Device and method for cooperatively regulating and controlling soil covering thickness and pressing force of corn planter

Abstract

The invention relates to a corn planter soil covering thickness and ballasting force cooperative regulation and control device and method.The corn planter soil covering thickness and ballasting force cooperative regulation and control device comprises a seed pressing device, a ditching depth monitoring module, a two-stage linkage variable soil covering device and a ballasting force regulation and control mechanism which are sequentially installed below a corn planter rack from front to back; the operation speed monitoring module and the central control unit are installed on a machine frame of the corn planter. The central control unit receives and processes seed furrow depth and operation speed signals from the furrowing depth monitoring module and the operation speed monitoring module, receives target operation parameters set by a user, and sends a real-time sensing signal to the user based on the target operation parameters and the real-time sensing signal. And a control instruction is output to drive an electric telescopic cylinder and a motor of the first-stage fluted disc coarse adjustment device, the second-stage counter-rotating fine adjustment device and the ballasting force regulation and control mechanism to act, so that the automatic regulation of the soil covering thickness and the ballasting force is realized. According to the invention, real-time and dynamic matching regulation and control of the sowing depth and the pressing force can be realized.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology and relates to a device and method for coordinated control of soil covering thickness and pressing pressure in a corn planter. Background Technology

[0002] Covering and compacting are crucial steps in corn planting. Covering the seeds in the furrow ensures a tight, even layer of soil. Compaction ensures close contact between the seeds and the surrounding moist soil, increasing the seedbed's ability to absorb water and nutrients. In practice, covering and compaction are closely coupled and continuous processes, with planting depth influenced by both. Ideal covering and compaction create a physical environment in the seedbed with a reasonable distribution of soil compaction and good seed-soil contact, improving planting depth consistency and achieving uniform, full, and robust seedling emergence.

[0003] Currently, in the mechanized sowing of corn, the research at home and abroad mainly focuses on improving the uniformity of soil covering, improving soil crushing performance, reducing the impact of soil covering on seed displacement, and reducing soil adhesion of soil covering components in the soil covering process. In terms of compaction, many scholars have improved the compaction device by using biomimetic principles, changing the material of the compaction wheel, conducting modern simulation design of the wheel body, and using contouring methods to achieve the goals of reducing adhesion and slippage, reducing working resistance, and improving compaction uniformity. At the same time, some scholars have used hydraulic, pneumatic, electric push rods, and adjusting spring preload to control the compaction pressure. Although scholars at home and abroad have conducted considerable research on soil covering and compaction, there are still three prominent problems in soil covering and compaction: (1) The method of soil covering is crude and the operation is not stable enough. At present, the soil covering process of most seeders relies on passive soil flow to cover the soil. The amount of soil covering is mainly determined by factors such as the size of the opening, the angle of the soil covering plate, or the burial depth of the soil covering device, resulting in uneven soil covering thickness and difficulty in control, which in turn affects the consistency of sowing depth. (2) The adjustment of soil covering is still mainly based on manual adjustment of the mechanical structure, and the level of intelligence needs to be improved. Currently, the soil covering settings of seeders mostly rely on agricultural technicians to manually adjust the mechanical structure based on experience or agronomic needs, lacking sensor monitoring and automatic control capabilities. Under different soil conditions or different agronomic needs, it is impossible to automatically identify changes and correct the soil covering amount in real time, and the level of intelligence needs to be improved. (3) The soil covering thickness determines the object base of the compaction operation. Therefore, under the requirement of stable sowing depth, changes in soil covering thickness will inevitably require corresponding adjustments to the compaction pressure. Existing studies mostly control the two separately, lacking a system-level collaborative strategy. Therefore, under complex and variable working conditions, it is still difficult to simultaneously ensure the dual optimization of soil covering thickness and compaction pressure, resulting in poor overall adaptability.

[0004] Therefore, researching how to enable the soil covering device and compaction mechanism of a seeder to dynamically match and coordinate their operations based on real-time working information is of great significance for achieving precise and adaptive sowing depth control and seedbed preparation, and improving sowing quality.

[0005] It should be noted that the information disclosed in this background section is intended only to enhance the understanding of the overall background of the present invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This invention aims to provide a device and method for coordinating the control of soil covering thickness and compaction pressure in a corn planter, integrating intelligent sensing, decision-making, and collaborative execution. Specifically, the objectives of this invention include:

[0007] 1. A soil covering device is provided that provides tight soil covering, uniform soil covering thickness, and stable and reliable operation. It can be dynamically adjusted during operation to track the target soil covering thickness and solve the problem of uneven soil covering thickness under different terrains.

[0008] 2. A variable soil covering device is provided that can steplessly adjust the soil covering thickness, which can meet the specific soil covering thickness requirements under different soil conditions (such as moisture content) and agronomic needs.

[0009] 3. A modular, structurally sound, and intelligent device for coordinated control of soil cover thickness and soil compaction pressure is provided. By integrating necessary sensing interfaces and control drive units, it provides a hardware foundation for the coordinated matching of soil cover amount and soil compaction pressure.

[0010] 4. A method for coordinated control of soil covering thickness and compaction pressure based on the above-mentioned device is provided. This method is based on real-time sensing of furrow depth, operation speed and compaction pressure, combined with the target soil covering thickness and target compaction pressure set by the user, and adopts a composite control strategy combining feedforward and feedback to synchronously and accurately drive the variable soil covering device and the compaction pressure control mechanism, so as to achieve uniform soil covering thickness, consistent sowing depth and appropriate compaction intensity.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] A device for coordinated control of soil covering thickness and compaction pressure in a corn planter includes, from front to back, a seed pressing device, a furrowing depth monitoring module, a two-stage linkage variable soil covering device, and a compaction pressure control mechanism, all installed under the corn planter frame, as well as an operating speed monitoring module and a central control unit installed on the corn planter frame.

[0013] The seed pressing device is installed directly behind the two furrowing discs of the furrow opener. The seed pressing device includes a contour pressure adjusting plate, a spring assembly, a seed pressing wheel swing arm, and a rubber seed pressing wheel.

