Precision seeding system with self-adaptive seeding posture and seeding method

Abstract

The seeding system comprises an air suction seeding machine and a rack, a near-infrared seed activity detection device is arranged at the upstream of a seeding pipe of the air suction seeding machine, a pneumatic blowing nozzle is arranged on the side wall of the seeding pipe, inferior seeds can be blown into a waste seed box, and synchronous reseeding is performed by a reseeding module; a tilt angle sensor is mounted on the air suction seeding main body, and two symmetrical electric push rods are connected between the rack and the seeding machine and are electrically connected with a controller. The tilt angle sensor monitors the tilt angle in real time, the controller drives the electric push rod to stretch out and draw back, and the seeding pipe rigidly connected with the seeding body is always perpendicular to the ground by adjusting the posture of the seeding body. Accurate screening and dynamic leveling seeding of active seeds are achieved, the front-end stubble cleaning and anti-blocking device is combined, the structure is compact, control is accurate, the seeding intelligent level and the operation quality are improved, and the no-tillage requirements of various farmlands are met.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to seeding machinery, specifically a precision seeding system and seeding method with adaptive seeding posture. Background Technology

[0002] With the advancement of agricultural modernization, precision seeding technology has become key to improving crop yield and quality, and seeders and seed metering devices have also matured accordingly. However, there are still shortcomings in the existing seeding equipment as a whole: Firstly, traditional seeders lack a seed activity detection mechanism and rely solely on manual pre-screening of seeds. This is not only inefficient but also fails to remove low-activity, moldy, or damaged seeds in real time during the sowing process, resulting in inconsistent germination rates after sowing and affecting crop density and final yield.

[0003] Secondly, the seeders of existing air-suction seeders are mostly fixed installation structures. When operating in complex terrains such as hills and slopes, the seeders are prone to deviating from the vertical position due to the tilt of the frame, resulting in uneven sowing depth and scattered seed distribution, which in turn affects the uniformity of crop growth.

[0004] Third, some seeders with waste seed removal functions use mechanical screening or negative pressure adsorption to remove waste seeds. Mechanical screening is prone to damaging the seed embryo, and negative pressure adsorption is greatly affected by air pressure fluctuations, resulting in low accuracy in removing waste seeds and difficulty in adapting to crop seeds of different particle sizes.

[0005] Fourth, in no-till seeding operations, weeds and straw left in the field tend to accumulate before furrowing. Traditional seeders lack efficient stubble clearing and anti-clogging structures, which can easily lead to furrow blockage and seeding obstruction, affecting the continuity of operations and seeding quality.

[0006] To address the aforementioned issues, there is an urgent need to develop a no-till seeding device that features real-time non-destructive seed activity detection, precise removal of waste seeds, adaptive adjustment of sowing posture, and efficient stubble clearing and anti-clogging functions. This would solve the technical pain points of traditional seeders and improve the intelligence level, operational quality, and adaptability to complex environments in sowing operations. Summary of the Invention

[0007] This invention addresses the shortcomings of existing technologies by providing a precision seeding system and method with adaptive seeding posture. It enables real-time detection of seed activity, precise removal of low-activity seeds, real-time replanting of qualified seeds, and stable control of the seeder posture. It also solves the problem of stubble clearing and blockage prevention in no-till farming, thereby improving seeding germination rate, seeding uniformity, and operational adaptability.

[0008] This invention is achieved through the following technical solution: providing a precision seeding system with adaptive seeding posture, including a frame and a seeder mounted on the frame. A seeding tube is installed at the bottom of the seeder, and at least two telescopic mechanisms that extend and retract vertically are also included. One end of each telescopic mechanism is fixedly connected to the seeder, and the fixed points of the two telescopic mechanisms and the seeder are arranged in the front-back direction. The other end of each telescopic mechanism is hinged to a mounting base fixed on the frame via a ball joint. An angle sensor electrically connected to the telescopic mechanism is installed on one plane of the seeder, and the plane is perpendicular to the seeding tube.

[0009] This solution uses a tilt sensor to collect tilt signals in real time. The telescopic mechanism extends and retracts differentially according to the tilt signal, driving the seeder to rotate and keeping the seeder tube in a vertical position, ensuring that the seeder tube is perpendicular to the ground. By setting a ball joint, the flexibility of the seeder's rotation is improved.

