Air blowing seed disturbing type air suction type peanut seed metering method

Abstract

This invention relates to the field of seeding technology, specifically a pneumatic suction method for peanut seed metering using air-blowing seed disturbance. The method includes the following steps: seeds enter the seed chamber mechanism; strain signals from corresponding detection zones are collected using strain gauges, and equivalent pile pressure response values ​​for each detection zone are constructed; the strength, offset, and growth indices of various piles are calculated; the target rotation angle and target jet frequency of the corresponding jet head are calculated; the target rotation angle is converted into the number of rotation pulses and rotation angle of the corresponding motor, driving the jet head to directionally disturb the seeds at the corresponding seed pile positions, keeping the seeds in a suspended state; when the seed suction mechanism carries the peanut seeds from the negative pressure zone to the non-negative pressure zone, the peanut seeds are released. This application combines strain gauges to detect the seed pile state, achieving automatic adjustment of the jet head rotation angle and jet frequency, enabling the air-blowing seed disturbance to actively directionally disturb the seed accumulation area, thus improving seed metering accuracy.

Description

Technical Field

[0001] This invention relates to the field of sowing technology in peanut cultivation, and in particular to a method for air-blowing and air-suction peanut sowing. Background Technology

[0002] Peanuts are one of my country's major economic crops and the oilseed crop with the highest total yield, boasting an oil content as high as 50%, more than twice that of soybeans. In the field of peanut seed metering devices, traditional ordinary seed metering discs and mechanical seed disturbing mechanisms have significant shortcomings. On the one hand, peanut seeds are diverse in variety and kernel shape, making it difficult for traditional seed metering discs to adapt. There is an urgent need for seed metering discs that can accommodate various seed shapes, with suction holes arranged to meet the actual needs of the seed metering device, enabling precise and stable seed adsorption. On the other hand, peanut seeds are relatively fragile. Mechanical seed disturbing mechanisms, during the disturbance of peanut seeds through mechanical components, are very likely to damage the seed coat and embryo, leading to reduced seed survival and germination rates. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned defects in the existing technology and propose an air-blowing and air-suction peanut seed metering method. This method actively targets and directionally disturbs the seed aggregation area, thereby improving the seed population dispersion and seed supply uniformity in the seed chamber, avoiding damage to peanut seeds during disturbance, and improving the survival rate and germination rate of peanut seeds, as well as enhancing the metering accuracy.

[0004] The technical solution of this invention is: a method for air-suction peanut planting using air-blowing perturbation, comprising the following steps: S1. Seeds enter the seed chamber mechanism, which is connected to the seed disturbance mechanism. The seed disturbance mechanism includes an air pump, a solenoid valve, an air jet head, a strain gauge, and a motor assembly. Strain signals in the corresponding detection areas are collected using strain gauges, and equivalent pressure response values ​​for each detection area are constructed. S2. Based on the equivalent pressure response values ​​of various types of piles, estimate the aggregation points of various piles, and calculate the strength index, bias index and growth index of various piles. S3. Calculate the target rotation angle of the corresponding jet head based on the offset direction and growth trend of the seed pile, and calculate the target jet frequency of the corresponding jet head based on the seed pile strength, angle tracking error and pile growth efficiency. S4. Convert the target rotation angle into the corresponding number of rotation pulses and rotation angle of the motor to drive the jet head to directionally disturb the seeds at the corresponding seed pile positions, so that the seeds are in a suspended state. S5. The negative pressure generated by the air chamber mechanism adsorbs the peanut seeds onto the seed suction mechanism. As the seed suction mechanism rotates, when it carries the peanut seeds from the negative pressure area to the non-negative pressure area, the peanut seeds are dropped.

[0005] In this invention, the air pump is connected to the air inlet of the solenoid valve; The air outlet of the solenoid valve is connected to the jet head through an air pipe to control the jet frequency of the jet head; The jet nozzle is located in the jet nozzle positioning hole at the bottom of the seed chamber mechanism, and the jet nozzle is directed towards the peanut seed accumulation area inside the seed chamber mechanism; The strain gauge group is arranged in a corresponding manner with the jet head, and each strain gauge group includes several strain gauges that are spaced apart and located in the same radial section; The output shaft of the motor unit is connected to the jet head drive, and the direction of rotation of the jet head is changed by the motor unit.

[0006] The seed chamber structure includes: The seed chamber shell has an internal cavity that forms the seed chamber; The seed brush divides the seed chamber into a seed storage area and a seed feeding area. The seed storage area has a seed inlet on the side wall of the seed chamber shell. Air jet positioning holes: Several air jet positioning holes are provided on the seed chamber shell corresponding to the bottom of the seed storage area; The seed drop tube is connected to one side of the seed chamber shell corresponding to the seed dispenser.

[0007] The seed chamber shell at the bottom of the seed storage area is equipped with several groups of jet nozzle positioning holes, and each jet nozzle positioning hole contains a jet nozzle; The seed disturbance mechanism includes several rows of jet head groups extending circumferentially along the seed chamber shell. Each row of jet head groups includes several jet heads that are spaced apart and located in the same radial section. The rotation angle of each jet head in each row of jet head groups is the same. Each jet head is connected to a corresponding solenoid valve via an air pipe, and each jet head is connected to the motor drive. An array of strain gauges is provided on the annular sidewall at the lower end of the seed chamber shell. Each strain gauge array includes at least three strain gauges. Each jet head array has a strain gauge on the radial outer side of the jet head, and a strain gauge is provided between two adjacent jet heads. The motor assembly is fixed on the motor holder, and the strain gauge assembly is located between the motor holder and the seed chamber shell, and is fixed on the outer wall of the seed chamber shell.