[0014] The lower end of the contour pressure adjusting plate is hinged to the front end of the spring assembly. The upper end of the contour pressure adjusting plate is fixedly mounted on the seeder frame with an adjustable mounting angle. The initial preload of the spring assembly is adjusted by changing the mounting angle of the contour pressure adjusting plate. The rear end of the spring assembly is hinged to the middle of the seed pressing wheel swing arm via a pin. The top end of the seed pressing wheel swing arm is hinged to the seeder frame. The rubber seed pressing wheel is rotatably mounted on the bottom end of the seed pressing wheel swing arm via a rotating shaft.

[0015] The trenching depth monitoring module is used to obtain real-time information on the trench depth after the seeds have been initially stabilized by the pressing operation and before the soil covering operation begins.

[0016] The dual-stage linkage variable soil covering device is arranged behind the seed pressing device. The dual-stage linkage variable soil covering device includes, from front to back, a primary toothed disc coarse adjustment device and a secondary counter-rotating fine adjustment device.

[0017] The primary gear disc coarse adjustment device includes two symmetrically arranged gear disc units and a gear disc opening adjustment electric telescopic cylinder. Each gear disc unit includes a serrated disc, a disc mounting rod, a connecting rod, and a connecting rod fixing support.

[0018] The connecting rod fixing support is L-shaped, with a horizontal part and a vertical part that are perpendicular to each other. The vertical part is fixed to the side plate of the frame. The middle part of the horizontal part is provided with a pin connection hole, and the end of the horizontal part away from the side plate of the frame is provided with an arc-shaped adjustment groove with the pin connection hole as the center.

[0019] The disc mounting rod includes a driven rod, a rod body, and a sleeve; the horizontally arranged driven rod has a first hinge hole and a second hinge hole that extend longitudinally through it at both ends. The top end of the rod body is vertically fixed to the lower end face of the driven rod near the second hinge hole, and the bottom end of the rod body is fixed to the sleeve; the axis of the sleeve is parallel to the driven rod.

[0020] The first hinge hole of the driven rod is simultaneously hinged to the front end of the connecting rod and slidably fitted with the arc-shaped adjustment groove of the connecting rod fixing support via a sliding hinge shaft. The second hinge hole of the driven rod is hinged to the pin connection hole on the connecting rod fixing support via a pin.

[0021] The rotating shaft of the serrated disk is fixed inside the sleeve.

[0022] The cylinder body of the horizontally arranged toothed disc opening adjustment electric telescopic cylinder is fixedly installed on the frame via an electric telescopic device mounting bracket. The extension direction of the push rod end is perpendicular to the horizontal plane and rearward, and is hinged to the rear end of the connecting rod of the two toothed disc units.

[0023] When the electric telescopic cylinder for adjusting the toothed disc opening is activated, it pushes or pulls the connecting rod, thereby driving the driven rod to rotate around its second hinge hole. During this process, the sliding hinge shaft, which is hinged to the first hinge hole, slides along the arc-shaped adjustment groove, thereby smoothly and linearly changing the inclination angle of the disc mounting rod and the serrated disc mounted thereon, achieving stepless adjustment of the serrated disc opening size.

[0024] The secondary counter-rotating fine adjustment device includes an electric telescopic cylinder for adjusting the height of the soil-covered impeller, an impeller unit mounting plate, and two symmetrically arranged impeller units; each impeller unit includes a DC motor and a soil-covered impeller.

[0025] The cylinder end of the vertically arranged soil-covering impeller height adjustment electric telescopic cylinder is fixed to the seeder frame, and the extension direction of the push rod end is perpendicular to the horizontal plane and downward, and is fixed perpendicularly to the middle of the impeller unit mounting plate.

[0026] The DC motors of the two impeller units are fixedly installed on the left and right sides of the motor mounting plate. The power output shaft of the DC motor passes vertically through the motor mounting plate and is fixedly connected to the soil-covering impeller.

[0027] The pressure regulating mechanism includes a pressure regulating electric telescopic cylinder, a pressure wheel mounting arm, and a pressure wheel. The pressure wheel is hinged to the frame via a rotatable pressure wheel mounting arm. The cylinder end of the pressure regulating electric telescopic cylinder is hinged to the rear end of the frame, and the push rod end is hinged to the middle of the pressure wheel mounting arm. The extension and retraction of the push rod can drive the pressure wheel mounting arm to rotate around the hinge point with the frame, thereby continuously changing the height of the pressure wheel.

[0028] The operating speed monitoring module is used to detect the forward speed of the seeder in real time.

[0029] The central control unit receives and processes the planting depth and operation speed signals from the trenching depth monitoring module and the operation speed monitoring module, receives the target operation parameters set by the user, and outputs control commands based on the target operation parameters and the real-time sensor signals to drive the electric telescopic cylinders and motors of the first-stage toothed disc coarse adjustment device, the second-stage counter-rotating fine adjustment device, and the pressure control mechanism, thereby realizing the automatic adjustment of the soil covering thickness and pressure.

[0030] The trenching depth monitoring module is a non-contact ranging sensor, which is fixed on the frame by a mounting bracket, with its detection end facing the center of the planting trench.

[0031] The impeller with soil covering has multiple helical blades evenly distributed around its shaft, and the cross-section of each helical blade is provided with a reinforcing plate with the same shape as the blade distribution.

[0032] The two impeller units rotate opposite each other in the horizontal plane, and their rotation direction is configured to effectively throw the excess soil above the seed furrow to the rear, thereby scraping and cleaning up the soil portion that exceeds the required amount of soil covering, ensuring that the surface of the seed bed covering layer is flat.

[0033] A pin sensor is fixedly installed at the axle of the press wheel by a bracket. The main sensitive direction of the sensor is set to the vertical direction to measure the vertical load fluctuation of the press wheel.

[0034] The operation speed monitoring module is a satellite positioning receiver, which has a built-in or external high-precision positioning antenna and is fixedly installed in a prominent, unobstructed position on the seeder body or frame.

[0035] The central control unit is an embedded microcontroller or a programmable logic controller.

[0036] A method for coordinating the control of soil covering thickness and rolling pressure based on a corn planter soil covering thickness and rolling pressure control device includes the following steps:

[0037] S1. Initialization settings: Set the target soil cover thickness D, target soil pressure F, and soil pressure fluctuation value ΔF.

[0038] S2. Real-time perception of multi-source information. Operational parameters are collected in real time through various monitoring modules, including:

[0039] S2.1 Calculation and acquisition of trench depth: Taking the plane where the trench depth monitoring module's detection end is located as the reference, with the downward direction as the positive direction, the real-time distance value to the bottom of the trench is identified, i.e., the real-time trench bottom distance h.

