Active electronically controlled precision seed metering apparatus and method based on speed monitoring

Abstract

An active electronically controlled precision seed metering apparatus and method based on speed monitoring. The apparatus comprises a data collection assembly, a data processing assembly, an electronically controlled seed metering control assembly, a human-machine interaction device, and a power supply device. In the method, a GPS speed sensor is used to monitor the forward operating speed of an agricultural machine in a field; the human-machine interaction device is used to input a theoretical expected plant spacing into the data processing assembly of the apparatus, in order to calculate a theoretical rotation speed of a seed metering device; and the theoretical rotation speed is then compared with an actual rotation speed of the seed metering device that is measured by a rotary encoder, in order to obtain an optimal rotation speed of the seed metering device, such that the seed metering device is controlled, on the basis of the optimal rotation speed and by means of the electronically controlled seed metering control assembly, to execute a seed metering task. Thus, active electronically controlled precision seed metering based on speed monitoring is realized, accurate, real-time and quantitative control over a plant spacing during seed metering can also be realized, and an entire seed metering process can be easily operated and is time-saving and labor-saving, thereby reliably achieving the aim of precise seed metering, and effectively improving the efficiency of agricultural operations.

Description

An active electronically controlled precision seeding device and method based on speed monitoring Technical Field

[0001] This invention relates to the field of agricultural technology, and in particular to an active electronically controlled precision seeding device and method based on speed monitoring. Background Technology

[0002] Agricultural seeding refers to the process of arranging seeds in the soil according to certain rules and requirements. It is an important part of agricultural production. With the development of modern agricultural technology, agricultural seeding has gradually shifted from traditional manual sowing to mechanized and automated sowing methods. The use of agricultural seeding machinery can greatly improve sowing efficiency and quality, reduce seed waste, and also reduce the labor intensity of farmers. In short, agricultural seeding is an important part of agricultural production, and the use of agricultural seeding machinery can improve sowing efficiency and quality, and promote the development of agricultural production.

[0003] Current unmanned seeding operations mainly rely on broadcasting, while precision seeding and row seeding can not only reduce seed usage but also effectively increase crop yield.

[0004] For example, Chinese patent with publication number CN209834007U discloses a spreader, a spreading device and a plant protection equipment. The spreader includes a material picking component, a material receiving component and a material feeding component. The material picking component discharges the material into the material receiving component, and the material feeding component can generate airflow and deliver it to the material to mix with it, and use pneumatic force to spread the material out.

[0005] For example, Chinese patent CN106416530A discloses a material spreading device mounted on an agricultural drone. This device uses a discharge wheel under the material box, and the discharge volume is adjusted by controlling the discharge motor controller. A fan is installed next to the roller to discharge the material using pneumatic force. While the above-mentioned drone-based spreading operation improves the uniformity of spreading compared to manual spreading, it still has the following shortcomings: 1) After the seeds are discharged from the seed metering device, the landing position is uncontrollable due to interference from the rotor wind, resulting in poor seed uniformity; 2) The seed metering device is prone to bridging and clogging; 3) Using the spreading method, the seeds fall haphazardly, making it difficult for them to form rows and holes, resulting in poor crop ventilation and increased susceptibility to pests and diseases, and hindering field management during the growing season.

[0006] For example, Chinese patent CN211123767U discloses a precision seeding drone. By setting seeding points, the drone hovers at the point and adjusts the seed-shooting angle in real time. It uses friction wheels to accelerate the seed-shooting process, thus launching the seed through the barrel into the ground about 6cm below the surface, which fully meets the depth required for seed development.

[0007] In recent years, to avoid soil compaction, reduce soil erosion, restore soil fertility, and protect the environment, my country's conservation tillage centers have widely promoted no-till seeding. No-till seeding means eliminating or reducing soil tillage by directly sowing seeds on the surface of crop residue land using no-till seeders, or by directly sowing seeds after processing crop straw. It is defined as a tillage method that does not use tillage machinery to treat the plot before sowing, does not remove crop straw residues, and sows directly on the original stubble land, reducing the tillage of agricultural machinery on the soil. However, due to the implementation of conservation tillage, there is a lot of crop residue covering the soil surface, which reduces the adhesion between the wheels of traditional mechanical seeders and the ground, increases wheel slippage, and makes the operation unstable, resulting in an increased rate of missed sowing.

