Kinetic-energy-type rotary throwing high-speed precise seed metering device and seed metering control method therefor

Abstract

A kinetic-energy-type rotary throwing high-speed precise seed metering device and a seed metering control method therefor, relating to the technical fields of intelligent agricultural machinery equipment and smart agriculture. Dual-motor coordinated control is used to implement seed feeding and kinetic-energy-type rotary throwing seed metering; a seed-feeding motor rotates a seed-feeding disc to suction seeds in cooperation with an air-suction device; a throwing motor rotates a seed spoon to pick up the seeds; after picking up the seeds, the seed spoon is accelerated by the throwing motor to provide initial kinetic energy to the seeds; when rotating to a throwing point, the seed spoon is decelerated by the throwing motor to throw the seeds; both the throwing speed and the throwing angle of the seeds can be precisely controlled by adjusting the position of the throwing point and the rotation speed of the throwing motor. Seeds are provided with initial kinetic energy in the form of throwing by means of motor rotation, and are thrown at specific angles and speeds by means of the design of a motor acceleration phase and deceleration phase, so that high-speed seed metering can be implemented. In addition, by means of controlling the horizontal component of the speed at which the seeds are thrown from the throwing point to be equal to the advancing speed of the entire seed metering device, zero-speed seeding is achieved, precisely controlling landing positions of the seeds.

Description

A kinetic energy rotary projectile high-speed precision seed metering device and its seed metering control method

[0001] This application claims priority to Chinese Patent Application No. 202410925232.1, filed on July 11, 2024, entitled "A Kinetic Rotary Projectile High-Speed ​​Precision Seeder and Seeding Control Method Thereof", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the fields of intelligent agricultural machinery and smart agriculture technology, and in particular to a kinetic energy rotary projectile high-speed precision seed metering device and its seed metering control method. Background Technology

[0003] Precision seeding is a modern agricultural technology that uses advanced equipment and precise seed distribution control methods to accurately position and deliver seeds during crop planting. It has wide demand and significant value in agriculture, as it can avoid seed waste, reduce labor costs for thinning seedlings, and increase yield by avoiding overly dense or under-dense planting.

[0004] Traditional single-seed precision seeding often uses a pneumatic seed metering device. A negative pressure airflow is applied to adsorb the seeds onto a seed metering disc. As the disc rotates to a specific position, a mechanical structure blocks the seed and the suction airflow, causing the seed to detach from the disc and fall into the soil under gravity along a seed guide tube. The disadvantages of this type of seed metering device are the low initial velocity of the seeds under gravity and the long falling time. Therefore, the operating speed of this type of seeder can only reach 5-6 km / h, making high-speed seeding impossible and resulting in low seeding efficiency.

[0005] Currently, high-speed seed metering devices have been developed that utilize high-speed airflow to provide initial velocity to seeds, building upon traditional air-suction seed metering devices. As the seeds fall or after falling, the high-speed airflow accelerates them within the seed metering tube, allowing them to reach a high speed before being ejected at high speed from the end of the tube. These seeders can operate at speeds up to 18 km / h. However, the airflow force of this type of seed metering device cannot be precisely controlled, and the initial velocity and kinetic energy provided to seeds of different sizes vary. Therefore, the acceleration process cannot precisely control the seed's speed, trajectory, and landing point, resulting in an inability to accurately control plant spacing during sowing. Furthermore, the friction between the seeds and the tube wall as they fall at high speed poses a risk of seed germ damage.

[0006] Furthermore, to prevent seeds from bouncing and flying around after landing, zero-speed seeding is generally required during sowing, meaning the horizontal speed of the seed backward is the same as the forward speed of the seeder, so that the horizontal speed of the seed relative to the ground is zero when it lands. However, both of the existing seed metering devices mentioned above use seed guide tubes to restrict the movement trajectory of the seeds. Since the shape of the seed guide tube is fixed, in the former type of air suction seed metering device, the seeds fall along the seed guide tube under the action of gravity, and the speed and angle of the seeds when exiting the seed guide tube are basically constant. Therefore, zero-speed seeding can only be achieved at a fixed vehicle speed. In the latter type of high-speed air blowing seed metering device, the seeds fall along the same shape of seed guide tube under different airflows, with the same exit angle but different speeds. Therefore, zero-speed seeding cannot be achieved, and the seeds can only be shot directly into the soil under the press wheel. Because it is not zero-speed seeding, the position of the seeds will change when they collide with the soil or press wheel during the ejection, affecting the sowing quality.

[0007] Summary of the Invention

[0008] To address the current problem of seed metering devices failing to effectively combine high-speed seed metering, landing point control, and zero-speed seeding, this application provides a kinetic energy-driven rotary projectile high-speed precision seed metering device and its seed metering control method. It utilizes a rotating motor to provide initial kinetic energy to the seeds, and employs a motor acceleration and deceleration section design to launch the seeds at a specific angle and speed, achieving high-speed seed metering. Furthermore, by controlling the horizontal component of the seed's projectile velocity at the launch point to be consistent with the overall machine's forward speed, zero-speed seeding is achieved, enabling precise control of the seed's landing point.