[0040] S2.2 Acquisition of Seeder Forward Speed ​​Information: The real-time operating speed v is obtained through the operating speed monitoring module.

[0041] S2.3 Acquisition of Pressing Pressure Information: The real-time pressing pressure f is acquired through a pin sensor installed on the axle of the pressing wheel.

[0042] S3. Cover thickness control: The central control unit generates a cover thickness control command based on the user-input target cover thickness D and the real-time trench bottom distance h and real-time operating speed v collected in step S2.

[0043] S3.1 The central control unit determines the target opening angle of the sawtooth disc based on the target soil cover thickness D and the real-time trench bottom distance h, using a pre-calibrated model of the correspondence between the opening angle of the sawtooth disc and the soil cover flow rate. Then, combining the motion relationships of each mechanism in the primary tooth disc coarse adjustment device, it calculates the target extension amount of the tooth disc opening adjustment electric telescopic cylinder and outputs control commands to drive its action, so that the sawtooth disc is adjusted to the target opening angle, thereby achieving the initial adjustment of the soil cover flow rate.

[0044] S3.2 Fine-tuning of Covering Thickness: The central control unit calculates the target working height H of the covering impeller based on the target covering thickness D and the real-time trench bottom distance h, ensuring that H = hD. Then, combining the motion relationships of each mechanism in the secondary counter-rotating fine-tuning device, it calculates the target extension / retraction amount of the electric telescopic cylinder for adjusting the covering impeller height and outputs control commands to drive its action, thereby achieving a real-time working height of the covering impeller positioned one target covering thickness D above the planting trench. Simultaneously, the real-time working speed v is converted into a matching rotational speed value for the covering impeller, driving the DC motor to scrape away excess soil.

[0045] S4. Synergistic control of ballast pressure: The central control unit performs feedforward and feedback composite control on the ballast pressure control mechanism based on the user-input target ballast pressure F and ballast pressure fluctuation value ΔF.

[0046] S4.1, Feedforward Position Preset: Based on the target pressing pressure F and the real-time trench bottom distance h, the target pressing pressure F is determined by using the correspondence model between the pressing wheel height position and the pressing pressure obtained through pre-test calibration. The target pressing wheel height is then calculated to drive the pressing wheel to move quickly to the corresponding height, thereby achieving the preset pressing of the ground.

[0047] S4.2, Dynamic Feedback Compensation: During the pressing operation, the central control unit continuously compares the real-time pressing pressure f fed back by the pin sensor with the target pressing pressure F, and calculates the pressing pressure deviation e = f − F. The feedback controller generates a compensation control command based on the pressing pressure deviation e, and dynamically adjusts the extension and retraction of the pressing pressure regulating electric telescopic cylinder, thereby stabilizing the real-time pressing pressure f within the allowable fluctuation range F ± ΔF of the target pressing pressure F.

[0048] S5. Timing Coordination and Execution: The central control unit ensures the spatiotemporal consistency of backfilling and compaction control.

[0049] S5.1. Based on the real-time operating speed v of the seeder, the ditch depth monitoring point of the ditch depth monitoring module, the installation position of the first-stage toothed disc coarse adjustment device, the installation position of the second-stage counter-rotating fine adjustment device, and the distance between the actual positions of the press wheels in the direction of machine movement, calculate the precise delay from monitoring the ditch depth to the soil covering action, and then to the pressing action.

[0050] S5.2 Introduce this delay compensation into the control timing to ensure that the soil covering control command and the compaction control command for the same seed can be executed accurately in sequence at the correct spatial position to complete the "soil covering-compacting" collaborative operation cycle.

[0051] In step S4.2,

[0052] When −ΔF≤e≤ΔF, the real-time pressure f is determined to be within the allowable fluctuation range, and the current position of the electric telescopic cylinder for pressure regulation is kept unchanged.

[0053] When e > ΔF, it is determined that the real-time ballast pressure f is greater than the target ballast pressure F, causing the ballast pressure regulating electric telescopic cylinder to retract upward, driving the ballast wheel to move upward, thereby reducing the ballast pressure.

[0054] When e < −ΔF, it is determined that the real-time ballast pressure f is less than the target ballast pressure F, so that the ballast pressure regulating electric telescopic cylinder extends downward, driving the ballast wheel to move downward, thereby increasing the ballast pressure.

[0055] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0056] (1) The present invention uses a primary toothed disc coarse adjustment device to coarsely adjust the soil covering amount, ensuring that the initial soil covering amount is slightly greater than the target requirement. Then, a secondary counter-rotating fine adjustment device is used to further scrape and clean the soil portion of the excess soil covering amount, thereby achieving continuous and stepless fine adjustment of the soil covering thickness. The design of this dual-stage linkage variable soil covering device overcomes the shortcomings of poor accuracy and insufficient stability of traditional single adjustment mechanisms, and can significantly improve the uniformity of soil covering.

[0057] (2) Before operation, the target value can be quickly set by the central control unit. During operation, it can also be remotely adjusted according to the needs of different plots, realizing precise electronic control adjustment of soil covering thickness and compaction pressure. This changes the extensive mode of traditional manual and experience-based adjustment, greatly reduces the complexity of operation and labor intensity, and improves the adaptability of the seeder to different agronomic requirements and the efficiency of operation.

[0058] (3) This invention breaks through the limitations of the traditional soil covering device and the pressing device being independently adjustable and separated from each other. It proposes a method for coordinated control of soil covering thickness and pressing pressure. Through the linkage control of the soil covering device and the pressing pressure control mechanism, the soil covering thickness and pressing pressure are synchronously adjusted and matched in the same operation process. Attached Figure Description

[0059] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0060] Figure 1 This is a side view schematic diagram of the overall structure of the corn planter soil covering thickness and pressing pressure coordinated control device in real time example of the present invention;

[0061] Figure 2 for Figure 1 A schematic diagram of the structure after removing the trenching disc, depth limiting wheel and related adjustment devices, trencher scraper, and frame on one side;

[0062] Figure 3 This is a schematic diagram of the seed pressing device being assembled on the frame.

[0063] Figure 4 This is a schematic diagram of the seed pressing device.

