-2, and the flexible pusher 607-5 quickly pushes the seeds out of the seed hole. If the command is for precision seeding, the control module 602 outputs a reverse PWM current to the energized solenoid 605. The generated magnetic field is opposite to the magnetic attraction, weakening the total driving force, and the permanent magnet slider 607-4 slides slowly. Simultaneously, the control module... The control module 602 determines the starting speed of the slider based on the signal from the first induction coil 607-1. If the starting speed is too fast, the current will be finely adjusted to further reduce the electromagnetic force, ensuring that the flexible pusher 607-5 gently pushes out the seeds and protects the fragile seeds. If the instruction is to skip seeding, the control module 602 outputs a strong reverse DC current to the energized solenoid 605. The resulting repulsive force completely cancels out the magnetic attraction force, and the permanent magnet slider 607-4 is locked in the initial position and does not perform the seed pushing action. The duration of the repulsive force is adjusted according to the rotation speed of the seed metering disc to ensure that the repulsive force disappears after the seed hole passes the seed pushing position, thus avoiding unnecessary power consumption.

[0078] During the pushing process, the control module 602 monitors the movement state of the permanent magnet slider 607-4 through the induction signals of the first induction coil 607-1 and the second induction coil 607-3. During normal pushing, the permanent magnet slider 607-4 will pass through the two coils in turn, causing the coils to generate induction signals. If the control module 602 starts the timer and does not receive the trigger signal of the second induction coil 607-3 within the preset time, it is determined that there is a forward blocking fault. At this time, the control module 602 will control the energized solenoid 605 to output a reverse current for a short time, trying to push the slider in the reverse direction to remove slight jamming. If multiple attempts are ineffective, the control module 602 will continuously report fault codes and alarm. After the pushing is completed, the control module 602 outputs a reverse reset current to the energized solenoid 605 to generate a reverse magnetic field to push the permanent magnet slider 607-4 back to the initial position. If the signal of the first induction coil 607-1 does not return to the initial state after the preset time, it is determined that there is a homing failure fault. The control module 602 will cut off the next pushing instruction until the fault is eliminated, avoiding continuous faults that cause missed planting or repeated planting.

[0079] The pushed seeds are separated from the seed holes of the seed metering chassis 701, exit the seed metering device along the seed metering outlet on one side of the seed supporting chassis 9, and fall into the soil under the action of gravity.

[0080] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacements or changes to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An electromagnetic control-based intelligent precision seed metering device, characterized in that, Comprise: Seed disk assembly (7), the seed disk assembly (7) includes seed disk (701) and annular permanent magnet (702), the seed disk (701) is provided with seed hole, the annular permanent magnet (702) is correspondingly arranged at seed hole side; Electromagnetic intelligent seed pushing assembly, the electromagnetic intelligent seed pushing assembly includes control module (602), power-on solenoid (605) and flexible seed pushing assembly (607), the flexible seed pushing assembly (607) includes permanent magnet slider (607-4) and flexible pushing disc (607-5), the permanent magnet slider (607-4) is slidably arranged, the flexible pushing disc (607-5) is fixed at the end of permanent magnet slider (607-4); The flexible seed pushing assembly (607) further includes first induction coil (607-1) and second induction coil (607-3), the first induction coil (607-1) and second induction coil (607-3) are arranged along the movement direction of permanent magnet slider (607-4), for monitoring the movement state of permanent magnet slider (607-4); Wherein, the control module (602) is electrically connected with power-on solenoid (605), and the power-on solenoid (605) surrounds the movement path of permanent magnet slider (607-4); When the seed disk assembly (7) rotates and makes the annular permanent magnet (702) close to the permanent magnet slider (607-4), the control module (602) controls the power-on solenoid (605) to be powered on, generates electromagnetic force, interacts with the magnetic attraction force of the annular permanent magnet (702), drives the permanent magnet slider (607-4) to move, and makes the flexible pushing disc (607-5) push the seed in the seed hole out.

2. The electromagnetic control based smart precision seed meter of claim 1, wherein, Further comprising seed storage pretreatment assembly, the seed storage pretreatment assembly includes seed storage mechanism (3) and seed guiding mechanism (4), the seed guiding mechanism (4) includes seed guiding wheel (402-5), the blade of the seed guiding wheel (402-5) is spiral, for conveying the seed from the seed storage mechanism (3) to the seed hole of the seed disk assembly (7).

3. The electromagnetic control based smart precision seed meter of claim 2, wherein, Further comprising seed conveying and carrying assembly, the seed conveying and carrying assembly includes seed conveying mechanism (5), the seed conveying mechanism (5) is arranged between the seed guiding mechanism (4) and the seed disk assembly (7), and a curved guide groove is formed in the seed conveying mechanism (5), for guiding the seed into the seed hole.

4. The electromagnetic control based smart precision seed meter of claim 1, wherein, The flexible seed pushing assembly (607) further includes slide rail (607-2), and the permanent magnet slider (607-4) is slidably arranged on the slide rail (607-2).

5. The electromagnetic control based smart precision seed meter of claim 1, wherein, The electromagnetic intelligent seed pushing assembly further includes magnetoresistance effect sensor (604), the magnetoresistance effect sensor (604) is arranged at the side of the seed disk assembly (7), for detecting the position of the annular permanent magnet (702), and sending a signal to the control module (602).

6. The electromagnetic control based smart precision seed meter of claim 1, wherein, The control module (602) is configured to determine whether the permanent magnet slider (607-4) occurs forward blocking or homing failure according to the signals of the first induction coil (607-1) and the second induction coil (607-3).

7. The electromagnetic control based smart precision seed meter of claim 1, wherein, The control module (602) is configured to control the current of the power-on solenoid (605) to realize ultra-high-speed seeding, precision seeding or skip seeding mode.

8. An electromagnetic control-based intelligent precision seed metering method, characterized in that, The method is applied to the seed metering device in any one of claims 1-7, and the method comprises the following steps: Monitoring the position of the annular permanent magnet (702) of the seed metering disc assembly (7); When the annular permanent magnet (702) reaches a predetermined position, the control module (602) controls the energized solenoid (605) to be energized according to the seeding instruction; The energized solenoid (605) generates an electromagnetic force, which interacts with the magnetic attraction force of the annular permanent magnet (702) to drive the permanent magnetic slider (607-4) to move; The permanent magnetic slider (607-4) drives the flexible push disc (607-5) to push the seed in the seed hole out, and after the seed pushing is completed, the control module (602) outputs a reverse reset current to the energized solenoid (605) to generate a reverse magnetic field to push the permanent magnetic slider (607-4) back to the initial position, and if the signal of the first induction coil (607-1) is not restored to the initial state after a preset time, it is determined that the homing failure fault occurs, and the control module (602) will cut off the next seed pushing instruction.

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