[0008] In step S1: Let the first The first jet head group corresponding to the The outputs of the three strain gauge detection areas included in the strain gauge group are as follows: 、 、 ; The strain signal is filtered using a first-order recursive low-pass filter. , in, This is the filtered strain signal; These are the filter coefficients; The sampling period; Indicates in relation to the first The first jet head group is set accordingly The first strain gauge in the group One strain gauge; After obtaining the filtered strain signal, the equivalent stack pressure response values ​​for each detection zone are constructed. The calculation formula is as follows: , in, These are static weighting coefficients used to characterize the static stacking level of the current region; This is a dynamic weighting coefficient used to characterize the rate of change in the accumulation of material in this region.

[0009] In step S2: For the The strain gauge group is configured to define the seed pile strength index it detects. for: , in, This is the weighting coefficient for the middle section. These are the side weighting coefficients, and they satisfy... ; Definition of the first Lateral offset index of the seed stack detected by the strain gauge group for: , in, To prevent the use of tiny positive numbers with a denominator of zero; Definition of the first The growth index of seed accumulation detected by the strain gauge group for: , in, For reference pile strength values; This represents the seed pile intensity index at the current sampling time; This represents the seed pile intensity index at the previous sampling time.

[0010] In step S3: Based on the seed pile strength, offset direction, and growth trend obtained in step S2, calculate the... Target rotation angle of the exhaust nozzle assembly : , in: , In the formula, For the first The rate of change of the lateral offset index of the corresponding jet head group; This is the maximum allowable deflection angle of the jet head; , , To control the gain coefficient; This is a limiting function; It is the hyperbolic tangent function; Calculate the target jet frequency of the jet head : , In the formula, This is the lower limit of the jet frequency; This is the upper limit of the jet frequency; For the first The current actual angle of the exhaust nozzle assembly; , , To control the gain coefficient; For the first The absolute value of the seed accumulation growth index in the detection area corresponding to the exhaust nozzle group.

[0011] In step S4: In order to be with the first The number of pulses required to output by the drive motor corresponding to the exhaust nozzle assembly The calculation formula is: , in, The transmission ratio of the motor reduction mechanism; This represents the number of basic pulses corresponding to each revolution of the motor. This is the rounding function; With the The rotation direction of the drive motor corresponding to the exhaust nozzle assembly for: , in, This is a signal indicating the direction of rotation; It is a symbolic function; according to and Control and the The drive motor corresponding to the exhaust nozzle assembly rotates forward or in reverse, causing the nozzle to rotate to the target angle position; The jet head uses a solenoid valve to achieve intermittent jetting, then the... The jet cycle of the jet head group Determined by the target jet frequency: , The controller controls the jet cycle according to the jet cycle. The opening and closing of the solenoid valve corresponding to the exhaust nozzle assembly enables periodic air jetting, keeping the seeds in the seed chamber in a suspended state. When multiple rows of jet heads are working simultaneously, the target rotation angle of each jet head group can be controlled independently. and target jet frequency Then, the corresponding drive motors and solenoid valves are controlled separately so that each jet head can automatically align with the corresponding seed pile area and implement jet disturbance of corresponding intensity.

[0012] Set startup threshold ; when At that time, maintain the first The exhaust nozzle assembly is at its initial center angle, and the exhaust frequency remains at its lowest frequency. Or stop the jetting; when When the time comes, steps S1 to S4 are initiated to start the above-mentioned coordinated control process of target turning angle and target jet frequency.

[0013] Seed-absorbing institutions include: The seed metering tray is disc-shaped with several seed suction holes spaced apart along its circumferential edge. The seed suction holes are eccentrically elliptical, and a seed suction hole rubber pad is provided on the inner wall of the end of the seed suction hole facing the seed chamber mechanism. Gaskets are provided on the side of the seed metering disc facing the air chamber mechanism; Gasket positioning pin; the gasket is fixedly connected to the seed metering tray through the gasket positioning pin. The seed metering disc, gasket, and gasket positioning pin are all provided with a rotating shaft hole in the middle; The air chamber mechanism includes: The air chamber shell is fixedly connected to the seed chamber shell and has an internal cavity; The air chamber has a sealing gasket inside its shell. The sealing gasket and the air chamber shell cooperate to form an arc-shaped air chamber. The air chamber is connected to an external fan through an air inlet and an air inlet pipe. The sealing gasket and the seed metering tray are interference fit. The seed feeder is located inside the cavity of the air chamber shell and outside the air chamber; The rotating shaft is located in the middle of the air chamber shell. One end of the rotating shaft is located in the rotating shaft hole of the seed metering disc, gasket, and gasket holder, and is fixedly connected to the seed metering disc.