[0064] Figure 5 A schematic diagram of the coarse adjustment device for the first-stage gear disc;

[0065] Figure 6 A schematic diagram of the coarse adjustment device for the first-stage gear after removing the connecting rod fixing support and the frame;

[0066] Figure 7 Schematic diagram of the connecting rod fixed support structure;

[0067] Figure 8 Schematic diagram of the disc mounting rod structure;

[0068] Figure 9 Top view of the process of adjusting the opening angle of the serrated disc;

[0069] Figure 10 This is a schematic diagram of the two-stage counter-rotating fine-tuning device;

[0070] Figure 11 This is a schematic diagram of a soil-covered impeller structure;

[0071] Figure 12 This is a schematic diagram of the soil-covering impeller in operation.

[0072] Figure 13 A schematic diagram of the town's pressure control mechanism;

[0073] Figure 14 This diagram illustrates the principle of coordinated adjustment between soil cover thickness and soil compaction pressure.

[0074] Figure 15 A flowchart for the coordinated control of soil cover thickness and soil pressure.

[0075] The attached figures are labeled as follows:

[0076] 1. Seed pressing device 2. Trenching Depth Monitoring Module 3. Two-stage linkage variable soil covering device 4. Town pressure control agency 5. Operation speed monitoring module 6. Central control unit 11. Contour-shaped pressure regulating plate 12. Spring assembly 13. Seed pressing wheel swing arm 14. Rubber seed pressing wheel 111. First mounting hole 112. Second mounting hole 113. Third mounting hole 114. Fourth mounting hole 131. Fifth mounting hole 132. Sixth mounting hole 31. First-stage gear coarse adjustment device 32. Two-stage counter-rotating fine-tuning device 311. Serrated disc 312. Disc mounting rod 313. Connecting rod 314. Connecting rod fixed support 315. Electric telescopic cylinder for adjusting the opening of the gear disc. 316. Mounting bracket for electric telescopic device 3121. Driven rod 3122, Rod 3123, Sleeve 3124. First hinge hole 3125, Second hinge hole 3141. Arc-shaped adjustment groove 3142, Pin connection hole 321. Electric telescopic cylinder for adjusting the height of the soil-covering impeller 322. Impeller Unit Mounting Plate 323. DC motor 324. Soil-covered impeller 3241. Wheel and axle 3242, Reinforcing Plate 3243, Spiral Blade 41. Pressure-regulating electric telescopic cylinder 42. Pressing wheel mounting arm 43. Pressing wheel 44. Pin-type sensor Detailed Implementation

[0077] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0078] like Figure 1 and Figure 2 As shown, the present invention provides a device for coordinated control of soil covering thickness and pressing pressure of a corn planter, including a seed pressing device 1, a furrowing depth monitoring module 2, a two-stage linkage variable soil covering device 3 and a pressing pressure control mechanism 4 installed from front to back under the corn planter frame, as well as an operating speed monitoring module 5 and a central control unit 6 installed on the corn planter frame.

[0079] like Figure 3 and Figure 4 As shown, the seed pressing device 1 is installed directly behind the two furrowing discs of the furrow opener. The seed pressing device 1 includes a contour pressure adjusting plate 11, a spring assembly 12, a seed pressing wheel swing arm 13, and a rubber seed pressing wheel 14.

[0080] The lower end of the contour pressure adjusting plate 11 is hinged to the front end of the spring assembly 12, and the upper end of the contour pressure adjusting plate 11 is fixedly mounted on the seeder frame with an adjustable mounting angle. By changing the mounting angle of the contour pressure adjusting plate 11, the initial preload of the spring assembly 12 can be adjusted. The rear end of the spring assembly 12 is hinged to the middle of the seed pressing wheel swing arm 13 via a pin, the top end of the seed pressing wheel swing arm 13 is hinged to the seeder frame, and the rubber seed pressing wheel 14 is rotatably mounted on the bottom end of the seed pressing wheel swing arm 13 via a rotating shaft.

[0081] The mounting angle of the contour pressure regulating plate 11 is changed as follows: a first mounting hole 111 and a second mounting hole 112 are provided at the angle adjustment end (i.e., the upper end) of the contour pressure regulating plate 11. At the corresponding position on the seeder frame, a third mounting hole 113 and a set of arc-shaped fourth mounting holes 114 are provided. This set of fourth mounting holes 114 is an arc-shaped adjustment hole group formed with the third mounting hole 113 as the center. During adjustment, the first mounting hole 111 of the contour pressure regulating plate 11 is hinged to the third mounting hole 113 of the frame using a pin. The second mounting hole 112 corresponds to any target fourth mounting hole 114 in the arc-shaped adjustment hole group, and fasteners are inserted for locking. By selecting different fourth mounting holes 114, the mounting angle of the contour pressure regulating plate 11 can be changed.

[0082] The fifth mounting hole 131 on the seed pressing wheel swing arm 13 is hinged to the sixth mounting hole 132 on the frame.

[0083] During operation, the spring assembly 12 provides continuous downward pressure to the rubber seed pressing wheel 14. The rubber seed pressing wheel 14 rolls in the seed furrow as the seeder moves forward, performing initial positioning and moderate compaction of the seeds, reducing the impact of natural soil backflow and soil flow on the seed position during subsequent covering.

[0084] The trench depth monitoring module 2 is used to acquire real-time information on the trench depth after the seeds have been initially stabilized by the pressing operation and before the soil covering operation begins. Its core is a non-contact ranging sensor (such as a laser displacement sensor), which is fixed on the frame by a mounting bracket, with its detection end facing the center of the trench.

[0085] The dual-stage linkage variable soil covering device 3 is arranged behind the seed pressing device 1. The dual-stage linkage variable soil covering device 3 includes, from front to back, a first-stage toothed disc coarse adjustment device 31 and a second-stage counter-rotating fine adjustment device 32.

[0086] like Figure 5 and Figure 6 As shown, the core of the primary toothed disc coarse adjustment device 31 lies in adjusting the opening angle of the sawtooth disc 311 through a four-bar linkage, thereby achieving preliminary adjustment of the soil cover flow rate. The primary toothed disc coarse adjustment device 31 includes two symmetrically arranged toothed disc units and a toothed disc opening adjustment electric telescopic cylinder 315. Each toothed disc unit includes a sawtooth disc 311, a disc mounting rod 312, a connecting rod 313, and a connecting rod fixing support 314.