[0010] As an optimization, a cutting blade and stubble-distributing toothed discs are rotatably mounted on the front end of the frame. The circumferential edge of the stubble-distributing toothed discs has stubble-distributing teeth, and the distance between the front end of the stubble-distributing teeth and the cutting blade is less than the distance between the rear end of the stubble-distributing teeth and the cutting blade. This optimized design uses the stubble-distributing toothed discs to direct the cut weeds and straw to both sides of the seeder, preventing clogging of the seed furrows.

[0011] As an optimization, a compaction wheel is also rotatably mounted on the frame, located directly behind the cutting blade. This optimization scheme, by setting up the compaction wheel, compacts and levels the surface after stubble clearing, preventing soil collapse during trenching operations and further ensuring uniform trenching depth.

[0012] As an optimization, the telescopic mechanism is an electric push rod, with two electric push rods located on the front and rear sides of the seeder, respectively. An adapter pipe is fixedly connected to the upper end of each electric push rod, and the ends of the two adapter pipes furthest from the electric push rods are fixedly connected to the front and rear faces of the seeder, respectively. This optimized telescopic mechanism uses electric push rods, which are simple in structure and easy to control. The adapter pipes facilitate the connection between the seeder and the electric push rods and also help avoid interference between them.

[0013] As an optimization, a near-infrared seed activity detection module and a waste seed removal module located below the near-infrared seed activity detection module are installed on the seeding tube. The waste seed removal module includes a pneumatic nozzle and a waste seed blowing pipe fixed to the side wall of the seeding tube and arranged opposite each other. Both the pneumatic nozzle and the waste seed blowing pipe are connected to the inner cavity of the seeding tube. This optimized solution uses the near-infrared seed activity detection module to detect the activity of seeds. If low-activity seeds are detected, the pneumatic nozzle blows air, blowing the low-activity seeds from the seeding tube into the waste seed blowing pipe, thus achieving non-contact removal of low-activity seeds.

[0014] As an optimization, a waste seed box is connected to the end of the waste seed blowing pipe furthest from the sowing pipe. The waste seed box has a box body with an open top, and the side wall of the box body has a through hole adapted to the waste seed blowing pipe. At least one side wall of the waste seed box has a pull-out hole adapted to the box body. This optimized solution, by setting up a waste seed box and a box body, facilitates the collection of low-activity seeds blown out by the waste seed removal module, and by setting up a pull-out hole, facilitates the removal and placement of the box body.

[0015] As an optimization, the frame is also equipped with a reseeding module, which includes a reseeding bin, a seed metering device located below the reseeding bin, and a reseeding pipe connected to the seed outlet end of the seed metering device. This optimization scheme, by setting up a reseeding module, performs reseeding when low-activity seeds are present, thereby ensuring the sowing density.

[0016] This solution also provides a seeding method for a precision seeding system with adaptive seeding posture, including the following steps: a. Stubble clearing and compaction: When the machine moves forward, the cutting blade at the front of the frame is used to cut the straw and weeds. The stubble-pulling toothed disc is used to push the cut straw and weeds to the left and right sides. The compaction wheel is used to level the ground after pushing the straw and weeds. The furrow opener installed behind the compaction wheel is used to open the sowing furrow. b. Seed storage and sowing: The seeds in the seed bin are sown individually using a seeder, and the seeds fall into the sowing tube through the seeder. c. Seed activity detection and removal / replanting: During the seed's descent in the seeding tube, the near-infrared seed activity detection module is used for detection. If the seed is determined to be qualified, it falls along the seeding tube into the seeding furrow. If the seed is determined to be unqualified, the waste seed removal module is activated to remove the seed from the seeding tube and release a seed into the seeding tube to fill the seeding gap. d. Dynamic adjustment of seeder posture: The tilt angle of the seeder is detected by the tilt sensor. When the seeder deviates from the vertical direction by ≥0.5°, the controller controls the telescopic mechanism to extend and retract differentially to adjust the seeder to a vertical state, ensuring that the seeder and the end of the seeder tube are always perpendicular to the ground.