[0009] To achieve the above objectives, this application adopts the following technical solution:

[0010] A kinetic energy-driven rotary projectile high-speed precision seed metering device includes a seed supply mechanism, a projectile motor, and a seed scoop. The seed supply mechanism supplies seeds to the seed collection point. The output shaft of the projectile motor is vertically connected and fixed to the tail of the seed scoop, driving the seed scoop to rotate. The head of the seed scoop collects seeds at the seed collection point. The projectile motor rotates periodically, with each cycle consisting of an acceleration segment and a deceleration segment. After the seed scoop collects the seeds, the projectile motor accelerates the seeds to provide initial kinetic energy. After the seed scoop rotates to the projectile point, the projectile motor decelerates the seeds and ejects them. The seed ejection speed and angle are controlled by adjusting the position of the projectile point and the rotational speed of the seed scoop at the projectile point.

[0011] In one embodiment, the seed supply mechanism includes a seed supply motor and a seed supply disc. The seed supply motor is connected to the seed supply disc and drives it to rotate. The seed supply disc has multiple seed suction holes evenly distributed along its circumference. The seed supply disc is equipped with a pneumatic suction device to suck up seeds from the multiple seed suction holes and rotates to supply seeds to the seed collection point. When the seed spoon overlaps with the corresponding seed suction hole at the seed collection point, the linear velocity of the seed spoon and the seed at the seed suction hole is the same to achieve seed collection at the same speed.

[0012] A kinetic energy-based rotating projectile high-speed precision seeding control method includes the following steps:

[0013] Step 1: Determine the seed's position at the launch point and the seed spoon's velocity at the launch point;

[0014] The linear velocity V of the seed during projection 2p The launch angle θ is determined by the horizontal distance L between the launch point and the landing point. x and vertical distance L y and the overall forward speed V t It is determined together with the gravitational acceleration g, and the calculation formula is:

[0015] Among them, V px and V py These are the horizontal and vertical components of the seed's velocity at the launch point, V. px With V t If they are equal in size but opposite in direction, then: V px =V t ;

[0016] In the formula, T f The flight time of a seed from when it is thrown to when it lands;

[0017] The angular velocity ω of the seed spoon at the launch point 2p The calculation formula is:

[0018] In the formula, r2 is the radius of rotation of the seed spoon;

[0019] Step 2: Determine the average angular velocity of the seed supply tray and seed spoon;

[0020] Given the overall forward speed V t and planting spacing L p The average angular velocity ω of the seed supply disc 1m The average angular velocity ω of the seed spoon 2m The calculation formula is:

[0021] In the formula, Z represents the number of seed suction holes on the seed supply tray;

[0022] Step 3: Determine the angular velocity of the seed tray and seed spoon at the moment of seed collection;

[0023] The linear velocity of the seed at the seed collection point is the same as the linear velocity of the seed scoop when it picks up the seed, thus yielding the angular velocity ω of the seed scoop at the seed collection point. 2q and the angular velocity ω of the seed collection point of the seed supply tray 1q The calculation formula is: ω 2q=2ω 2m -ω 2p ;

[0024] In the formula, r1 is the radius of the seed as it rotates with the seed supply tray;

[0025] Step 4: Obtain the rotational trajectory of the seed tray and seed spoon by measuring the angular velocity at each key moment;

[0026] Taking the seed-taking point as the reference time zero point and position zero point, the velocity curve ω2(t) and position curve θ2(t) of the seed spoon rotating one revolution include acceleration and deceleration segments, and are divided into acceleration process angular velocity curves ω 2a (t), angular velocity curve during deceleration ω 2d (t) and the position curve θ of the acceleration process 2a (t), position curve θ during deceleration 2d (t), the formulas for calculating the trajectories of each curve are:

[0027] In the formula, [0,T 2a ) represents the acceleration time period, [T] 2a ,T 2s T represents the deceleration time period. 2a To accelerate the seeding process to its maximum time point, T 2s The time it takes for the seed spoon to rotate once. T 2d T is the time it takes for the seed spoon to travel from its maximum acceleration point to the seed collection point. 2d =T 2s -T 2a ;

[0028] Where, θ th Let be the angle through which the seed spoon rotates between the seed-collecting point and the projection point. When the seed-collecting point of the seed spoon makes an angle θ0 with the horizontal direction, we have:

[0029] The formulas for calculating the velocity curve ω1(t) and position curve θ1(t) of the seed tray during one seed-collecting cycle are as follows:

[0030] In one embodiment, step one involves position compensation to ensure that the seeds land at the same point relative to the center of rotation of the seed spoon. The L value is adjusted after position compensation for different launch points. x and L y They are respectively: L x =L x0 +r2sinθ; L y =L y0 -r2cosθ;

[0031] Among them, L x0 and L y0 These represent the horizontal and vertical distances between the landing point and the center of rotation of the seed spoon, respectively.