[0087] like Figure 7 As shown, the connecting rod fixing support 314 is L-shaped, with a horizontal part and a vertical part that are perpendicular to each other. The vertical part is fixed to the side plate of the frame. The middle part of the horizontal part is provided with a pin connection hole 3142. The end of the horizontal part away from the side plate of the frame is provided with an arc-shaped adjustment groove 3141 with the pin connection hole 3142 as the center.

[0088] like Figure 8 As shown, the disc mounting rod 312 includes a driven rod 3121, a rod body 3122, and a sleeve 3123. The horizontally arranged driven rod 3121 has a first hinge hole 3124 and a second hinge hole 3125 extending longitudinally through it at both ends. The top end of the rod body 3122 is vertically fixed to the lower end face of the driven rod 3121 near the second hinge hole 3125, and the bottom end of the rod body 3122 is fixed to the sleeve 3123. The axis of the sleeve 3123 is parallel to the driven rod 3121.

[0089] The first hinge hole 3124 of the driven rod 3121 is simultaneously hinged to the front end of the connecting rod 313 and slidably engaged with the arc-shaped adjusting groove 3141 of the connecting rod fixing support 314 via a sliding hinge shaft. The second hinge hole 3125 of the driven rod 3121 is hinged to the pin connection hole 3142 on the connecting rod fixing support 314 via a pin.

[0090] The rotating shaft of the serrated disc 311 is fixed inside the sleeve 3123; the outer edge of the serrated disc 311 is serrated, which can effectively break up soil clods during the rolling and covering process, reduce large gaps in the seed bed, optimize the contact environment between seeds and soil, and create conditions for subsequent precision covering.

[0091] The cylinder body end of the horizontally arranged gear disc opening adjustment electric telescopic cylinder 315 is fixedly installed on the frame through the electric telescopic device mounting bracket 316. The extension direction of the push rod end is perpendicular to the horizontal plane and rearward, and is hinged to the rear end of the connecting rod 313 of the two gear disc units.

[0092] The opening angle adjustment process of the sawtooth disk 311 of the two toothed disk units is as follows: When the electric telescopic cylinder 315 for adjusting the opening of the toothed disk is activated, it pushes or pulls the connecting rod 313, thereby driving the driven rod 3121 to rotate with its second hinge hole 3125 as the center. During this process, the sliding hinge shaft hinged to the first hinge hole 3124 slides along the arc-shaped adjustment groove 3141, thereby smoothly and linearly changing the tilt angle of the disk mounting rod 312 and the sawtooth disk 311 mounted on it, realizing stepless adjustment of the opening size of the sawtooth disk 311.

[0093] like Figure 9 As shown, when the push rod of the toothed disc opening adjusting electric telescopic cylinder 315 extends backward, it pushes the connecting rod 313, causing the driven rod 3121 to rotate backward with its second hinge hole 3125 as the center. Consequently, the sleeve 3123 fixed below it rotates backward synchronously, increasing the opening angle between the two toothed discs 311 and increasing the soil covering flow rate. Conversely, when the push rod of the toothed disc opening adjusting electric telescopic cylinder 315 retracts forward, the opening angle between the two toothed discs 311 decreases, and the soil covering flow rate decreases accordingly.

[0094] like Figure 10 As shown, the secondary counter-rotating fine adjustment device 32 includes an electric telescopic cylinder 321 for adjusting the height of the soil-covered impeller, an impeller unit mounting plate 322, and two symmetrically arranged impeller units; each impeller unit includes a DC motor 323 and a soil-covered impeller 324.

[0095] The cylinder end of the vertically arranged soil covering impeller height adjustment electric telescopic cylinder 321 is fixedly connected to the seeder frame, and the extension direction of the push rod end is perpendicular to the horizontal plane and downward, and is vertically fixedly connected to the middle of the impeller unit mounting plate 322.

[0096] The DC motors 323 of the two impeller units are fixedly mounted on the left and right sides of the motor mounting plate 322. The power output shafts of the DC motors 323 pass vertically through the motor mounting plate 322 and are fixedly connected to the soil covering impeller 324. During operation, the rotation of the power output shafts drives the soil covering impeller 324 to rotate in the horizontal plane. The speed of the DC motors 323 can be adjusted in real time according to the control signal given by the central control unit 6 to adapt to different operating speeds and ensure the stability of the soil covering.

[0097] like Figure 11 As shown, the impeller 324 with soil covering has a shaft 3241 with multiple spiral blades 3243 evenly distributed around its circumference, and the cross section of the spiral blades 3243 is provided with a reinforcing plate 3242 with the same shape as the blade distribution.

[0098] like Figure 12As shown, the two impeller units' covering impellers 324 rotate alternately and oppositely in the horizontal plane. Their rotation direction is configured to effectively throw excess soil above the seed furrow obliquely backward, thereby scraping and cleaning up the excess soil to ensure a smooth surface of the seed bed covering layer. Simultaneously, the covering thickness can be adjusted by changing the operating height of the entire covering impeller 324 using the electric telescopic cylinder 321 that adjusts the height of the covering impeller.

[0099] like Figure 13 As shown, the pressure regulating mechanism 4 includes a pressure regulating electric telescopic cylinder 41, a pressure wheel mounting arm 42, a pressure wheel 43, and a pin sensor 44. The pressure is adjusted by changing the height of the pressure wheel 43. The pressure wheel 43 is hinged to the frame via a rotatable pressure wheel mounting arm 42. The cylinder end of the pressure regulating electric telescopic cylinder 41 is hinged to the rear end of the frame, and the push rod end is hinged to the middle of the pressure wheel mounting arm 42. The extension and retraction of the push rod can drive the pressure wheel mounting arm 42 to rotate around the hinge point with the frame, thereby continuously changing the height of the pressure wheel 43. A pin sensor 44 is fixedly mounted on the axle of the pressure wheel 43 via a bracket. The main sensitive direction of its force measurement is set to the vertical direction to measure the vertical load fluctuation of the pressure wheel.

[0100] The operating speed monitoring module 5 is used to detect the forward speed of the seeder in real time. The core of this module is a satellite positioning receiver, which has a built-in or external high-precision positioning antenna and is fixedly installed in a prominent, unobstructed position on the seeder body or frame.