[0014] The beneficial effects of this invention are as follows: This application combines positive pressure seed disturbance with negative pressure adsorption seed dispensing, and uses strain gauges to detect the seed pile state, thereby achieving automatic adjustment of the jet head rotation angle and jet frequency. This allows the jet seed disturbance to actively target the seed aggregation area and carry out directional disturbance, thereby improving the seed population dispersion state and seed supply uniformity in the seed chamber. It avoids damage to the peanut seed coat and embryo caused by traditional mechanical seed disturbance, which is beneficial to improving seed absorption stability, reducing missed seeding rate and reseeding rate, and improving seed dispensing accuracy. Attached Figure Description

[0015] Figure 1 This is a flowchart of the method described in this application; Figure 2 This is a schematic diagram of the structure of an air-blowing, air-suction peanut seed metering device; Figure 3 This is a schematic diagram of the exploded structure of an air-blowing, air-suction peanut seed metering device. Figure 4 This is a schematic diagram of the structure of the chamber mechanism; Figure 5 This is a schematic diagram of the seed-disrupting mechanism; Figure 6 This is a schematic diagram of the connection between the seed disturbance mechanism and the seed chamber mechanism; Figure 7 This is a schematic diagram of the structure of the motor and the jet head; Figure 8 This is a schematic diagram of the seed suction mechanism; Figure 9 This is a cross-sectional structural diagram of the seed suction mechanism; Figure 10 This is a schematic diagram of the air chamber mechanism; Figure 11 This is a schematic diagram of the working area of ​​the air chamber.

[0016] In the diagram: 1. Seed chamber mechanism; 11. Seed brush; 12. Seed chamber shell; 121. Positioning pin; 122. Jet nozzle positioning hole; 123. Seed dropping pipe; 124. Seed inlet; 125. Seed chamber; 2. Seed disturbing mechanism; 21. Air pump; 211. Air outlet; 22. Solenoid valve; 23. Jet nozzle; 24. Motor assembly; 25. Strain gauge; 26. Motor retainer; 3. Seed suction mechanism; 31. Seed dispensing tray; 311. Seed suction hole; 312. Rotating shaft hole; 32. Gasket; 33. Gasket retainer; 331. Gasket positioning pin; 34. Seed suction hole rubber gasket; 4. Air chamber mechanism; 41. Air chamber shell; 411. Air inlet; 412. Positioning hole; 413. Air chamber; 42. Sealing gasket; 43. Rotating shaft; 44. Seed feeder; 45. Air suction pipe; 46. Bearing. Detailed Implementation

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] Specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many ways other than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0019] This application proposes a method for air-blowing and air-suction peanut seeding, the flowchart of which is shown below. Figure 1 As shown, the method is described below.

[0020] In the first step, the seeds enter the seed chamber 125 through the seed inlet 124 of the seed chamber mechanism 1. The strain signal of the corresponding detection area is collected by the strain gauge 25, and the equivalent pile pressure response value of each detection area is constructed.

[0021] The method described in this application is based on an air-blowing, air-suction peanut seed metering device. For example... Figure 2 As shown, the seed metering device includes a seed chamber mechanism 1, a seed disturbance mechanism 2, a seed suction mechanism 3, and an air chamber mechanism 4. The lower part of the seed chamber mechanism 1 is connected to the seed disturbance mechanism 2, the seed disturbance mechanism 2 is connected to the air chamber mechanism 4, and the seed suction mechanism 3 is provided between the seed disturbance mechanism 2 and the air chamber mechanism 4.

[0022] like Figure 3 and Figure 4 As shown, the seed chamber mechanism 1 includes a seed chamber shell 12, within which a seed chamber 125 is disposed. A seed inlet 124 is provided on the side wall of the seed chamber 125, and a seed brush 11 is disposed within the seed inlet 124. The seed brush 11 is located within the seed chamber 125, and its surface is covered with stiff nylon bristles. The seed brush 11 is used to clean the seed metering tray and prevent accidental seed leakage. Simultaneously, the seed brush 11 divides the seed chamber 125 into a seed storage area and a seed feeding area, with peanut seeds stored in the seed storage area. A positioning pin 121 is provided on the seed chamber shell 12 to fix the position of the seed chamber shell.

[0023] The bottom of the seed storage area of ​​the seed chamber 125 is provided with several spaced-apart jet nozzle positioning holes 122, which are connected to the seed disturbing mechanism 2. The jet nozzle positioning holes 122 are located at the accumulation of peanut seeds. The gas generated by the seed disturbing mechanism 2 is blown into the seed chamber 125 through the jet nozzle positioning holes 122. By blowing gas, the peanut seeds in the seed chamber 125 are kept in a suspended state, which can effectively avoid mechanical disturbance and damage to the seeds. The bottom of the seed delivery area of ​​the seed chamber 125 is connected to a seed dropping pipe 123, which is connected to a seed guide pipe. The peanut seeds in the seed delivery area fall into the soil sequentially along the seed dropping pipe and the seed guide pipe.

[0024] Peanut seeds enter the seed chamber 125 through the seed inlet 124. Under the agitation of the gas transmitted by the seed agitation mechanism 2, the peanut seeds in the seed chamber are separated to prevent them from sticking together. Under the negative pressure generated by the air chamber mechanism 4, the peanut seeds are adsorbed onto the seed suction mechanism 3. When the seed suction mechanism 3 rotates to the seed discharge area, the peanut seeds are discharged from the seed drop tube 123.