[0032] In one embodiment, the launch point time T in step four is... 2a The position curve θ during the subsequent deceleration process 2d A jitter curve θ is then superimposed on (t). 2v (t), θ 2v (t) is the position jitter amplitude of A and angular frequency of ω. v The cosine locus of θ is given by the following formula: 2v (t)=-A+Acos(ω v (tT 2a ))t∈[T 2a ,T 2a +T 2v );

[0033] Among them, (T) 2a +T 2v ) < T 2s T 2v For the cosine locus θ 2v (t) is the time of one cycle.

[0034] Compared with existing technologies, the advantages of this application are as follows: the motor speed can reach several thousand or even tens of thousands of revolutions per minute, supporting ultra-high-speed seeding; this application uses the form of motor rotation and throwing to provide initial kinetic energy to the seeds, and adopts the design of motor acceleration and deceleration sections to throw the seeds at a specific angle and speed, and achieves zero-speed seeding by controlling the horizontal component of the seed's throwing speed at the throwing point to be consistent with the overall machine's forward speed; zero-speed seeding can be achieved at any speed by adjusting the throwing angle and throwing speed, and the landing position of the seeds can be precisely controlled to achieve fixed-spacing seeding; the same initial throwing velocity and throwing angle can be provided for seeds of different sizes, resulting in good seeding consistency; moreover, the linear velocity of the seed scoop and the seed at the seed collection point is consistent, enabling lossless seed collection at the same speed; it does not rely on the seed guide tube to constrain the seed's movement trajectory, avoiding damage to the seeds caused by high-speed seeding; it is applicable to seeds of different varieties and sizes by changing the seed scoop; the whole application is simple and compact, maintenance-free, and highly reliable, and the parameters such as plant spacing and landing position can be flexibly adjusted during the seeding process, making it highly adaptable.

[0035] Instruction manual illustrations

[0036] Figure 1 is an isometric view of a kinetic energy rotary projectile high-speed precision seed metering device provided in an embodiment of this application;

[0037] Figure 2 is a schematic diagram of the projectile process principle of the seeding control method provided in an embodiment of this application;

[0038] Figure 3 is the velocity trajectory curve ω2(t) of the seed spoon rotating once during the seeding process in Example 1;

[0039] Figure 4 is the position trajectory curve θ2(t) of the seed spoon rotating once during the seeding process in Example 1;

[0040] Figure 5 is a schematic diagram of the angles involved in the seeding process of the embodiment;

[0041] Figure 6 is the velocity trajectory curve ω1(t) of the seed supply disc rotating for one cycle during the seeding process in Example 1;

[0042] Figure 7 is the position trajectory curve θ1(t) of the seed supply tray rotating once during the seeding process in Example 1;

[0043] Figure 8 is the velocity trajectory curve ω2(t) of the seed spoon rotating one revolution after the shaking curve is superimposed in Example 1;

[0044] Figure 9 is the position trajectory curve θ2(t) of the seed spoon after rotating one revolution after the shaking curve is superimposed in Example 1;

[0045] Figure 10 is a schematic diagram of the flight trajectory of the seed from being thrown to landing under different forward speeds in the embodiment;

[0046] Figure 11 is the velocity trajectory curve ω2(t) of the seed spoon rotating once during the seeding process in Example 2;

[0047] Figure 12 is the position trajectory curve θ2(t) of the seed spoon rotating once during the seeding process in Example 2;

[0048] Figure 13 is the velocity trajectory curve ω1(t) of the seed supply disc rotating for one cycle during the seeding process in Example 2;

[0049] Figure 14 is the position trajectory curve θ1(t) of the seed supply tray rotating once during the seeding process in Example 2;

[0050] Figure 15 is the velocity trajectory curve ω2(t) of the seed spoon rotating once after the shaking curve is superimposed in Example 2;

[0051] Figure 16 is the position trajectory curve θ2(t) of the seed spoon after rotating one revolution after the shaking curve is superimposed in Example 2;

[0052] Figure 17 is the velocity trajectory curve ω2(t) of the seed spoon rotating once during the seeding process in Example 3;

[0053] Figure 18 is the velocity trajectory curve ω1(t) of the seed supply disc rotating for one cycle during the seeding process in Example 3;

[0054] Figure 19 is the velocity trajectory curve ω2(t) of the seed spoon rotating once after the shaking curve is superimposed in Example 3.

[0055] In the diagram: 1-Seed supply motor, 2-Projectile motor, 3-Seed spoon, 4-Seed supply tray, 5-Seed suction hole. Detailed Implementation

[0056] The technical solutions in this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative effort are within the scope of protection of this application.