[0101] The central control unit 6 is the intelligent processing core of the entire device, preferably an embedded microcontroller or a programmable logic controller. The functions of the central control unit are: ① to receive and process the trenching depth and working speed signals from the trenching depth monitoring module 2 and the working speed monitoring module 5; ② to receive user-set target working parameters (such as target soil cover thickness); ③ based on the target working parameters and the real-time sensor signals, to output control commands to drive the electric telescopic cylinders and motors of the primary toothed coarse adjustment device 31, the secondary counter-rotating fine adjustment device 32, and the pressure regulating mechanism 4, thereby achieving automatic adjustment of the soil cover thickness and pressure.

[0102] like Figure 14 and Figure 15 As shown, the present invention also provides a method for synergistic control of cover thickness and compaction pressure, comprising the following steps:

[0103] S1. Initialization settings: Set the target soil cover thickness D, target compaction pressure F, and compaction pressure fluctuation value ΔF;

[0104] S2. Real-time perception of multi-source information. Operational parameters are collected in real time through various monitoring modules, including:

[0105] S2.1 Calculation and acquisition of trench depth: Taking the plane where the detection end of the trench depth monitoring module 2 is located as the reference, with the downward direction as the positive direction, the real-time distance value to the bottom of the trench is identified, that is, the real-time trench bottom distance h.

[0106] S2.2 Acquisition of Seeder Forward Speed ​​Information: Real-time operating speed v is obtained through the operating speed monitoring module 5.

[0107] S2.3 Acquisition of pressing pressure information: The real-time pressing pressure f is acquired by the pin sensor 44 installed on the axle of the pressing wheel 43.

[0108] S3. Cover Thickness Adjustment. The central control unit 6 generates a cover thickness control command based on the user-input target cover thickness D (target vertical thickness of the cover layer, positive value) and the real-time trench bottom distance h and real-time operating speed v collected in step S2:

[0109] S3.1 The central control unit 6 determines the target opening angle of the sawtooth disc 311 based on the target soil cover thickness D and the real-time trench bottom distance h, through the correspondence model between the opening angle of the sawtooth disc 311 and the soil cover flow rate obtained by pre-test calibration. Then, combined with the motion relationship of each mechanism in the first-stage toothed disc coarse adjustment device 31, it calculates the target extension amount of the toothed disc opening adjustment electric telescopic cylinder 315, and outputs control commands to drive its action, so that the sawtooth disc 311 is adjusted to the target opening angle, thereby realizing the initial adjustment of the soil cover flow rate.

[0110] S3.2 Fine-tuning of Covering Thickness: The central control unit 6 calculates the target working height H of the covering impeller based on the target covering thickness D and the real-time trench bottom distance h (taking the plane where the detection end is located as the reference, and taking the vertical downward direction as the positive direction), so that H=hD; then, combined with the motion relationship of each mechanism in the secondary counter-rotating fine-tuning device 32, it calculates the target extension amount of the covering impeller height adjustment electric telescopic cylinder 321, and outputs control commands to drive its action, thereby realizing that the real-time working height of the covering impeller 324 is located at a position one target covering thickness D above the planting trench. At the same time, the real-time working speed v is converted into the matching speed value of the covering impeller 324, driving the DC motor 323 to scrape the excess soil.

[0111] S4. Synergistic Control of Town Pressure. The central control unit 6 performs feedforward and feedback composite control on the town pressure control mechanism 4 based on the user-inputted target town pressure F and town pressure fluctuation value ΔF.

[0112] S4.1, Feedforward Position Preset: Based on the target pressing pressure F and the real-time trench bottom distance h, the target pressing pressure F is determined by using the correspondence model between the pressing wheel height position and the pressing pressure obtained through pre-test calibration. The target pressing wheel height is then calculated, and the target extension amount of the pressing pressure regulating electric telescopic cylinder 41 is further calculated to drive the pressing wheel 43 to move quickly to the corresponding height, thereby achieving the preset pressing of the ground.

[0113] S4.2, Feedback Dynamic Compensation: During the pressing operation, the central control unit 6 continuously compares the real-time pressing pressure f fed back by the pin sensor 44 with the target pressing pressure F, and calculates the pressing pressure deviation e = f − F. The feedback controller generates a compensation control command based on the pressing pressure deviation e, and dynamically adjusts the extension and retraction of the pressing pressure regulating electric telescopic cylinder 41, thereby stabilizing the real-time pressing pressure f within the allowable fluctuation range F ± ΔF of the target pressing pressure F. Specifically:

[0114] When −ΔF≤e≤ΔF, the real-time pressure f is determined to be within the allowable fluctuation range, and the current position of the pressure regulating electric telescopic cylinder 41 is kept unchanged.

[0115] When e > ΔF, it is determined that the real-time ballast pressure f is greater than the target ballast pressure F, so that the ballast pressure regulating electric telescopic cylinder 41 retracts upward, driving the ballast wheel 43 to move upward, thereby reducing the ballast pressure.

[0116] When e < −ΔF, it is determined that the real-time ballast pressure f is less than the target ballast pressure F, so that the ballast pressure regulating electric telescopic cylinder 41 extends downward, driving the ballast wheel 43 to move downward, thereby increasing the ballast pressure.

[0117] S5. Timing Coordination and Execution. The central control unit ensures the spatiotemporal consistency of backfilling and compaction control:

[0118] S5.1. Based on the real-time operating speed v of the seeder, the ditching depth monitoring point of the ditching depth monitoring module 2, the installation position of the first-level toothed disc coarse adjustment device 31, the installation position of the second-level counter-rotating fine adjustment device 32, and the distance between the actual positions of the pressing wheel and each other in the direction of machine movement, calculate the precise delay from monitoring the ditching depth to the soil covering action, and then to the pressing action.

[0119] S5.2 Introduce this delay compensation into the control timing to ensure that the soil covering control command and the compaction control command for the same seed can be executed accurately in sequence at the correct spatial position to complete the "soil covering-compacting" collaborative operation cycle.