[0025] The seed-dispersing mechanism keeps peanut seeds in suspension through air blowing, reducing damage to the seeds and preventing adsorption by the seed-discharging disc. For example... Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, the seed disturbance mechanism 2 includes an air pump 21, a solenoid valve 22, a motor assembly 24, and a strain gauge 25. The air outlet 211 of the air pump 21 is connected to the air inlet of the solenoid valve 22, and the air outlet of the solenoid valve 22 is connected to the jet nozzle 23 through an air pipe. The jet nozzle 23 is connected to the jet nozzle positioning hole 122. The strain gauge 25 is disposed on the annular sidewall of the lower outer end of the seed chamber housing 12, and the strain gauge is correspondingly disposed with the jet nozzle.

[0026] The output shaft of the motor unit 24 controls the direction of the jet nozzle 23 via gear meshing: the output shaft of the motor unit 24 is equipped with gears, and the corresponding jet nozzle 23 is also equipped with gears. Through the meshing of the gears, the direction of the jet nozzle 23 changes, thereby adjusting the jet angle. Each jet nozzle 23 is equipped with a corresponding motor unit 24, which is fixed to a motor holder 26. The motor holder 26 is located below the bottom of the seed chamber housing 12, and both ends of the motor holder 26 are fixedly connected to the outer wall of the seed chamber housing 12. The solenoid valve 22 controls the jet frequency of the jet nozzle 23, which quantitatively injects gas into the seed chamber 125.

[0027] In this embodiment, several rows of jet nozzles are arranged circumferentially along the bottom of the seed chamber shell 12. Each row of jet nozzles includes two spaced-apart jet nozzles 23 located at the same radial cross-section. Each jet nozzle 23 is connected to a solenoid valve 22 via an air pipe. Correspondingly, a jet nozzle positioning hole group is provided at the bottom of the seed chamber 125. The jet nozzle positioning hole group includes several jet nozzle positioning holes 122. The jet nozzles 23 pass through the jet nozzle positioning holes 122 and extend into the seed chamber 125. Peanut seeds are deposited at the bottom of the seed chamber 125 and deposited in a cone shape. Through the jet nozzles 23 provided in this application, air can be blown into the peanut seeds in the cone-shaped area without lateral jetting, ensuring the overall airflow stability within the seed chamber.

[0028] In this application, the two jet heads 23 included in each row of jet head groups have the same jet angle, and the operating state is the same as that of the motor group 24 corresponding to the two jet heads 23. This embodiment includes six rows of jet head groups.

[0029] A set of strain gauges is provided on the annular sidewall at the lower end of the seed chamber housing corresponding to each row of jet heads, with each set of strain gauges corresponding to each row of jet heads. The strain gauge sets are located between the motor holder 26 and the seed chamber housing 12, and are fixed to the annular sidewall of the seed chamber housing 12. Each strain gauge set includes three strain gauges spaced apart and located at the same radial cross section. A strain gauge is provided on the outer side of each of the two jet heads included in each row of jet heads, and a strain gauge is provided between the two jet heads.

[0030] The seed suction mechanism is located between the seed chamber mechanism and the air chamber mechanism. The mechanism adsorbs peanut seeds and, during rotation, carries them from the seed storage area to the seed delivery area. For example... Figure 3 , Figure 8 and Figure 9 As shown, the seed suction mechanism 3 includes a seed metering disc 31 and a pad 32. The seed metering disc 31 is disc-shaped and located between the seed chamber shell 12 and the air chamber shell of the air chamber mechanism. Several seed suction holes 311 are spaced apart along the circumferential edge of the seed metering disc 31. The seed suction holes 311 are eccentrically elliptical, which can accommodate peanut seeds of different shapes and can more stably and accurately suction peanut seeds. A seed suction hole rubber pad 34 is provided on the inner wall of the end of the seed suction hole 311 facing the seed chamber mechanism 1. When the peanut seed is suctioned onto the seed suction hole 311, the elasticity of the seed suction hole rubber pad 34 reduces the damage to the peanut seed during the suction process.

[0031] A gasket 32 ​​is provided on the side of the seed metering tray 31 facing the air chamber mechanism. The gasket 32 ​​is fixedly connected to the seed metering tray 31 by a gasket retainer 33. In this embodiment, the gasket retainer 33 is fixedly connected to the seed metering tray 31 by a gasket positioning pin 331. The seed metering tray 31, the gasket 32, and the gasket retainer 33 are all provided with a rotating shaft hole 312 at their centers.

[0032] The air chamber mechanism is connected to a fan via an air intake pipe, transmitting air pressure through the air chamber to the seed metering tray. For example... Figure 3 and Figure 10 As shown, the air chamber mechanism includes an air chamber shell 41, and a sealing gasket 42 is provided inside the cavity of the air chamber shell 41. The sealing gasket 42 and the air chamber shell 41 cooperate to form an annular air chamber 413. The air chamber 413 is connected to the fan through an air intake port 411 and an air intake pipe 45. When the fan operates, it draws air out of the air chamber 413 through the air intake port 411, creating a negative pressure inside the air chamber 413. The drawn-out air is then transmitted to the fan through the air intake pipe 45. At the same time, the annular end face of the sealing gasket 42 is interference-fitted with the side of the seed metering tray 31 to ensure the airtightness of the air chamber 413. Using the negative pressure inside the air chamber 413, the peanut seeds suspended in the seed chamber 125 are adsorbed onto the seed suction hole rubber gasket 34 of the seed suction hole 311.