[0017] The beneficial effects of this invention are as follows: By incorporating a tilt sensor to detect the seeder's tilt angle, and through differential telescopic extension of the telescopic mechanism, the seeding tube is kept vertical. A near-infrared seed activity detection module accurately identifies low-activity, moldy, and damaged seeds. Combined with an air-blowing non-contact removal method, this avoids damage to the seed embryo caused by traditional mechanical screening and solves the problem of low accuracy in negative pressure adsorption. Simultaneously, a reseeding module fills the gaps left by the removal of defective seeds, ensuring sowing density and improving germination rate and crop uniformity. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Enlarged view of a portion of the image; Figure 3 This is a schematic diagram of the replanting module structure; Figure 4 This is a schematic diagram of the near-infrared seed activity detection module. Figure 5 This is a schematic diagram of the waste seed box structure; As shown in the figure: 1. Stubble-removing toothed disc, 2. Cutting blade, 3. Frame, 4. Telescopic mechanism, 5. Seeder, 6. Reseeding module, 7. Soil covering device, 8. Seed bin, 9. Waste seed box, 10. Tilt sensor, 11. Adaptor pipe, 12. Mounting base, 13. Pneumatic nozzle, 14. Seeding tube, 15. Furrow opener, 16. Pressing wheel, 17. Near-infrared seed activity detection module, 18. Waste seed blowing pipe, 19. Reseeding bin, 20. Seed metering device, 21. Reseeding tube, 22. Pneumatic seed metering device I, 23. Small seed bin, 24. Box body, 101. Light source, 102. Light source wiring, 1501. Fiber optic probe, 1502. Irradiation light source device, 1801. Near-infrared spectrometer, 1802. Optical cable. Detailed Implementation

[0019] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0020] This embodiment includes a seed storage and metering module, a near-infrared seed activity detection module, an air-blown waste seed removal module, a posture adaptive adjustment module, a stubble clearing and anti-clogging module, and an electronic control coordination module. These modules work collaboratively through mechanical connections and electrical signal transmission, adapting to the precision sowing needs of complex terrains such as hills and slopes. It enables precise sowing of high-vitamin seeds for crops such as wheat and corn. The frame provides the installation support for each module, the seed bin supplies seeds to the main sowing system, and all functional modules are integrated and deployed on the frame, forming an integrated operational structure of "stubble clearing → compaction → seed storage → detection → metering → reseeding → posture control → soil covering".

[0021] Specifically, such as Figure 1 The diagram illustrates a precision seeding system with adaptive seeding posture, comprising a frame 3 equipped with a furrow opener 15, and a seeder 5 mounted on the frame 3. A seed bin 8 is mounted on the top of the seeder, and a seeding tube 14 is mounted on the bottom of the seeder 5. During seeding, furrows are created by the furrow opener, and the seeding tube extends downwards directly above the furrows. Seeds from the seed bin fall into the seeding tube through the seeder. Both the seeder and the furrow opener can utilize existing technology; the seeder itself is a conventional air-suction seeder, and its structure will not be described in detail.

[0022] The seed bin 8, seeder 5, and seeding tube 14 form a seed storage and metering module. The seed bin 8 adopts a hollow box structure with an open top, and its volume is adapted to the seed supply needs of continuous sowing scenarios. It is equipped with a seed guide ramp inside to ensure that the seeds fall smoothly without stagnation. The seeder 5 is the core seed metering component. Its structure includes a seed metering disc, a seed metering drive shaft, and auxiliary wheels. The seed metering drive shaft is linked to the power system of the frame and achieves precise single-seed pickup through the principle of negative pressure adsorption. The size of the seed suction holes on the surface of the seed metering disc is adapted to the target seed particle size. The seeding tube 14 is connected to the discharge end of the seeder and extends vertically downward at the end to provide a smooth conveying channel for the seeds and avoid seed jamming. The seeding tube 14 also serves as a carrier channel for detection, rejection, and reseeding operations and integrates the installation structure of subsequent functional modules.

[0023] This embodiment also includes at least two telescopic mechanisms 4 that extend and retract vertically. As a preferred embodiment, there are two telescopic mechanisms, and the two telescopic mechanisms are located on the front and rear sides of the seeder, respectively. Specifically, one end of the telescopic mechanism 4 is fixedly connected to the seeder 5, and the fixed points of the two telescopic mechanisms and the seeder are arranged in the front-rear direction. The other end of the telescopic mechanism is hinged to the mounting base 12 fixed on the frame through a ball joint.

[0024] As an optimization, the telescopic mechanism 4 in this embodiment is an electric push rod. The two electric push rods are located on the front and rear sides of the seeder, respectively, and both extend and retract vertically. The upper end of the electric push rod is fixedly connected to the adapter pipe 11, and the ends of the two adapter pipes 11 away from the electric push rods are fixedly connected to the front and rear faces of the seeder, respectively.