[0057] As shown in Figure 1, a kinetic energy rotary projectile high-speed precision seed metering device includes a seed supply mechanism, a projectile motor 2, and a seed scoop 3. The seed supply mechanism supplies seeds to the seed collection point. The output shaft of the projectile motor 2 is vertically connected and fixed to the tail of the seed scoop 3 and drives the seed scoop 3 to rotate. The head of the seed scoop 3 collects seeds at the seed collection point. The projectile motor 2 rotates periodically, and each cycle is divided into an acceleration segment and a deceleration segment. After the seed scoop 3 collects the seeds, it is accelerated by the projectile motor 2 to provide initial kinetic energy to the seeds. After the seed scoop 3 rotates to the projectile point, it is decelerated by the projectile motor 2 to throw the seeds out. The projectile speed and projectile angle of the seeds are controlled by adjusting the position of the projectile point and the rotation speed of the seed scoop 3 at the projectile point.

[0058] The seed supply mechanism can be a seed supply motor 1 and a seed supply disc 4. The seed supply motor 1 is connected to the transmission seed supply disc 4 and drives the seed supply disc 4 to rotate. The seed supply disc 4 has multiple seed suction holes 5 evenly opened along its circumference. The seed supply disc 4 is equipped with a pneumatic suction device to suck up seeds to the multiple seed suction holes 5 and rotates, thereby supplying seeds to the seed collection point. This is a conventional component of existing seed supply mechanisms. Other seed supply mechanisms that can achieve the same function can also be simply replaced by this mechanism and should also fall within the protection scope of this application.

[0059] When the seed spoon 3 overlaps with the corresponding seed suction hole 5 at the seed collection point, the linear velocity of the seed movement at the seed spoon 3 and the seed suction hole 5 is the same, that is, the same speed is achieved at the seed collection point to avoid the seed spoon 3 knocking the seed away or causing seed damage.

[0060] As shown in Figures 1 and 2, a kinetic energy-based rotary projectile high-speed precision seeding control method includes the following steps:

[0061] Step 1: Determine the seed's position at the launch point and the seed spoon's speed at the launch point.

[0062] The linear velocity V of the seed during projection 2p The launch angle θ is determined by the horizontal distance L between the launch point and the landing point.x and vertical distance L y and the overall forward speed V t It is determined together with the gravitational acceleration g, and the calculation formula is as follows:

[0063] Among them, V px and V py These are the horizontal and vertical components of the seed's velocity at the launch point, V. px With V t If they are equal in size but opposite in direction, then: V px =V t

[0064] In the formula, T f This refers to the flight time of a seed from when it is thrown to when it lands.

[0065] Then the angular velocity ω of spoon 3 at the launch point 2p The calculation formula is as follows:

[0066] In the formula, r2 is the radius of rotation of the seed spoon.

[0067] Step 2: Determine the average angular velocity of the seed supply tray and seed spoon.

[0068] Given the overall forward speed V t and planting spacing L p The average angular velocity ω of the seed supply disk 4 1m The average angular velocity ω of the seed spoon 3 2m The calculation formula is as follows:

[0069] In the formula, Z represents the number of seed suction holes on the seed supply tray.

[0070] Step 3: Determine the angular velocity of the seed tray and seed spoon at the seed collection time.

[0071] The linear velocity of the seed at the seed-taking point is the same as the linear velocity of the seed-taking spoon 3 when it picks up the seed, thus obtaining the angular velocity ω of the seed-taking point of the seed-taking spoon 3. 2q And the angular velocity ω of the seed-taking point of seed-supplying tray 4 1q As follows: ω 2q =2ω 2m -ω 2p

[0072] In the formula, r1 is the radius of the seed as it rotates with the seed supply tray.

[0073] Step 4: Obtain the rotational trajectory of the seed tray and seed spoon by measuring the angular velocity at each key moment.

[0074] Taking the seed-taking point as the reference time zero point and position zero point, the velocity curve ω2(t) and position curve θ2(t) of the seed spoon 3 rotating one revolution include acceleration and deceleration segments, and are divided into acceleration process angular velocity curves ω 2a (t), angular velocity curve during deceleration ω 2d (t) and the position curve θ of the acceleration process 2a (t), position curve θ during deceleration 2d (t), the formulas for calculating the trajectory of each curve are as follows:

[0075] In the formula, [0,T 2a ) represents the acceleration time period, [T] 2a ,T 2s T represents the deceleration time period. 2a To accelerate the seeding process to its maximum time point, T 2s The time it takes for the seed spoon to rotate once. T 2d T is the time it takes for the seed spoon to travel from its maximum acceleration point to the seed collection point. 2d =T 2s -T 2a .

[0076] θ th Let be the angle through which the seed spoon rotates between the seed-taking point and the projection point. When the seed-taking point of seed spoon 3 makes an angle θ0 with the horizontal direction, we have:

[0077] The angle between the two seed suction holes 5 when the seed supply disc 4 rotates is one cycle. The formulas for calculating the velocity curve ω1(t) and position curve θ1(t) of the seed supply disc 4 during one seed-taking cycle are as follows:

[0078] Referring to Figure 2, position compensation can be performed in step one to ensure that the seeds land at the same point relative to the rotation center of the seed spoon 3. The L value after position compensation for different launch points... x and L y They are respectively: L x =L x0 +r2sinθ L y =L y0 -r2cosθ

[0079] Among them, L x0 and L y0 These represent the horizontal and vertical distances between the landing point and the center of rotation of the seed spoon, respectively.