[0033] A rotating shaft 43 is provided in the middle of the air chamber housing 41. The rotating shaft 43 is sequentially connected to the seed metering disc 31, the gasket 32, the gasket retainer 33, and the air chamber housing 41. The rotating shaft 43 is rotatably connected to the air chamber housing 41. A bearing 46, which is rotatably connected to the rotating shaft 43, is provided in the middle of the air chamber housing 41. One end of the rotating shaft 43 is disposed in the rotating shaft hole 312 of the seed metering disc, the gasket, and the gasket retainer, and is fixedly connected to the seed metering disc 31, the gasket 32, and the gasket retainer 33. During the rotation of the rotating shaft 43, the seed metering disc 31 is driven to rotate through the gasket. In this embodiment, the end of the rotating shaft connected to the seed metering disc, the gasket, and the gasket retainer is a round shaft, and the end of the rotating shaft connected to the external drive mechanism is a hexagonal square shaft.

[0034] A seed feeder 44 is provided inside the cavity of the air chamber shell 41 and outside the air chamber 413. The surface of the seed feeder 44 is provided with a round head. The seed feeder 44 can assist the seeds to enter the seed drop tube 123.

[0035] Positioning holes 412 are provided at intervals along the circumferential edge of the air chamber shell 41, and the positioning holes 412 are correspondingly arranged with the positioning pins 121 on the seed chamber shell to determine the position where the seed chamber shell 12 and the air chamber shell 41 cooperate, thereby ensuring the interaction area between the air chamber 413 and the seed metering tray 31, and ensuring that the peanut seeds can smoothly carry out the corresponding work when they move to the corresponding area.

[0036] The working principle of the seed metering device is as follows. Seeds enter the seed chamber 125 through the seed inlet 124 of the seed chamber mechanism 1. The strain gauge 25 collects the pressure generated by the seed landing point on the seed chamber shell 12, and then transmits the collected data to the control center. The seed disturbance mechanism 2 provides gas through the air pump 21, and continuously sprays pressurized gas through the jet nozzle 23 to keep the seeds in a suspended state. This can avoid damage to peanut seeds during mechanical seed disturbance and can effectively disturb the peanut seeds.

[0037] In the seed-disturbing mechanism 2, an external air pump 21 pressurizes air and ejects it through the air outlet 211. The air is then connected via an air pipe and finally delivered to the jet nozzle 23. The jet nozzle 23 is installed inside the seed chamber housing 12 through the jet nozzle positioning hole 122. The control unit processes the signal, predicts the accumulation point of the seed pile, and then the motor unit 24 controls the jet nozzle to point towards the seed pile. The jet nozzle 23 sprays gas onto the peanut seeds located in the seed chamber 125. By spraying gas, the peanut seeds are kept in a suspended state, which avoids damage to the peanut seeds during mechanical seed disturbance and effectively disturbs the peanut seeds.

[0038] At the same time, the fan is connected to the suction pipe 45, which draws the air in the air chamber 413 out through the suction port 411, creating a negative pressure in the air chamber 413. The negative pressure is used to adsorb the peanut seeds in the seed chamber 125 in a suspended state at the seed suction hole 311 of the seed metering tray 31.

[0039] As the rotating shaft 43 drives the seed metering disc 31 to rotate, the seed metering disc 31 carries the peanut seeds and rotates.

[0040] During the rotation of the seed metering disc 31, the working area is divided into three working zones by the distribution of air chambers and the setting of working positions, such as... Figure 11 As shown, in the initial position, the seed metering disc 31 first completes the seed suction work in the seed suction area I. After the peanut seeds are suctioned onto the seed metering disc 31, the seed metering disc 31 rotates to the seed carrying area II. In both the seed suction area I and the seed carrying area II, the seed metering disc 31 remains within the air chamber 413. The negative pressure within the air chamber 413 is used to suction the peanut seeds onto the seed metering disc 31, completing the seed suction and carrying work. When the seed metering disc 31 rotates with the peanut seeds to the seed placement area III, the seed metering disc 31 exits the air chamber 413 in the seed placement area III. The negative pressure disappears, and the peanut seeds, without negative pressure, are placed into the seed drop tube 123 under the combined action of their own weight and the seed feeder 44 installed inside the air chamber shell 41, completing the seed metering work of the peanut seed meterer and completing the sowing operation.

[0041] Let the first The first jet head group corresponding to the The outputs of the three strain gauge detection areas included in the strain gauge group are as follows: 、 、 In this embodiment, .

[0042] To reduce the impact of mechanical vibration and transient shocks on the test results, the strain signal is first filtered. A first-order recursive low-pass filter is preferred, and its expression is: , in, This is the filtered strain signal; For the filter coefficients, the preferred values ​​are... ; The sampling period; Indicates in relation to the first The first jet head group is set accordingly The first strain gauge in the group A strain gauge.