[0025] An inclination sensor 10, electrically connected to the telescopic mechanism, is mounted on one of the planes of the seeder, and this plane is perpendicular to the seeding tube 14. For ease of installation, in this embodiment, the inclination sensor 10 is mounted on the top surface of the seeder to detect the inclination angle of the seeder.

[0026] The tilt sensor 10 and the telescopic mechanism form an attitude adaptive adjustment module, which is the core execution unit to ensure the accuracy of seeding in complex terrain: The tilt sensor 10 is fixed to the top shell of the seeder by a magnetic base, the detection axis is parallel to the vertical center line of the seeder, the detection accuracy is ≤0.1°, the sampling frequency is ≥10Hz, and the tilt deviation signal of the seeder is collected in real time; Two electric push rods are symmetrically arranged along the vertical center line of the frame; Through the setting of ball joint connection, the rotation angle range of the electric push rods reaches 0°~45°, realizing multi-angle adaptive hinge between the electric push rods and the seeder; The telescopic stroke of the electric push rods is 100mm~300mm, and the response time of the drive motor is ≤0.5s.

[0027] When the tilt sensor 10 detects that the seeder deviates from the vertical position by ≥0.5°, it transmits the tilt signal to the PLC controller. The controller calculates the adjustment amount of the electric push rods on both sides through the built-in algorithm, drives the electric push rods on both sides to extend and retract differentially, and generates torque to drive the seeder to rotate around the ball joint support point until the tilt sensor 10 feedbacks that the seeder has returned to the vertical position. This ensures that the seeder and the end of the seeding tube are always perpendicular to the ground, and ensures that the distance between the discharge port of the seeding tube and the soil surface is constant. This avoids problems such as uneven sowing depth and seed scattering caused by the tilt of the frame, and improves sowing accuracy and growth consistency.

[0028] The seeding tube is equipped with a near-infrared seed activity detection module 17 and a waste seed removal module located below the near-infrared seed activity detection module. The near-infrared seed activity detection module 17 is used to detect seed activity, and the waste seed removal module is used to blow low-activity seeds away from the seeding tube.

[0029] The near-infrared seed activity detection module 17 is integrated inside the seed tube and is the core unit for non-contact seed activity detection. Its structure adopts existing technology and includes a near-infrared detection light source component, a near-infrared spectrum acquisition component, and a signal transmission component.

[0030] The near-infrared detection light source assembly includes a light source 101 and an illumination light source device 1502, which are integrated and embedded in one side of the inner wall of the seeding tube. The light-emitting end of the illumination light source device 1502 is flush with the internal channel of the seeding tube 14, ensuring that the 780nm~2500nm near-infrared light emitted by the light source 101 can completely cover the seeds falling inside the tube. The near-infrared spectrum acquisition assembly includes a fiber optic probe 1501, which is embedded in the other side of the inner wall of the seeding tube and arranged opposite to the illumination light source device 1502. The detection end of the fiber optic probe 1501 is also flush with the internal channel of the seeding tube 14, forming a closed detection optical path inside the seeding tube 14 together with the illumination light source device 1502. The signal transmission assembly includes a near-infrared spectrometer 1801, an optical cable 1802, and a light source connector 102. One end of the optical cable 1802 is connected to the fiber optic probe 1501, and the other end extends to the outside of the seeding tube 14 and is connected to the near-infrared spectrometer 1801 fixed on the frame. One end of the light source wiring 102 is connected to the light source 101, and the other end is connected to the external power supply and control circuit to provide stable power to the light source 101. The light emission direction of the irradiation light source device forms a 90° angle with the detection direction of the fiber optic probe, and the detection area of ​​both covers the entire cross-section of the seeding tube, ensuring that there are no blind spots in the detection of falling seeds.

[0031] The working process of the near-infrared seed activity detection module 17 is as follows: When the seed falls inside the seeding tube, the light source 101 emits near-infrared light into the tube through the irradiation light source device 1502. After the light shines on the seed surface, it forms a characteristic reflection spectrum. The fiber optic probe 1501 collects the spectral signal in real time and transmits it to the near-infrared spectrometer 1801 through the optical cable 1802. The near-infrared spectrometer 1801 analyzes the spectral data and can accurately identify seeds with low activity, mold, or damage, providing a basis for subsequent rejection of waste seeds.