Claims

1. A device for coordinated control of soil covering thickness and compaction pressure in a corn planter, characterized in that, The corn planter soil covering thickness and compaction pressure coordinated control device includes, from front to back, a seed pressing device (1), a furrowing depth monitoring module (2), a two-stage linkage variable soil covering device (3), a compaction pressure control mechanism (4), and an operating speed monitoring module (5) and a central control unit (6) installed on the corn planter frame. The seed pressing device (1) is installed directly behind the two furrowing discs of the furrow opener. The seed pressing device (1) includes a contour pressure adjusting plate (11), a spring assembly (12), a seed pressing wheel swing arm (13), and a rubber seed pressing wheel (14). The lower end of the contour pressure regulating plate (11) is hinged to the front end of the spring assembly (12). The upper end of the contour pressure regulating plate (11) is fixedly mounted on the seeder frame with an adjustable mounting angle. The initial preload of the spring assembly (12) is adjusted by changing the mounting angle of the contour pressure regulating plate (11). The rear end of the spring assembly (12) is hinged to the middle of the seed pressing wheel swing arm (13) by a pin. The top end of the seed pressing wheel swing arm (13) is hinged to the seeder frame. The rubber seed pressing wheel (14) is rotatably mounted on the bottom end of the seed pressing wheel swing arm (13) by a rotating shaft. The trenching depth monitoring module (2) is used to obtain the trenching depth information in real time after the seeds have been initially stabilized by the pressing operation and before the soil covering operation begins; The dual-stage linkage variable soil covering device (3) is arranged behind the seed pressing device (1). The dual-stage linkage variable soil covering device (3) includes a first-stage toothed disc coarse adjustment device (31) and a second-stage counter-rotating fine adjustment device (32) from front to back. The primary gear coarse adjustment device (31) includes two symmetrically arranged gear units and a gear opening adjustment electric telescopic cylinder (315); each gear unit includes a sawtooth disc (311), a disc mounting rod (312), a connecting rod (313), and a connecting rod fixing support (314). The connecting rod fixing support (314) is "L" shaped and has a horizontal part and a vertical part that are perpendicular to each other. The vertical part is fixed to the side plate of the frame. The middle part of the horizontal part is provided with a pin connection hole (3142). The end of the horizontal part away from the side plate of the frame is provided with an arc-shaped adjustment groove (3141) with the pin connection hole (3142) as the center. The disc mounting rod (312) includes a driven rod (3121), a rod body (3122), and a sleeve (3123); the horizontally arranged driven rod (3121) has a first hinge hole (3124) and a second hinge hole (3125) that pass through it longitudinally at both ends; the top end of the rod body (3122) is vertically fixed to the lower end face of the driven rod (3121) near the second hinge hole (3125), and the bottom end of the rod body (3122) is fixed to the sleeve (3123); the axis of the sleeve (3123) is parallel to the driven rod (3121); The first hinge hole (3124) of the driven rod (3121) is simultaneously hinged to the front end of the connecting rod (313) and slidably engaged with the arc-shaped adjustment groove (3141) of the connecting rod fixing support (314) via a sliding hinge shaft; the second hinge hole (3125) of the driven rod (3121) is hinged to the pin connection hole (3142) on the connecting rod fixing support (314) via a pin shaft; The rotating shaft of the serrated disc (311) is fixed inside the sleeve (3123); The cylinder end of the horizontally arranged toothed disc opening adjustment electric telescopic cylinder (315) is fixedly installed on the frame through the electric telescopic device mounting bracket (316). The extension direction of the push rod end is perpendicular to the horizontal surface and rearward, and is hinged to the rear end of the connecting rod (313) of the two toothed disc units. When the toothed disc opening adjustment electric telescopic cylinder (315) is activated, it pushes or pulls the connecting rod (313), thereby driving the driven rod (3121) to rotate with its second hinge hole (3125) as the center; during this process, the sliding hinge shaft hinged with the first hinge hole (3124) slides along the arc-shaped adjustment groove (3141), thereby smoothly and linearly changing the tilt angle of the disc mounting rod (312) and the sawtooth disc (311) mounted thereon, realizing stepless adjustment of the opening size of the sawtooth disc (311); The secondary counter-rotating fine adjustment device (32) includes an electric telescopic cylinder (321) for adjusting the height of the soil-covered impeller, an impeller unit mounting plate (322), and two symmetrically arranged impeller units; each impeller unit includes a DC motor (323) and a soil-covered impeller (324). The cylinder end of the vertically arranged soil covering impeller height adjustment electric telescopic cylinder (321) is fixed to the seeder frame, and the extension direction of the push rod end is perpendicular to the horizontal surface and downward, and is fixed perpendicularly to the middle of the impeller unit mounting plate (322). The DC motors (323) of the two impeller units are fixedly installed on the left and right sides of the motor mounting plate (322). The power output shaft of the DC motor (323) passes vertically through the motor mounting plate (322) and is fixedly connected to the soil-covering impeller (324). The pressure regulating mechanism (4) includes a pressure regulating electric telescopic cylinder (41), a pressure wheel mounting arm (42), and a pressure wheel (43). The pressure wheel (43) is hinged to the frame through a rotatable pressure wheel mounting arm (42). The cylinder end of the pressure regulating electric telescopic cylinder (41) is hinged to the rear end of the frame, and the push rod end is hinged to the middle of the pressure wheel mounting arm (42). The extension and retraction of the push rod can drive the pressure wheel mounting arm (42) to rotate around the hinge point with the frame, thereby continuously changing the height of the pressure wheel (43). The operating speed monitoring module (5) is used to detect the forward speed of the seeder in real time; The central control unit (6) receives and processes the planting depth and operation speed signals from the trenching depth monitoring module (2) and the operation speed monitoring module (5), receives the target operation parameters set by the user, and outputs control commands based on the target operation parameters and the real-time sensing signals to drive the electric telescopic cylinder and motor of the first-stage toothed disc coarse adjustment device (31), the second-stage counter-rotating fine adjustment device (32), and the pressure control mechanism (4) to achieve automatic adjustment of the soil covering thickness and pressure.

2. The corn planter soil covering thickness and compaction pressure coordinated control device according to claim 1, characterized in that, The trenching depth monitoring module (2) is a non-contact ranging sensor, which is fixed on the frame by a mounting bracket, with its detection end facing the center of the planting trench.

3. The device for coordinated control of soil covering thickness and compaction pressure in a corn planter according to claim 1, characterized in that, The impeller (324) with soil covering has a plurality of spiral blades (3243) evenly distributed around its shaft (3241), and the cross section of the spiral blades (3243) is provided with a reinforcing plate (3242) with the same shape as the blade distribution.