[0043] After obtaining the filtered strain signal, the equivalent stack pressure response values ​​for each detection zone are constructed. This formula is used to comprehensively reflect the degree of seed accumulation and its changing trend in a corresponding area. , in, These are static weighting coefficients used to characterize the static stacking level of the current region; This is a dynamic weighting coefficient used to characterize the rate of change in the accumulation within the region. This formula allows for the simultaneous use of pressure magnitude and growth trend information, improving the real-time performance and sensitivity of seed accumulation identification.

[0044] The second step is to predict the aggregation points of various types of piles based on the equivalent pile pressure response values, and to calculate the strength index, bias index and growth index of various piles.

[0045] For the The strain gauge group is configured to define the seed pile strength index it detects. for: , in, This is the weighting coefficient for the middle section. These are the side weighting coefficients, and they satisfy... Preferably, Pick , Pick This index is used to characterize the first... The overall severity of seed accumulation within the detection area corresponding to the strain gauge group.

[0046] Definition of the first Lateral offset index of the seed stack detected by the strain gauge group for: , in, To prevent tiny positive numbers with a denominator of zero.

[0047] Therefore, when This indicates that the seed pile is relatively biased to the right; when At that time, it indicates that the seed pile is relatively biased to the left; The larger the value, the more pronounced the bias.

[0048] To reflect the intensification or mitigation trend of seed piles, the first... The growth index of seed accumulation detected by the strain gauge group for: , in, For reference pile strength values; This represents the seed pile intensity index at the current sampling time; This represents the seed pile intensity index at the previous sampling time.

[0049] like This indicates that the seed pile is still growing; if This indicates that the seed pile is weakening.

[0050] The third step is to calculate the target rotation angle of the corresponding jet head based on the offset direction and growth trend of the seed pile, and to calculate the target jet frequency of the corresponding jet head based on the seed pile strength, angle tracking error and pile growth efficiency.

[0051] Based on the seed pile strength, offset direction, and growth trend obtained in the second step, calculate the... Target rotation angle of the exhaust nozzle assembly The following control relationship is adopted: , in: , In the formula, For the first The rate of change of the lateral offset index of the corresponding jet head group; This is the maximum allowable deflection angle of the jet head; , , This is to control the gain coefficient. , , The optimal method is determined by combining simulation pre-tuning and prototype test calibration. , , , ; This is a limiting function used to constrain the output within the allowable rotation angle range of the jet head mechanism; It is a hyperbolic tangent function, used to make the angle output change smoother and avoid rapid jumps in the jet head.

[0052] In the above control relationship, Used to directly determine the direction of rotation and the basic angle of rotation based on left and right offset; Used to increase the deflection amount in advance when the seed pile continues to intensify; Used to reflect the rate of bias change, thereby improving dynamic response capability.

[0053] Therefore, when the first When the strain gauge group detects that the seed pile is biased to the left, the corresponding first... The two jet heads in the exhaust jet head assembly rotate to the left; when the first... When the strain gauge group detects that the seed pile is deflected to the right, the corresponding first... The two jet heads in the jet head group are rotated to the right, so that the jet direction of the corresponding jet head group is aligned with the central area of ​​the seed pile.

[0054] After obtaining the target turning angle, the controller continues to calculate the target jet frequency of the jet head. In this embodiment, the jet frequency control adopts the following relationship: , In the formula, This is the lower limit of the jet frequency; This is the upper limit of the jet frequency; For the first The current actual angle of the exhaust nozzle assembly; , , To control the gain coefficient, , , Based on the target frequency range of the jet system, the allowable range of jet head angle tracking error, and the dynamic compensation requirements for seed stack growth, among which, , , ; For the first The absolute value of the seed accumulation growth index in the detection area corresponding to the exhaust nozzle group.

[0055] In this formula: This is used to illustrate the regulation principle that "the more severe the seed pile, the higher the jetting frequency"; This is used to embody the control concept that "the closer the jet head is to the target alignment position, the more suitable it is to increase the jet frequency"; This serves as a dynamic compensation mechanism to demonstrate that "the faster the seed pile grows, the more necessary it is to increase the jetting frequency for rapid dispersion."

[0056] The fourth step is to convert the target rotation angle into the number of rotation pulses and rotation angle of the corresponding motor, so as to drive the six jet seeding units to directionally seed the corresponding seed pile positions.

[0057] The motor controls the jet-jet seed-disturbing unit to face the seed pile. The seed-disturbing mechanism provides gas through an air pump, and the pressurized gas is jetted onto the seed pile through the jet-jet seed-disturbing unit. The opening and closing frequency of the solenoid valve is controlled to achieve periodic jetting, keeping the seeds in the seed chamber in a suspended state. This can avoid damage to peanut seeds during mechanical seed-disturbing and can effectively disturb the peanut seeds.

[0058] At the execution level, the jet head is driven by a stepper motor, and the controller converts the target rotation angle into the corresponding number of rotation pulses for the motor. The calculation relationship can be expressed as: , in, In order to be with the first The number of pulses required to be output by the drive motor corresponding to the exhaust nozzle assembly; The transmission ratio of the motor reduction mechanism; This represents the number of basic pulses corresponding to each revolution of the motor. This is a rounding function used to convert the calculated theoretical number of motor pulses into the actual number of output integer pulses.