[0008] To address the practical problems caused by the aforementioned phenomena, intelligent electronic control technology is used to reduce the missed sowing rate, improve sowing uniformity to a certain extent, and increase crop yield. Due to the diversity of crop types and the differences in plant spacing and sowing rate, during machine operation, the transmission ratio is changed by adjusting and switching several fixed gears of the mechanical seed metering device to achieve different plant spacing and sowing rates. Currently, this plant spacing adjustment method is difficult to achieve accurate and real-time adjustment, and this type of mechanical structure is cumbersome to operate, time-consuming, and prone to mechanical failure, making it difficult to achieve the purpose of precision seeding and failing to effectively improve agricultural operation efficiency. Therefore, this invention proposes an active electronically controlled precision seeding device and method based on speed monitoring to solve the problems existing in the prior art.

[0009] Summary of the Invention

[0010] To address the aforementioned problems, the present invention aims to propose an active electronically controlled precision seeding device and method based on speed monitoring, which solves the problems that existing agricultural seeding devices are difficult to adjust accurately and in real time, and are cumbersome, time-consuming, and prone to mechanical failures, making it difficult to achieve the purpose of precision seeding and effectively improve agricultural operation efficiency.

[0011] To achieve the objectives of this invention, the invention is implemented through the following technical solution: an active electronically controlled precision seeding device based on speed monitoring, comprising a data acquisition component, a data processing component, an electronically controlled seeding control component, a human-machine interaction device, and a power supply device;

[0012] The data acquisition components include a rotary encoder for real-time monitoring of the seed metering device's rotation speed and a GPS speed sensor for real-time monitoring of the forward operating speed of agricultural machinery.

[0013] The data processing component includes a theoretical speed calculation unit for calculating the theoretical speed of the seed metering shaft and an optimal speed calculation unit for calculating the optimal speed of the seed metering shaft.

[0014] The electronically controlled seeding control component includes an electronically controlled seeding execution unit for performing seeding tasks and an electronically controlled seeding regulation unit for adjusting the motor speed of the electronically controlled seeding execution unit.

[0015] The human-machine interaction device includes a display screen for real-time display of the agricultural machinery's forward operating speed, operating area, and preset plant spacing value, as well as a control keyboard for inputting control parameters, setting plant spacing, and controlling the start and stop of the control device.

[0016] The power supply equipment provides power to the device.

[0017] A further improvement is that the rotary encoder is installed on the seed metering shaft, and when the seed metering shaft rotates, it uses photoelectric conversion technology to output the angular velocity of the seed metering shaft as a corresponding pulse digital quantity, thereby measuring the real-time rotational speed of the seed metering shaft.

[0018] A further improvement is that the GPS speed sensor is fixed in an unobstructed position on the agricultural machinery, and the GPS signal antenna of the GPS speed sensor is placed at the highest point of the agricultural machinery to receive signals. Within a unit of time, the average value of the first ten values ​​is selected as the real-time forward operating speed of the agricultural machinery.

[0019] A further improvement is that the theoretical rotational speed calculation unit calculates the theoretical rotational speed of the seed metering device shaft based on the forward operating speed of the agricultural machinery measured by the GPS speed sensor and the plant spacing value preset by the human-machine interface device. The calculation formula is: n = 60V / mZ

[0020] Where n is the theoretical rotational speed of the seed metering device shaft, V is the forward operating speed of the agricultural machinery, m is the number of seed scoops in the seed metering device, and Z is the plant spacing value.

[0021] A further improvement is that the optimal speed calculation unit compares the theoretical speed of the seed metering shaft with the actual speed of the seed metering device measured by the rotary encoder, evaluates the efficiency at different speeds, and determines the optimal speed of the seed metering shaft based on the efficiency evaluation results.

[0022] A further improvement is that the electronically controlled seeding execution unit uses a brushless DC motor to drive the seeding component of the seeder to perform the seeding task. The electronically controlled seeding control unit uses a self-tuning genetic fuzzy PID algorithm to implement dual closed-loop control of speed and current for the brushless DC motor of the electronically controlled seeding execution unit, with the current loop as the inner loop and the speed loop as the outer loop. The brushless DC motor speed is adjusted using PWM modulation. Finally, the seeder performs the seeding task according to the adjusted speed.