[0080] Furthermore, in step four, at the ejection point time T 2a The position curve θ during the subsequent deceleration process 2d A jitter curve θ is then superimposed on (t).2v (t), θ 2v (t) is the position jitter amplitude of A and angular frequency of ω. v The cosine locus of θ is given by the following formula: 2v (t)=-A+Acos(ω v (tT 2a ))t∈[T 2a ,T 2a +T 2v )

[0081] This allows the seed spoon 3 to decelerate more significantly, ensuring the seeds are successfully released. To ensure successful seed release, it is necessary to ensure (T) 2a +T 2v ) < T 2s T 2v For the cosine locus θ 2v (t) is the time of one cycle.

[0082] In step four above, the velocity curve ω2(t) and position curve θ2(t) of the seed spoon 3 rotating one revolution, as well as the superimposed jitter curve θ 2v (t) Based on the relevant key point data, S-curves, trapezoids, triangles, or other commonly used methods can also be used for trajectory planning. Under the premise of ensuring the same effect, using other commonly used methods to replace the aforementioned curves for trajectory planning is common knowledge in this field and should also fall within the protection scope of this application. Similarly, the jitter curve θ 2v The trajectory of (t) can also be planned using S-curves, trapezoids, triangles or other commonly used methods.

[0083] As shown in Figure 1, a dual-motor coordinated control system is used to achieve seed supply and kinetic energy-driven rotary seed ejection. The seed supply motor 1 rotates the seed supply tray 4, which, in conjunction with a pneumatic suction device, picks up seeds and rotates at a certain speed. The ejection motor 2 rotates the seed spoon 3. When the seed spoon 3 overlaps with the seed suction hole 5 of the seed supply tray 4, the linear velocity of the seeds at the seed spoon 3 and the seed suction hole 5 is consistent, that is, the seeds are picked up at the same speed at the seed picking point, avoiding the seeds being knocked away or damaged. After the seed spoon 3 picks up the seeds at the seed picking point, the ejection motor 2 rotates and accelerates to provide initial kinetic energy to the seeds. When the seed spoon 3 rotates to the ejection point, the ejection motor 2 rotates and decelerates to throw out the seeds. The ejection speed and ejection angle of the seeds can be precisely controlled by adjusting the position of the ejection point and the rotation speed of the ejection motor 2.

[0084] Example 1

[0085] The parameters involved in this embodiment are as follows: overall forward speed V tThe velocity is 8.3333 m / s, corresponding to a forward speed of 30 km / h. The radius r1 of the seed's rotation along the seed tray is 0.11 m, the radius r2 of the seed spoon's rotation is 0.08 m, and the seed spacing L... p The depth is 0.2m, the number of seed suction holes Z on the seed supply tray is 3, and the acceleration due to gravity g is taken as 10m / s². 2 The control steps are as follows:

[0086] 1) Flight distance compensation: Referring to Figure 2, when seeds are launched from different positions, the flight distance of the seeds at different launch points is compensated to ensure that the landing point of the seeds relative to the rotation center of the seed spoon 3 is the same. The horizontal and vertical distances between the landing point and the rotation center of the seed spoon 3 are L and L, respectively. x0 =0.2m, L y0 =0.834m.

[0087] In practice, there is a cross-coupling phenomenon between determining the velocity and position of the launch point and compensating for the flight distance. The flight distance needs to be known in order to determine the angle, and the angle needs to be known in order to know the flight distance.

[0088] Therefore, mathematically, the above results are determined through a method of pre-fetching, iteration, and verification: First, the launch angle θ is pre-fetched to obtain the horizontal distance L of the seed flight after compensation. x and vertical distance L y Then, the projectile velocity is calculated and a projectile angle θ is obtained. Finally, the calculated projectile angle θ is compared with the pre-selected projectile angle θ. If the two are not equal, the pre-selected projectile angle θ is modified according to the error direction, and the next round of iteration and verification is performed until the pre-selected value and the verification value are consistent.

[0089] Before iteration, the pre-selected launch angle θ is 1.204 rad, and the overall forward speed V is given. t The velocity is 8.3333 m / s, and the horizontal distance L of the seed flight after compensation is obtained from the pre-selected launch angle. x and vertical distance L y And based on the flight distance L under the pre-selected launch angle x and L y Further calculations were performed to obtain the launch velocity and launch angle required to complete the seed-throwing task at this flight distance. Then, the calculated launch angle was compared with the pre-selected launch angle to see if they matched. The calculations are as follows: L x =L x0 +r2sinθ=0.2+0.08sin(1.204)=0.2747(m) L y =L y0 -r2cosθ=0.834-0.08cos(1.204)=0.8053(m)