4. The corn planter soil covering thickness and compaction pressure coordinated control device according to claim 1, characterized in that, The two impeller units’ soil covering impellers (324) rotate opposite each other in the horizontal plane. Their rotation direction is configured to effectively throw the excess soil above the seed furrow to the rear, thereby scraping and cleaning the soil portion that exceeds the required covering amount, ensuring that the surface of the seed bed covering layer is flat.

5. The corn planter soil covering thickness and compaction pressure coordinated control device according to claim 1, characterized in that, A pin sensor (44) is fixedly installed at the axle of the press wheel (43) by a bracket. The main sensitive direction of its force measurement is set to the vertical direction to measure the vertical load fluctuation of the press wheel.

6. The corn planter soil covering thickness and compaction pressure coordinated control device according to claim 1, characterized in that, The operation speed monitoring module (5) is a satellite positioning receiver, which has a built-in or external high-precision positioning antenna and is fixedly installed on the seeder body or frame in a prominent, unobstructed position.

7. The corn planter soil covering thickness and compaction pressure coordinated control device according to claim 1, characterized in that, The central control unit (6) is an embedded microcontroller or a programmable logic controller.

8. A method for coordinating the control of soil covering thickness and compaction pressure based on the corn planter soil covering thickness and compaction pressure control device as described in any one of claims 1-7, characterized in that, The method includes the following steps: S1. Initialization settings: Set the target soil cover thickness D, target compaction pressure F, and compaction pressure fluctuation value ΔF; S2, Real-time perception of multi-source information; Operational parameters are collected in real time through various monitoring modules, including: S2.1, Trenching depth calculation and acquisition: Taking the plane where the trenching depth monitoring module (2) is located as the reference, with the downward direction as the positive direction, the real-time distance value to the bottom of the trench is identified, that is, the real-time trench bottom distance h; S2.2, Seeder forward speed information acquisition: real-time operating speed v is acquired through the operating speed monitoring module (5); S2.3, Obtaining the pressure information: The real-time pressure f is obtained by the pin sensor (44) installed on the axle of the pressing wheel (43); S3, Soil cover thickness control; The central control unit (6) generates a soil cover thickness control command based on the target soil cover thickness D input by the user and the real-time trench bottom distance h and real-time operating speed v collected in step S2: S3.1 The central control unit (6) determines the target opening angle of the sawtooth disc (311) based on the target soil cover thickness D and the real-time trench bottom distance h, through the correspondence model between the opening angle of the sawtooth disc (311) and the soil cover flow rate obtained by the pre-test calibration. Then, combined with the motion relationship of each mechanism in the first-stage toothed disc coarse adjustment device (31), it calculates the target extension amount of the toothed disc opening adjustment electric telescopic cylinder (315) and outputs control commands to drive its action, so that the sawtooth disc (311) is adjusted to the target opening angle, thereby realizing the initial adjustment of the soil cover flow rate. S3.2 Fine adjustment of soil covering thickness: The central control unit (6) calculates the target working height H of the soil covering impeller based on the target soil covering thickness D and the real-time trench bottom distance h, so that H=hD; then, combined with the motion relationship of each mechanism in the secondary counter-rotating fine adjustment device (32), it calculates the target extension amount of the soil covering impeller height adjustment electric telescopic cylinder (321) and outputs control commands to drive its action, so that the real-time working height of the soil covering impeller (324) is located at a position of one target soil covering thickness D above the planting trench; at the same time, the real-time working speed v is converted into the matching speed value of the soil covering impeller (324) and the DC motor (323) is driven to scrape the excess soil. S4. Coordinated regulation of town pressure; The central control unit (6) performs feedforward and feedback composite control on the town pressure regulation mechanism (4) based on the target town pressure F and town pressure fluctuation value ΔF input by the user: S4.1, Feedforward position preset: Based on the target tamping pressure F and the real-time trench bottom distance h, the target height of the tamping wheel corresponding to the target tamping pressure F is determined by the correspondence model between the tamping wheel height position and the tamping pressure obtained by the pre-test calibration, and the target extension amount of the tamping pressure regulating electric telescopic cylinder (41) is further calculated to drive the tamping wheel (43) to move quickly to the corresponding height to achieve the preset tamping of the ground; S4.2, Feedback Dynamic Compensation: During the pressing operation, the central control unit (6) continuously compares the real-time pressing pressure f fed back by the pin shaft sensor (44) with the target pressing pressure F, and calculates the pressing pressure deviation e=f−F; the feedback controller generates a compensation control command based on the pressing pressure deviation e, and dynamically adjusts the extension and retraction action of the pressing pressure regulating electric telescopic cylinder (41), thereby stabilizing the real-time pressing pressure f within the allowable fluctuation range F±ΔF of the target pressing pressure F; S5. Timing coordination and execution; the central control unit ensures the spatiotemporal consistency of backfilling and compaction control: S5.

1. Based on the real-time operating speed v of the seeder, the ditch depth monitoring point of the ditch depth monitoring module (2), the installation position of the first-level toothed disc coarse adjustment device (31), the installation position of the second-level counter-rotating fine adjustment device (32), and the distance between the actual positions of the pressing wheel and each other in the direction of machine movement, calculate the precise delay from monitoring the ditch depth to the soil covering action and then to the pressing action. S5.2 Introduce this delay compensation into the control timing to ensure that the soil covering control command and the compaction control command for the same seed can be executed accurately in sequence at the correct spatial position to complete the "soil covering-compacting" collaborative operation cycle.

9. The method according to claim 8, characterized in that, In step S4.2, When −ΔF≤e≤ΔF, it is determined that the real-time ballast pressure f is within the allowable fluctuation range, and the current position of the ballast pressure regulating electric telescopic cylinder (41) remains unchanged; When e > ΔF, it is determined that the real-time stabilizing pressure f is greater than the target stabilizing pressure F, so that the stabilizing pressure regulating electric telescopic cylinder (41) retracts upward, driving the stabilizing wheel (43) to move upward, so as to reduce the stabilizing pressure; When e < −ΔF, it is determined that the real-time stabilizing pressure f is less than the target stabilizing pressure F, so that the stabilizing pressure regulating electric telescopic cylinder (41) extends downward, driving the stabilizing wheel (43) to move downward, so as to increase the stabilizing pressure.

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