[0059] With the The rotation direction of the drive motor corresponding to the exhaust nozzle assembly for: , in, This is a signal indicating the direction of rotation; It is a symbolic function.

[0060] according to and Control and the The drive motor corresponding to the exhaust nozzle assembly rotates forward or in reverse, causing the nozzle to rotate to the target angle position.

[0061] The jet head uses a solenoid valve to achieve intermittent jetting, then the... The jet cycle of the jet head group Determined by the target jet frequency: , The controller controls the jet cycle according to the jet cycle. The opening and closing of the solenoid valve corresponding to the exhaust nozzle assembly enables periodic exhaust.

[0062] In this embodiment, when the six rows of jet heads are working simultaneously, the controller independently calculates the detection signals from each of the six rows to obtain six sets of target turning angles. and six groups of target jet frequencies Then, the corresponding six sets of drive motors and six sets of solenoid valves are controlled separately, so that each jet head can automatically align with the corresponding seed pile area and implement jet disturbance of appropriate intensity. This realizes a closed-loop collaborative control process consisting of "seed pile detection - position judgment - angle calculation - frequency calculation - execution control".

[0063] To prevent frequent micro-movements of the jet nozzle when the seeding is light, this embodiment can also set a start-up threshold. .when At that time, the controller maintains the first The exhaust nozzle assembly is at its initial center angle, and the exhaust frequency remains at its lowest frequency. Or stop the jetting; when At this time, the aforementioned angle and frequency coordinated control process is initiated. This setting helps reduce energy consumption and unnecessary motor operation.

[0064] Subsequently, the negative pressure generated by the air chamber mechanism adsorbs the peanut seeds onto the seed suction mechanism. As the seed suction mechanism rotates, when it carries the peanut seeds from the negative pressure zone to the non-negative pressure zone, the peanut seeds are successfully planted.

[0065] The above provides a detailed description of the air-blowing seed metering device and method for peanuts provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of these embodiments are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for seeding peanuts using a pneumatic suction system with air-blowing perturbation, characterized in that, Includes the following steps: S1. Seeds enter the seed chamber mechanism, which is connected to the seed disturbance mechanism. The seed disturbance mechanism includes an air pump, a solenoid valve, an air jet head, a strain gauge, and a motor assembly. Strain signals in the corresponding detection areas are collected using strain gauges, and equivalent pressure response values ​​for each detection area are constructed. S2. Based on the equivalent pressure response values ​​of various types of piles, estimate the aggregation points of various piles, and calculate the strength index, bias index and growth index of various piles. S3. Calculate the target rotation angle of the corresponding jet head based on the offset direction and growth trend of the seed pile, and calculate the target jet frequency of the corresponding jet head based on the seed pile strength, angle tracking error and pile growth efficiency. S4. Convert the target rotation angle into the corresponding number of rotation pulses and rotation angle of the motor to drive the jet head to directionally disturb the seeds at the corresponding seed pile positions, so that the seeds are in a suspended state. S5. The negative pressure generated by the air chamber mechanism adsorbs the peanut seeds onto the seed suction mechanism. As the seed suction mechanism rotates, when it carries the peanut seeds from the negative pressure area to the non-negative pressure area, the peanut seeds are dropped.

2. The air-blowing perturbation type peanut planting method according to claim 1, characterized in that, The air pump is connected to the air inlet of the solenoid valve; The air outlet of the solenoid valve is connected to the jet head through an air pipe to control the jet frequency of the jet head; The jet nozzle is located in the jet nozzle positioning hole at the bottom of the seed chamber mechanism, and the jet nozzle is directed towards the peanut seed accumulation area inside the seed chamber mechanism; The strain gauge group is arranged in a corresponding manner with the jet head, and each strain gauge group includes several strain gauges that are spaced apart and located in the same radial section; The output shaft of the motor unit is connected to the jet head drive, and the direction of rotation of the jet head is changed by the motor unit.

3. The air-blowing perturbation type peanut planting method according to claim 1, characterized in that, The seed chamber structure includes: The seed chamber shell has an internal cavity that forms the seed chamber; The seed brush divides the seed chamber into a seed storage area and a seed feeding area. The seed storage area has a seed inlet on the side wall of the seed chamber shell. Air jet positioning holes: Several air jet positioning holes are provided on the seed chamber shell corresponding to the bottom of the seed storage area; The seed drop tube is connected to one side of the seed chamber shell corresponding to the seed dispenser.

4. The air-blowing perturbation type peanut planting method according to claim 3, characterized in that, The seed chamber shell at the bottom of the seed storage area is equipped with several groups of jet nozzle positioning holes, and each jet nozzle positioning hole contains a jet nozzle; The seed disturbance mechanism includes several rows of jet head groups extending circumferentially along the seed chamber shell. Each row of jet head groups includes several jet heads that are spaced apart and located in the same radial section. The rotation angle of each jet head in each row of jet head groups is the same. Each jet head is connected to a corresponding solenoid valve via an air pipe, and each jet head is connected to the motor drive. An array of strain gauges is provided on the annular sidewall at the lower end of the seed chamber shell. Each strain gauge array includes at least three strain gauges. Each jet head array has a strain gauge on the radial outer side of the jet head, and a strain gauge is provided between two adjacent jet heads. The motor assembly is fixed on the motor holder, and the strain gauge assembly is located between the motor holder and the seed chamber shell, and is fixed on the outer wall of the seed chamber shell.