[0090] Calculations show that the pre-fetched launch angle θ is smaller than the calculated value. Therefore, the pre-fetched launch angle θ is increased. After multiple iterations, the launch angle θ should be 1.2399 rad. At this point, the pre-fetched launch angle matches the calculated launch angle, and the pre-fetching iteration ends. The horizontal distance L of the compensated seed flight is obtained from the launch angle. x Vertical distance L y The linear velocity V of the seed during projection 2p and the angular velocity ω of the launch point 2p For: L x =L x0 +r2cosθ=0.2+0.08sin(1.2399)=0.27569(m) L y =L y0 -r2sinθ=0.834-0.08cos(1.2399)=0.80809(m)

[0091] The horizontal distance L of seed flight after compensation based on the launch angle x The vertical distance is 0.27569m. y The linear velocity V of the seed during projection is 0.80809m. 2p The angular velocity ω at the launch point is 25.6524 m / s. 2p It is 320.6544 rad / s.

[0092] 2) The average angular velocity ω of the seed supply disc 4 1m The average angular velocity ω of the seed spoon 3 2m The results are as follows:

[0093] The average angular velocity ω of the seed supply disk 4 is obtained. 1m The average angular velocity ω of seed spoon 3 is 87.2665 rad / s. 2m It is 261.7994 rad / s.

[0094] 3) The linear velocity of the seed at the seed-taking point as it moves with the seed-supply tray 4 is the same as the linear velocity of the seed-taking spoon 3. The angular velocity ω at the seed-taking point of the seed-taking spoon 3 is... 2q And the angular velocity ω of the seed-taking point of seed-supplying tray 4 1q As follows: ω 2q =2ω 2m -ω 2p =2×261.7994-320.6544=202.9444(rad / s)

[0095] The angular velocity ω at the seed-taking point of seed spoon 3 is obtained. 2qThe angular velocity ω of the seed-taking point of seed-supplying disk 4 is 202.9444 rad / s. 1q It is 147.5959 rad / s.

[0096] 4) Taking the seed-taking point as the reference time zero point and position zero point, the velocity curve ω2(t) of the seed spoon 3 rotating one revolution is shown in Figure 3, and the position curve θ2(t) is shown in Figure 4. The time T for the seed spoon to rotate one revolution is also shown. 2s as follows:

[0097] The time T for the seed spoon to rotate once 2s It is 0.024s.

[0098] In this embodiment, referring to Figure 5, when the angle θ0 between the seed-taking point of the seed spoon 3 and the horizontal direction clockwise is 0, and the seed spoon 3 rotates clockwise while the seed projection angle is θ, then:

[0099] Then the maximum acceleration time point T of the seed spoon 2a as follows:

[0100] The maximum acceleration time point T of the seed spoon was obtained. 2a It is 0.0133s.

[0101] Therefore, the formulas for calculating the trajectories of each curve are as follows: ω 2a (t)=261.7994-58.855cos(236.8548t)t∈[0,0.0133) ω 2d (t)=261.7994+58.855cos[292.6166(t-0.0133)]t∈[0.0133,0.024) θ 2a (t)=261.7994t-0.248sin(236.8548t)t∈[0,0.0133) θ 2d (t)=261.7994(t-0.013)+0.2011sin[292.6166(t-0.013)]+θ 2a (T 2a )t∈[0.013,0.024)

[0102] Referring to Figures 6 and 7, the velocity curve ω1(t) and position curve θ1(t) of the seed feeding disc 4 rotating for one seed-harvesting cycle are as follows: ω1(t) = 87.2665 + 60.3294cos(261.799t) t∈[0,0.024) θ1(t) = 87.2665t + 0.23sin(261.799t) t∈[0,0.024)

[0103] Furthermore, as shown in Figures 8 and 9, at the ejection point time T 2a The position curve θ during the subsequent deceleration process 2d A jitter curve θ is then superimposed on (t). 2v (t), θ 2v (t) represents the position jitter amplitude A = 0.0668 and angular frequency of... The cosine trajectory of θ causes the seed spoon 3 to decelerate more significantly, ensuring the seed is successfully released. The formula is as follows: θ 2v (t)=-0.0668+0.0668cos(1047.19(t-0.0133))t∈[0.0133,0.0193)

[0104] Finally, as shown in Figure 10, the curve corresponding to 30km / h gives the trajectory of the seed in this embodiment during the rotation of the seed scoop 3 after seed collection and the flight and landing process after being launched.

[0105] Example 2

[0106] The parameters involved in this embodiment are as follows: overall forward speed V t The velocity is 2.22 m / s, corresponding to a forward speed of 8 km / h. The radius r1 of the seed's rotation along with the seed tray is 0.11 m, the radius r2 of the seed spoon's rotation is 0.08 m, and the seed spacing L... p The depth is 0.2m, the number of seed suction holes Z on the seed supply tray is 3, and the acceleration due to gravity g is taken as 10m / s². 2 The control steps are as follows:

[0107] 1) Flight distance compensation: Referring to Figure 2, when seeds are launched from different positions, the flight distance of the seeds at different launch points is compensated to ensure that the landing point of the seeds relative to the rotation center of the seed spoon 3 is the same. The horizontal and vertical distances between the landing point and the rotation center of the seed spoon 3 are L and L, respectively. x0 =0.2m, L y0 =0.834m.