[0032] The waste seed removal module includes a pneumatic nozzle 13 and a waste seed blowing pipe 18, which are fixed to the side wall of the sowing tube and arranged opposite to each other. Both the pneumatic nozzle 13 and the waste seed blowing pipe 18 are connected to the inner cavity of the sowing tube. The near-infrared seed activity detection module is electrically connected to the waste seed removal module. When the near-infrared seed activity detection module detects low-activity seeds, the pneumatic nozzle of the waste seed removal module blows air to blow the low-activity seeds from the sowing tube into the waste seed blowing pipe, thereby removing the low-activity seeds.

[0033] The end of the waste seed blowing tube furthest from the sowing tube is connected to a waste seed box 9. The waste seed box contains a box body 24 with an open top. The side wall of the box body has a through hole adapted to the waste seed blowing tube. When the pneumatic nozzle blows air, inactive seeds enter the box body through the waste seed blowing tube for easy collection. At least one side wall of the waste seed box has a pull-out hole adapted to the box body. A ventilation vent is provided between the top of the box body and the top plate of the waste seed box to ensure that waste seeds can be blown into the box body.

[0034] The frame is also equipped with a reseeding module 6, which includes a small seed bin 23, an air-suction seed metering device I 22, a reseeding bin 19, a seed metering device 20 located below the reseeding bin, and a reseeding pipe 21 connected to the seed outlet of the seed metering device. The outlet of the small seed bin is adapted to the inlet of the air-suction seed metering device I 22. The reseeding bin is located below the air-suction seed metering device I 22, and the outlet of the air-suction seed metering device I 22 is adapted to the inlet of the reseeding bin. The lower end of the reseeding pipe is located directly behind the sowing pipe, and the lower end of the reseeding pipe extends above the furrow opened by the furrow opener. In this embodiment, the seed metering device adopts the existing eye-type seed metering device 20, which releases one qualified seed into the sowing pipe each time. The air-suction seed metering device I 22 also adopts the existing technology.

[0035] The small seed bin is used to store seeds for replanting. The air suction seed metering device I22 starts after receiving a signal from the electronic control unit and transports the seeds one by one to the seed bin for temporary storage. The eyelet seed metering device is connected to the bottom of the seed bin, accurately adsorbs the seeds in the bin, guides and transports them through the seed pipe, and finally drops them into the seed furrow to complete the replanting operation and ensure the sowing density.

[0036] The waste seed removal module and the replanting module work together to achieve replanting after seed removal. An air compressor supplies seed-blowing gas to the pneumatic nozzles. The air compressor is installed in a reserved position on the frame and is equipped with a pressure regulating valve, a real-time pressure gauge, and a mounting side plate. The output pressure can be adjusted within the range of 0.2MPa to 0.8MPa. In this embodiment, the air compressor is a miniature scroll compressor. The pressure regulating valve and the gauge display the real-time pressure value, and the nozzle's injection pressure can be adaptively adjusted according to the seed size. The pneumatic nozzle includes a conical nozzle and an electromagnetic reversing valve. The conical nozzle is installed on the downstream side wall of the seeding tube of the near-infrared detection module, with the injection direction at a 35° angle to the seeding tube axis and facing the waste seed blowing pipe 18. The electromagnetic reversing valve connects the air compressor and the conical nozzle via an air pipe and is electrically connected to the electronic control module. The waste seed box has a pull-out design and is connected to the blowing position of the sowing tube via an inclined circular tube with a wear-resistant coating on the inner wall. The pull-out box has a transparent observation window on the outside. The pull-out design facilitates regular cleaning of waste seeds and avoids accumulation and blockage. The side wall of the box has anti-slip protrusions. The replanting module is installed next to the waste seed box and is pre-stored with high-activity qualified seeds. It is linked to the PLC controller by electrical signals. When low-activity seeds are blown into the waste seed box, the PLC controller triggers the drive unit of the replanting module to release one qualified seed into the sowing tube to fill the sowing gap after the waste seeds are removed, ensuring uniform sowing density in the field.

[0037] The front end of the frame is rotatably mounted with a cutting blade 2 and stubble-removing toothed discs 1 located on the left and right sides of the cutting blade. The circumferential edge of the stubble-removing toothed discs 1 has stubble-removing teeth, and the distance between the front end of the stubble-removing teeth and the cutting blade is less than the distance between the rear end of the stubble-removing teeth and the cutting blade. When the stubble-removing toothed discs rotate, they push the cut weeds and straw away from the cutting blade to the left and right. The cutting blade and the stubble-removing toothed discs form a stubble-clearing and anti-clogging module located at the front end of the frame. It adopts a "center cutting + side pushing" combined structure and is a key component for achieving no-till operations. The circular cutting blade is located between the symmetrically V-shaped stubble-removing toothed discs on both sides; the circular cutting blade has a serrated edge, suitable for efficient cutting of straw and weeds; the height of the arc-shaped teeth on the edge is 50mm~80mm. As the seeder moves forward, the central circular cutting blade first rotates and cuts the straw and weeds in the field, cutting long strips of debris into short sections; then the two side toothed discs rotate synchronously, using the circular teeth to direct the cut debris to the left and right sides of the seeder, preventing the debris from accumulating in front of the seed furrow.