[0023] A further improvement is that the power supply equipment includes a power supply unit that uses a Chaowei lithium battery as the main power source and a power conversion unit for changing the power supply voltage. The lithium battery is selected from 20Ah, 48V Chaowei lithium batteries. The power conversion unit splits the 48V voltage of the Chaowei lithium battery into a 12V power supply port and a 5V power supply port.

[0024] Further improvements include an anti-interference component, which comprises a power supply anti-interference unit for reducing voltage fluctuations and electromagnetic harmonic interference, and a process channel anti-interference unit for reducing process channel interference. The power supply anti-interference unit incorporates a filter circuit in the power supply circuit, and the process channel anti-interference unit employs an optocoupler chip to opto-isolate sensor signals and motor drive signals.

[0025] A seeding method for an active electronically controlled precision seeding device based on speed monitoring includes the following steps: first, the real-time rotation speed of the seeder and the real-time forward operating speed of the agricultural implement are monitored by the rotary encoder and GPS speed sensor in the data acquisition component, respectively; then, the optimal rotation speed of the seeder shaft is calculated by the data processing component; and finally, the electronically controlled seeding control component controls the seeder to perform the seeding task according to the optimal rotation speed of the seeder shaft.

[0026] The beneficial effects of this invention are as follows: This invention monitors the field movement speed of agricultural machinery using a GPS speed sensor, and inputs the theoretical expected plant spacing into the data processing component of the device through a human-machine interface to calculate the theoretical rotational speed of the seed metering device. This theoretical speed is then compared with the actual rotational speed of the seed metering device measured by a rotary encoder to determine the optimal rotational speed. Based on this optimal speed, the electronically controlled seed metering control component controls the seed metering device to perform the seeding task, achieving active electronically controlled precision seeding based on speed monitoring. Simultaneously, it enables accurate, real-time, and quantitative control of the plant spacing. Furthermore, the entire seeding process is simple to operate, saves time and effort, is less prone to malfunctions, and effectively achieves the goal of precision seeding, thereby significantly improving agricultural operational efficiency. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 is a schematic diagram of the active electronically controlled precision seeding device based on speed monitoring according to the present invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1

[0031] Referring to Figure 1, this embodiment provides an active electronically controlled precision seeding device based on speed monitoring, including a data acquisition component for collecting seeding-related data, a data processing component for calculating and processing the collected data, an electronically controlled seeding control component for executing seeding tasks, a human-machine interface device for displaying seeding parameters, device parameters, and inputting device control commands, and a power supply device for the various components and devices of the device.

[0032] The data acquisition components include a rotary encoder and a GPS speed sensor, whereby the rotary encoder is used to monitor the rotation speed of the seed metering device in real time, and the GPS speed sensor is used to monitor the forward operating speed of the agricultural machinery in real time.

[0033] The data processing component includes a theoretical speed calculation unit and an optimal speed calculation unit. The theoretical speed calculation unit is used to calculate the theoretical speed of the seed metering shaft, and the optimal speed calculation unit is used to calculate the optimal speed of the seed metering shaft.

[0034] The electronically controlled seeding control component includes an electronically controlled seeding execution unit and an electronically controlled seeding regulation unit, wherein the electronically controlled seeding execution unit is used to perform seeding tasks, and the electronically controlled seeding regulation unit is used to adjust the motor speed of the electronically controlled seeding execution unit.

[0035] The human-machine interface device includes a display screen and a control keyboard. The display screen is used to show the forward operating speed, operating area and preset plant spacing of the agricultural machinery in real time, while the control keyboard is used to input control parameters, set plant spacing and control the start and stop of the device.

[0036] In this embodiment, the rotary encoder selected is the HZJZH8-10QT 852A rotary encoder from the HUA ZHI JIN series, which is installed on the seed metering shaft. Its working principle is as follows: when the seed metering shaft rotates, the angular velocity of the seed metering shaft is output as a corresponding pulse digital quantity through photoelectric conversion technology, thereby measuring the real-time rotational speed of the seed metering shaft.