5. The air-blowing perturbation type peanut planting method according to claim 4, characterized in that, In step S1: Let the first The first jet head group corresponding to the The outputs of the three strain gauge detection areas included in the strain gauge group are as follows: 、 、 ; The strain signal is filtered using a first-order recursive low-pass filter. ， in, This is the filtered strain signal; These are the filter coefficients; The sampling period; Indicates in relation to the first The first jet head group is set accordingly The first strain gauge in the group One strain gauge; After obtaining the filtered strain signal, the equivalent stack pressure response values ​​for each detection zone are constructed. The calculation formula is as follows: ， in, These are static weighting coefficients used to characterize the static stacking level of the current region; This is a dynamic weighting coefficient used to characterize the rate of change in the accumulation of material in this region.

6. The air-blowing perturbation type peanut planting method according to claim 5, characterized in that, In step S2: For the The strain gauge group is configured to define the seed pile strength index it detects. for: ， in, This is the weighting coefficient for the middle section. These are the side weighting coefficients, and they satisfy... ; Definition of the first Lateral offset index of the seed stack detected by the strain gauge group for: ， in, To prevent the use of tiny positive numbers with a denominator of zero; Definition of the first The growth index of seed accumulation detected by the strain gauge group for: ， in, For reference pile strength values; This represents the seed pile intensity index at the current sampling time; This represents the seed pile intensity index at the previous sampling time.

7. The air-blowing perturbation type peanut planting method according to claim 6, characterized in that, In step S3: Based on the seed pile strength, offset direction, and growth trend obtained in step S2, calculate the... Target rotation angle of the exhaust nozzle assembly : ， in: ， In the formula, For the first The rate of change of the lateral offset index of the corresponding jet head group; This is the maximum allowable deflection angle of the jet head; , , To control the gain coefficient; This is a limiting function; It is the hyperbolic tangent function; Calculate the target jet frequency of the jet head : ， In the formula, This is the lower limit of the jet frequency; This is the upper limit of the jet frequency; For the first The current actual angle of the exhaust nozzle assembly; , , To control the gain coefficient; For the first The absolute value of the seed accumulation growth index in the detection area corresponding to the exhaust nozzle group.

8. The air-blowing perturbation type peanut planting method according to claim 7, characterized in that, In step S4: In order to be with the first The number of pulses required to output by the drive motor corresponding to the exhaust nozzle assembly The calculation formula is: ， in, The transmission ratio of the motor reduction mechanism; This represents the number of basic pulses corresponding to each revolution of the motor. This is the rounding function; With the The rotation direction of the drive motor corresponding to the exhaust nozzle assembly for: ， in, This is a signal indicating the direction of rotation; It is a symbolic function; according to and Control and the The drive motor corresponding to the exhaust nozzle assembly rotates forward or in reverse, causing the nozzle to rotate to the target angle position; The jet head uses a solenoid valve to achieve intermittent jetting, then the... The jet cycle of the jet head group Determined by the target jet frequency: ， The controller controls the jet cycle according to the jet cycle. The opening and closing of the solenoid valve corresponding to the exhaust nozzle assembly enables periodic air jetting, keeping the seeds in the seed chamber in a suspended state. When multiple rows of jet heads are working simultaneously, the target rotation angle of each jet head group can be controlled independently. and target jet frequency Then, the corresponding drive motors and solenoid valves are controlled separately so that each jet head can automatically align with the corresponding seed pile area and implement jet disturbance of corresponding intensity.

9. The air-blowing perturbation type peanut planting method according to claim 8, characterized in that, Set startup threshold ; when At that time, maintain the first The exhaust nozzle assembly is at its initial center angle, and the exhaust frequency remains at its lowest frequency. Or stop the jetting; when When the time comes, steps S1 to S4 are initiated to start the above-mentioned coordinated control process of target turning angle and target jet frequency.

10. The air-blowing perturbation type peanut planting method according to claim 1, characterized in that, Seed-absorbing institutions include: The seed metering tray is disc-shaped with several seed suction holes spaced apart along its circumferential edge. The seed suction holes are eccentrically elliptical, and a seed suction hole rubber pad is provided on the inner wall of the end of the seed suction hole facing the seed chamber mechanism. Gaskets are provided on the side of the seed metering disc facing the air chamber mechanism; Gasket positioning pin; the gasket is fixedly connected to the seed metering tray through the gasket positioning pin. The seed metering disc, gasket, and gasket positioning pin are all provided with a rotating shaft hole in the middle; The air chamber mechanism includes: The air chamber shell is fixedly connected to the seed chamber shell and has an internal cavity; The air chamber has a sealing gasket inside its shell. The sealing gasket and the air chamber shell cooperate to form an arc-shaped air chamber. The air chamber is connected to an external fan through an air inlet and an air inlet pipe. The sealing gasket and the seed metering tray are interference fit. The seed feeder is located inside the cavity of the air chamber shell and outside the air chamber; The rotating shaft is located in the middle of the air chamber shell. One end of the rotating shaft is located in the rotating shaft hole of the seed metering disc, gasket, and gasket holder, and is fixedly connected to the seed metering disc.

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