[0038] In this embodiment, a compaction wheel 16 is rotatably mounted on the frame, located directly behind the cutting blade. The trencher is positioned directly behind the compaction wheel. During operation, the compaction wheel compacts and levels the stubble-cleared surface, preventing soil subsidence and ensuring uniform trenching depth. The trencher is a moldboard type, detachably connected to the frame via a height adjustment screw, with a trenching depth adjustment range of 50mm to 150mm. A cover soil device 7 is mounted at the rear of the frame, located behind the trencher. The cover soil device 7 has a disc-shaped structure and is mounted behind the trencher via a hinged frame. The compaction depth of the cover soil is adapted to the trenching depth, and the surface of the cover soil device has anti-slip textures.

[0039] This embodiment also includes an electronic control module, which includes a PLC controller. The PLC controller, together with the power supply circuit, signal conditioning circuit, and drive module, constitutes a dual closed-loop control system. The PLC controller integrates a signal acquisition module, a data processing module, and an execution control module. The signal acquisition module is electrically connected to the tilt sensor and the near-infrared spectrometer to continuously acquire the seeder tilt signal and seed activity detection signal. The execution control module is electrically connected to the drive motor of the electric push rod, the electromagnetic reversing valve, the air compressor, and the drive unit of the reseeding module. The data processing module performs real-time analysis and calculation on the acquired signals, outputs control commands to drive the corresponding execution components, and simultaneously receives the adjusted tilt signal from the tilt sensor and the subsequent seed detection signal from the near-infrared spectrometer, forming a dual closed-loop fully automatic linkage control of seed activity detection-inferior seed removal-real-time reseeding and seeder tilt detection-dynamic leveling-attitude feedback.

[0040] The seed processing is a closed loop. The near-infrared spectrometer transmits the seed activity detection signal to the controller. When the data processing module determines that the seed is low-activity, it triggers the opening of the electromagnetic reversing valve. The nozzle sprays high-pressure airflow to blow the low-activity seed into the waste seed basket. At the same time, it controls the replanting module to release qualified seeds, realizing real-time linkage of "detection-rejection-replanting".

[0041] The attitude adjustment closed loop uses a tilt sensor to provide real-time feedback on the tilt deviation signal of the seeder. After the controller calculates the adjustment amount, it drives the differential extension and retraction of the double-sided electric push rod telescopic rod. Through the adaptive rotation of the ball joint seat, the air suction seeder is adjusted to maintain a vertical state, so that the seeder tube rigidly connected to it is always perpendicular to the ground, realizing dynamic attitude control of "detection-adjustment-feedback".

[0042] The specific work process is as follows: Equipment startup self-test: After the equipment starts up, the power circuit supplies power to the electrical control system, the PLC controller completes the signal path detection of each module, enters the standby state, and waits for the rack power system to start signal; Pre-stubble clearing and compaction: After the frame power system is started, it drives the cutter roller of the stubble clearing and anti-blocking module to rotate, completing the cutting and conveying of straw and weeds in the field; at the same time, the compaction wheel module moves with the seeder to compact the surface and level the soil ridges; Seed storage and metering operation: The power system outputs a metering control signal, and the metering disc of the air suction seeder begins single-seed metering operation. The seeds fall into the metering device through the seed bin guide slope and are then transported to the sowing pipe by the metering pipe. Seed activity detection and rejection / replanting: During the seed descent, the near-infrared detection light source module emits infrared light, and the fiber optic probe collects the seed spectral signal. After processing by the spectral analyzer, the signal is transmitted to the PLC controller. If the seed is determined to be low-activity / damaged, the PLC immediately outputs a drive signal to the electromagnetic reversing valve, and the nozzle sprays an airflow of appropriate pressure to blow the waste seed into the waste seed box. At the same time, the replanting module is triggered to release one seed to fill the sowing gap. If the seed is determined to be qualified, the seed continues to fall along the sowing tube and falls precisely into the sowing furrow pre-opened by the furrow opener.