[0037] In this embodiment, the GPS speed sensor used is the KD-100 GPS speed sensor, which is fixed in an unobstructed position on the agricultural machinery. The GPS signal antenna of the GPS speed sensor is placed at the highest point of the agricultural machinery to receive signals. Speed ​​is measured by utilizing the Doppler frequency shift. The average of the first ten values ​​per unit time is taken as the real-time forward operating speed of the agricultural machinery. The calculation formula is as follows:

[0038] Among them, f i v is the microwave frequency emitted by the Doppler velocimeter. g Let v be the velocity component of the carrier in the direction of motion, γ be the angle between the direction of motion and the echo direction, and v be the velocity component of the carrier in the direction of motion. r Let f be the radial velocity of the carrier relative to the echo direction, c be the propagation speed of the electromagnetic wave, and f be the Doppler frequency shift. d Then the speed v of the carrier can be calculated. g or v r .

[0039] The theoretical rotational speed calculation unit in this embodiment calculates the theoretical rotational speed of the seed metering device shaft based on the forward operating speed of the agricultural machinery measured by the GPS speed sensor and the plant spacing value preset by the human-machine interface device. The calculation formula is: n = 60V / mZ

[0040] Where n is the theoretical rotational speed of the seed metering device shaft, V is the forward operating speed of the agricultural machinery, m is the number of seed scoops in the seed metering device, and Z is the plant spacing value.

[0041] The optimal speed calculation unit in this embodiment compares the theoretical speed of the seed metering shaft with the actual speed of the seed metering device measured by the rotary encoder, evaluates the efficiency at different speeds, and determines the optimal speed of the seed metering shaft based on the efficiency evaluation results.

[0042] In this embodiment, the electronically controlled seeding execution unit uses a brushless DC motor to drive the seeding component of the seeder to perform the seeding task. Specifically, the Shidai Chaoqun 80BL110S50-430 brushless DC voltage-regulating motor is selected. The electronically controlled seeding control unit uses the optimal speed of the seeder calculated by the optimal speed calculation unit to implement dual closed-loop control of speed and current for the brushless DC motor of the electronically controlled seeding execution unit using a self-tuning genetic fuzzy PID algorithm. The current loop is used as the inner loop and the speed loop is used as the outer loop. The speed of the brushless DC motor is adjusted using PWM modulation. Finally, the seeder performs the seeding task according to the adjusted speed. In this embodiment, the ZM-6625 brushless DC driver is selected to work with the selected brushless DC motor to achieve precise speed adjustment.

[0043] The power supply equipment in this embodiment includes a power supply unit that uses a Chaowei lithium battery as the main power source and a power conversion unit for changing the power supply voltage. The lithium battery is selected from 20Ah, 48V Chaowei lithium batteries. When fully charged, it can work continuously for about 8 hours, which meets the requirements of field operations. The power conversion unit splits the 48V voltage of the Chaowei lithium battery into a 12V power supply port and a 5V power supply port.

[0044] The active electronically controlled precision seeding device based on speed monitoring in this embodiment also includes an anti-interference component, which consists of a power supply anti-interference unit and a process channel anti-interference unit. The power supply anti-interference unit is used to reduce voltage fluctuations and electromagnetic harmonic interference, while the process channel anti-interference unit is used to reduce process channel interference. The power supply anti-interference unit incorporates a filter circuit into the power supply circuit, and the process channel anti-interference unit uses an optocoupler chip to opto-isolate sensor signals and motor drive signals. Due to the complex working conditions and harsh environment in the field, this embodiment minimizes the impact of vibration, noise, and internal electromagnetic interference on the device through the above-mentioned anti-interference component, thereby improving the reliability of the device.

[0045] Example 2

[0046] This embodiment also provides a seeding method for an active electronically controlled precision seeding device based on speed monitoring, including the following steps: first, the real-time rotation speed of the seeder and the real-time forward operating speed of the agricultural machinery are monitored by the rotary encoder and GPS speed sensor in the data acquisition component, respectively; then, the optimal rotation speed of the seeder shaft is calculated by the data processing component; and finally, the electronically controlled seeding control component controls the seeder to perform the seeding task according to the optimal rotation speed of the seeder shaft.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An active electronically controlled precision seeding device based on speed monitoring, characterized in that: It includes data acquisition components, data processing components, electronic seeding control components, human-computer interaction equipment, and power supply equipment; The data acquisition components include a rotary encoder for real-time monitoring of the seed metering device's rotation speed and a GPS speed sensor for real-time monitoring of the forward operating speed of agricultural machinery. The data processing component includes a theoretical speed calculation unit for calculating the theoretical speed of the seed metering shaft and an optimal speed calculation unit for calculating the optimal speed of the seed metering shaft. The electronically controlled seeding control component includes an electronically controlled seeding execution unit for performing seeding tasks and an electronically controlled seeding regulation unit for adjusting the motor speed of the electronically controlled seeding execution unit. The human-machine interaction device includes a display screen for real-time display of the agricultural machinery's forward operating speed, operating area, and preset plant spacing value, as well as a control keyboard for inputting control parameters, setting plant spacing, and controlling the start and stop of the control device. The power supply equipment provides power to the device.