[0108] In practice, there is a cross-coupling phenomenon between determining the velocity and position of the launch point and compensating for the flight distance. The flight distance needs to be known in order to determine the angle, and the angle needs to be known in order to know the flight distance.

[0109] Therefore, mathematically, the above results are determined through a method of pre-fetching, iteration, and verification: First, the launch angle θ is pre-fetched to obtain the horizontal distance L of the seed flight after compensation. x and vertical distance L yThen, the projectile velocity is calculated and a projectile angle θ is obtained. Finally, the calculated projectile angle θ is compared with the pre-selected projectile angle θ. If the two are not equal, the pre-selected projectile angle θ is modified according to the error direction, and the next round of iteration and verification is performed until the pre-selected value and the verification value are consistent.

[0110] Before iteration, the pre-selected launch angle θ is 0.785 rad, and the overall forward speed V is given. t The velocity is 2.22 m / s, and the horizontal distance L of the seed flight after compensation is obtained from the pre-selected launch angle. x and vertical distance L y And based on the flight distance L under the pre-selected launch angle x and L y Further calculations were performed to obtain the launch velocity and launch angle required to complete the seed-throwing task at this flight distance. Then, the calculated launch angle was compared with the pre-selected launch angle to see if they matched. The calculations are as follows: L x =L x0 +r2sinθ=0.2+0.08sin(0.785)=0.2565(m) L y =L y0 -r2cosθ=0.834-0.08cos(0.785)=0.7774(m)

[0111] Calculations show that the pre-fetched launch angle θ is smaller than the calculated value. Therefore, the pre-fetched launch angle θ is increased. After multiple iterations, the launch angle θ should be 1.2104 rad. At this point, the pre-fetched launch angle matches the calculated launch angle, and the pre-fetching iteration ends. The horizontal distance L of the compensated seed flight is obtained from the launch angle θ. x Vertical distance L y The linear velocity V of the seed during projection 2p and the angular velocity ω of the launch point 2p For: L x =L x0 +r2sinθ=0.2+0.08sin(1.2104)=0.27489(m) L y =L y0 -r2cosθ=0.834-0.08cos(1.2104)=0.8058(m)

[0112] The horizontal distance L of seed flight after compensation based on the launch angle x The vertical distance is 0.27489m. y The linear velocity V of the seed during projection is 0.80586m. 2pThe angular velocity ω at the launch point is 6.3010 m / s. 2p It is 78.7629 rad / s.

[0113] 2) The average angular velocity ω of the seed supply disc 4 1m The average angular velocity ω of the seed spoon 3 2m The results are as follows:

[0114] The average angular velocity ω of the seed supply disk 4 is obtained. 1m The average angular velocity ω of seed spoon 3 is 23.2711 rad / s. 2m It is 69.8132 rad / s.

[0115] 3) The linear velocity of the seed at the seed-taking point as it moves with the seed-supply tray 4 is the same as the linear velocity of the seed-taking spoon 3. The angular velocity ω at the seed-taking point of the seed-taking spoon 3 is... 2q And the angular velocity ω of the seed-taking point of seed-supplying tray 4 1q As follows: ω 2q =2ω 2m -ω 2p =2×69.8132-78.7629=60.8634(rad / s)

[0116] The angular velocity ω at the seed-taking point of seed spoon 3 is obtained. 2q The angular velocity ω of the seed-taking point of seed-supplying disk 4 is 60.8634 rad / s. 1q It is 44.2634 rad / s.

[0117] 4) Taking the seed-taking point as the reference time zero point and position zero point, the velocity curve ω2(t) of the seed spoon 3 rotating one revolution is shown in Figure 11, and the position curve θ2(t) is shown in Figure 12. The time T for the seed spoon to rotate one revolution is also shown in Figure 12. 2s as follows:

[0118] The time T for the seed spoon to rotate once 2s It takes 0.09 seconds.

[0119] In this embodiment, referring to Figure 5, when the angle θ0 between the seed spoon 3 and the horizontal direction is 0, and the seed spoon 3 rotates clockwise while the seed projection angle is θ, we have:

[0120] Then the maximum acceleration time point T of the seed spoon 2a as follows:

[0121] The maximum acceleration time point T of the seed spoon was obtained. 2a It is 0.0502s.