[0043] Dynamic adjustment of seeder posture: Dual-axis tilt sensors collect the tilt signal of the air suction seeder in real time at a sampling frequency of ≥10Hz. When the seeder is detected to deviate from the vertical state by ≥0.5°, the PLC controller quickly calculates the adjustment amount of the dual electric push rods and drives the electric push rods to extend and retract differentially. With the adaptive rotation of the ball joint, the seeder is adjusted to a vertical state, ensuring that the seeder and the end of the seeding tube are always perpendicular to the ground, and ensuring uniform sowing depth.

[0044] Covering and compaction instructions: The furrow opener moves along with the frame to complete the digging of the seed furrow, and the covering device follows closely behind to cover and compact the soil for the seeds that fall into the furrow, forming a stable germination environment.

[0045] This embodiment presents a seeding method for a precision seeding system with adaptive seeding posture, comprising the following steps: a. Stubble clearing and compaction: When the machine moves forward, the cutting blade at the front of the frame is used to cut the straw and weeds. The stubble-pulling toothed disc is used to push the cut straw and weeds to the left and right sides. The compaction wheel is used to level the ground after pushing the straw and weeds. The furrow opener installed behind the compaction wheel is used to open the sowing furrow. b. Seed storage and sowing: The seeds in the seed bin are sown individually using a seeder, and the seeds fall into the sowing tube through the seeder. c. Seed activity detection and removal / replanting: During the seed's descent in the seeding tube, the near-infrared seed activity detection module is used for detection. If the seed is determined to be qualified, it falls along the seeding tube into the seeding furrow. If the seed is determined to be unqualified, the waste seed removal module is activated to remove the seed from the seeding tube and release a seed into the seeding tube to fill the seeding gap. d. Dynamic adjustment of seeder posture: The tilt angle of the seeder is detected by the tilt sensor. When the seeder deviates from the vertical direction by ≥0.5°, the controller controls the telescopic mechanism to extend and retract differentially to adjust the seeder to a vertical state, ensuring that the seeder and the end of the seeder tube are always perpendicular to the ground.

[0046] This invention achieves fully automated operation of the entire process of stubble clearing, compaction, detection, rejection, reseeding, posture control, and soil covering through the coordinated work of various modules. The detection accuracy is ≥99% and the rejection rate of waste seeds is ≥98%. It can adapt to the uniform sowing needs of complex terrains such as hills and slopes, and effectively improve the germination rate and uniformity of crop growth.

[0047] The beneficial effects of this invention are: 1. Improve seed germination rate and crop yield: Utilizing near-infrared spectroscopy non-destructive testing technology, it can accurately identify low-activity, moldy, and damaged seeds. Combined with an air-blowing non-contact rejection method, it avoids damage to the seed embryo caused by traditional mechanical screening and solves the problem of low accuracy of negative pressure adsorption. At the same time, the real-time replanting module fills the gaps after the removal of waste seeds, ensuring sowing density and significantly improving the germination rate and uniformity of crop growth, laying the foundation for high yield. Furthermore, the adjustable air pressure design is suitable for crop seeds of different particle sizes.

[0048] 2. Ensure sowing accuracy and uniformity: The posture of the air suction seeder is monitored in real time by a high-precision tilt sensor (detection accuracy ≤0.1°). Combined with the fast response (≤0.5s) of the electric push rod and the dual-sided differential telescopic adjustment, the seeder and the sowing tube can always be kept perpendicular to the ground when operating on complex terrains such as hills and slopes. This ensures that the distance between the sowing tube outlet and the soil surface is constant, avoiding problems such as uneven sowing depth and seed scattering caused by frame tilt, thus improving sowing accuracy and growth uniformity.

[0049] 3. Enhanced adaptability to no-till operations: The front of the frame integrates a V-shaped stubble clearing and anti-clogging module, with the stubble cutter efficiently chopping weeds and straw, and the V-shaped stubble-dispensing toothed disc directionally distributing debris, solving the problem of clogging in the planting furrows at the source; the front-end compaction wheel module compacts the surface and levels the soil ridges, preventing soil collapse during furrowing operations, further ensuring uniform furrowing depth, and adapting to the needs of no-till plots with straw cover, weeds, and complex terrain.