2. The active electronically controlled precision seeding device based on speed monitoring according to claim 1, characterized in that: The rotary encoder is installed on the seed metering shaft and, through photoelectric conversion technology, outputs the angular velocity of the seed metering shaft as a corresponding pulse digital quantity when the seed metering shaft rotates, thereby measuring the real-time rotational speed of the seed metering shaft.

3. The active electronically controlled precision seeding device based on speed monitoring according to claim 1, characterized in that: The GPS speed sensor is fixed in an unobstructed position on the agricultural machinery. The GPS signal antenna of the GPS speed sensor is placed at the highest point of the agricultural machinery to receive signals. Within a unit of time, the average value of the first ten values ​​is selected as the real-time forward operating speed of the agricultural machinery.

4. The active electronically controlled precision seeding device based on speed monitoring according to claim 1, characterized in that: The theoretical rotational speed calculation unit calculates the theoretical rotational speed of the seed metering device shaft based on the forward operating speed of the agricultural machinery measured by the GPS speed sensor and the plant spacing value preset by the human-machine interaction device. The calculation formula is: n = 60V / mZ Where n is the theoretical rotational speed of the seed metering device shaft, V is the forward operating speed of the agricultural machinery, m is the number of seed scoops in the seed metering device, and Z is the plant spacing value.

5. The active electronically controlled precision seeding device based on speed monitoring according to claim 1, characterized in that: The optimal speed calculation unit compares the theoretical speed of the seed metering device shaft with the actual speed of the seed metering device measured by the rotary encoder, evaluates the efficiency at different speeds, and determines the optimal speed of the seed metering device shaft based on the efficiency evaluation results.

6. The active electronically controlled precision seeding device based on speed monitoring according to claim 1, characterized in that: The electronically controlled seeding execution unit uses a brushless DC motor to drive the seeding component of the seeder to perform the seeding task. The electronically controlled seeding control unit uses a self-tuning genetic fuzzy PID algorithm to implement dual closed-loop control of speed and current for the brushless DC motor of the electronically controlled seeding execution unit, with the current loop as the inner loop and the speed loop as the outer loop. The speed of the brushless DC motor is adjusted by PWM modulation. Finally, the seeder performs the seeding task according to the controlled speed.

7. The active electronically controlled precision seeding device based on speed monitoring according to claim 1, characterized in that: The power supply equipment includes a power supply unit that uses a Chaowei lithium battery as the main power source and a power conversion unit for changing the power supply voltage. The lithium battery is selected from 20Ah, 48V Chaowei lithium batteries. The power conversion unit splits the 48V voltage of the Chaowei lithium battery into a 12V power supply port and a 5V power supply port.

8. The active electronically controlled precision seeding device based on speed monitoring according to claim 1, characterized in that: It also includes an anti-interference component, which includes a power supply anti-interference unit for reducing voltage fluctuations and electromagnetic harmonic interference, and a process channel anti-interference unit for reducing process channel interference. The power supply anti-interference unit adds a filter circuit to the power supply circuit, and the process channel anti-interference unit uses an optocoupler chip to opto-isolate sensor signals and motor drive signals.

9. A seeding method applied to the active electronically controlled precision seeding device based on speed monitoring as described in claim 1, characterized in that, Includes the following steps: First, the real-time rotation speed of the seed metering device and the real-time forward operating speed of the agricultural machinery are monitored by the rotary encoder and GPS speed sensor in the data acquisition component. Then, the optimal rotation speed of the seed metering device shaft is calculated by the data processing component. Finally, the electronic seed metering control component controls the seed metering device to perform the seeding task according to the optimal rotation speed of the seed metering device shaft.

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