[0050] 4. Convenient operation and high degree of intelligence: The whole system realizes fully automatic linkage control of "detection-judgment-execution-feedback", eliminating the need for manual intervention in seed screening, replanting and posture adjustment, reducing the labor intensity of operators; each module has a compact structure and reliable connection, and the detection component mounting frame, air pressure parameters, electric push rod stroke, etc. can all be flexibly adjusted according to the operation requirements, adapting to the sowing needs of various crops such as wheat, corn and vegetables, and has strong versatility.

[0051] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A precision seeding system with adaptive seeding posture, comprising a frame (3) and a seeder (5) mounted on the frame (3), wherein a seeding tube (14) is installed at the bottom of the seeder (5), characterized in that: It also includes at least two telescopic mechanisms (4) that extend vertically. One end of the telescopic mechanism (4) is fixed to the seeder (5), and the fixed points of the two telescopic mechanisms and the seeder are arranged in the front-back direction. The other end of the telescopic mechanism is hinged to the mounting seat (12) fixed on the frame through a ball joint. An angle sensor (10) electrically connected to the telescopic mechanism is installed on one of the planes of the seeder, and the plane is perpendicular to the seeding tube (14).

2. The precision seeding system with adaptive seeding posture according to claim 1, characterized in that: The front end of the frame is rotatably mounted with a cutting blade (2) and a shaving tooth disc (1) located on the left and right sides of the cutting blade. The circumferential edge of the shaving tooth disc (1) is provided with shaving teeth, and the distance between the front end of the shaving tooth and the cutting blade is less than the distance between the rear end of the shaving tooth and the cutting blade.

3. The precision seeding system with adaptive seeding posture according to claim 2, characterized in that: A pressure wheel (16) is also rotatably mounted on the frame, located directly behind the cutting blade.

4. The precision seeding system with adaptive seeding posture according to claim 1, characterized in that: The telescopic mechanism (4) is an electric push rod. The two electric push rods are located on the front and rear sides of the seeder, respectively. The upper end of the electric push rod is fixedly connected to the adapter pipe (11). The ends of the two adapter pipes (11) away from the electric push rods are fixedly connected to the front and rear faces of the seeder, respectively.

5. The precision seeding system with adaptive seeding posture according to claim 1, characterized in that: The seeding tube is equipped with a near-infrared seed activity detection module (17) and a waste seed removal module located below the near-infrared seed activity detection module. The waste seed removal module includes a pneumatic nozzle (13) and a waste seed blowing pipe (18) that are fixed to the side wall of the seeding tube and arranged opposite to each other. Both the pneumatic nozzle (13) and the waste seed blowing pipe (18) are connected to the inner cavity of the seeding tube.

6. The precision seeding system with adaptive seeding posture according to claim 5, characterized in that: The end of the waste seed blowing pipe away from the sowing pipe is connected to a waste seed box (9). The waste seed box has a box body with an opening at the top. The side wall of the box body has a through hole that matches the waste seed blowing pipe. At least one side wall of the waste seed box has a pull hole that matches the box body.

7. The precision seeding system with adaptive seeding posture according to claim 5, characterized in that: The frame is also equipped with a replanting module (6), which includes a replanting bin (19) and a seed metering device (20) located below the replanting bin, as well as a replanting pipe (21) connected to the seed outlet end of the seed metering device.

8. A seeding method for a precision seeding system with adaptive seeding posture according to any one of claims 5 to 7, characterized in that, Includes the following steps: a. Stubble clearing and compaction: When the machine moves forward, the cutting blade at the front of the frame is used to cut the straw and weeds. The stubble-pulling toothed disc is used to push the cut straw and weeds to the left and right sides. The compaction wheel is used to level the ground after pushing the straw and weeds. The furrow opener installed behind the compaction wheel is used to open the sowing furrow. b. Seed storage and sowing: The seeds in the seed bin are sown individually using a seeder, and the seeds fall into the sowing tube through the seeder. c. Seed activity detection and removal / replanting: During the seed's descent in the seeding tube, the near-infrared seed activity detection module is used for detection. If the seed is determined to be qualified, it falls along the seeding tube into the seeding furrow. If the seed is determined to be unqualified, the waste seed removal module is activated to remove the seed from the seeding tube and release a seed into the seeding tube to fill the seeding gap. d. Dynamic adjustment of seeder posture: The tilt angle of the seeder is detected by the tilt sensor. When the seeder deviates from the vertical direction by ≥0.5°, the controller controls the telescopic mechanism to extend and retract differentially to adjust the seeder to a vertical state, ensuring that the seeder and the end of the seeder tube are always perpendicular to the ground.

Images