[0122] Therefore, the formulas for calculating the trajectories of each curve are as follows: ω 2a (t)=69.8132-8.9498cos(62.6280t)t∈[0,0.0502) ω 2d (t)=69.8132+8.9498cos[78.8607(t-0.0502)]t∈[0.0502,0.09) θ 2a (t)=69.8132t-0.1429sin(62.6280t)t∈[0,0.0502) θ 2d (t)=69.8132(t-0.0502)+0.1134sin[78.8607(t-0.0502)]+θ 2a (T 2a )t∈[0.0502,0.09)

[0123] Referring to Figures 13 and 14, the velocity curve ω1(t) of the seed supply disc 4 rotating for one seed-taking cycle and the position curve θ1(t) of the seed supply disc 4 after one revolution are as follows: ω1(t)=23.2711+20.9752cos(69.813t)t∈[0,0.09) θ1(t)=23.2711t+0.3007sin(69.813t)t∈[0,0.09)

[0124] Furthermore, as shown in Figures 15 and 16, at the launch point time T 2a The position curve θ during the subsequent deceleration process 2d A jitter curve θ is then superimposed on (t). 2v (t), θ 2v (t) represents the position jitter amplitude A = 0.1432 and the angular frequency is The cosine trajectory of θ causes the seed spoon 3 to decelerate more significantly, ensuring the seed is successfully released. The formula is as follows: θ 2v (t)=-0.1432+0.1432cos(279.25(t-0.0502))t∈[0.0502,0.0727)

[0125] Finally, as shown in Figure 10, the curve corresponding to 8 km / h gives the trajectory of the seed in this embodiment during the rotation of the seed spoon 3 after seed collection and during the flight and landing process after being launched.

[0126] Example 3

[0127] The key data related to parameters and motion trajectories involved in this embodiment are taken from Embodiment 1, and a triangular curve is used for trajectory planning. The velocity trajectory curve ω2(t) of the seed spoon 3 rotating one revolution is shown in Figure 17, the velocity trajectory curve ω1(t) of the seed plate 4 rotating one cycle is shown in Figure 18, and the velocity trajectory curve ω2(t) of the seed spoon 3 rotating one revolution after the shaking curve is superimposed is shown in Figure 19.

[0128] In summary, this application can support seeders to achieve high-speed precision seeding at speeds up to 30 km / h. Through seed metering control methods, seeds of different sizes can have the same launch angle and launch speed, ensuring consistent seed flight trajectories and precise landing point control. Zero-speed seeding can be achieved at different travel speeds to ensure uniform plant spacing.

[0129] This application provides a kinetic-energy rotary high-speed precision seed metering device and its control method. Specifically, the rotary high-speed precision seed metering device and its seed metering control method provided in this embodiment can be applied in sowing scenarios. The control method calculates key data such as the position of the launching point, the speed of the launching motor, the rotational speed of the seed supply motor at the seed collection point, and the rotational speed of the launching motor, based on input parameters such as the size of the seed metering device hardware, the hole spacing, the seed flight distance required for the sowing plant spacing and the overall vehicle size, and the vehicle speed. It then generates the motor's motion trajectory based on this key data and controls the motor to rotate in real time according to the required trajectory during the sowing process, thereby completing the high-speed precision seed metering function.

[0130] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that other embodiments can be implemented without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0131] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A kinetic energy rotary projectile high-speed precision seed metering device, characterized in that: Includes a seed supply mechanism, a projectile motor (2), and a seed spoon (3); The seed supply mechanism supplies seeds to the seed collection point. The output shaft of the projectile motor (2) is vertically connected and fixed to the tail of the seed spoon (3) and drives the seed spoon (3) to rotate. The head of the seed spoon (3) collects seeds at the seed collection point. The projectile motor (2) rotates periodically, and each cycle is divided into an acceleration segment and a deceleration segment. After the seed spoon (3) picks up the seed, it accelerates through the projectile motor (2) to provide the seed with initial kinetic energy. After the seed spoon (3) rotates to the projectile point, it decelerates through the projectile motor (2) to throw the seed. The projectile speed and projectile angle of the seed are controlled by adjusting the position of the projectile point and the rotation speed of the seed spoon (3) at the projectile point.

2. The kinetic energy rotary projectile high-speed precision seed metering device according to claim 1, characterized in that: The seed supply mechanism includes a seed supply motor (1) and a seed supply disc (4). The seed supply motor (1) is connected to the seed supply disc (4) and drives the seed supply disc (4) to rotate. The seed supply disc (4) has multiple seed suction holes (5) evenly opened along its circumference. The seed supply disc (4) is equipped with a pneumatic suction device to suck up seeds from the multiple seed suction holes (5) and rotate to supply seeds to the seed collection point. When the seed spoon (3) overlaps with the corresponding seed suction hole (5) at the seed collection point, the linear velocity of the seed movement at the seed spoon (3) and the seed suction hole (5) is consistent to achieve the same speed of seed collection.

3. A kinetic energy-based rotating projectile high-speed precision seeding control method, characterized in that: According to claim 1, the seed metering device calculates the seed projection velocity and projection angle as follows: The linear velocity V of the seed during projection 2p The launch angle θ is determined by the horizontal distance L between the launch point and the landing point. x and vertical distance L y and the overall forward speed V t It is determined together with the gravitational acceleration g, and the calculation formula is: Among them, V px and V py These are the horizontal and vertical components of the seed's velocity at the launch point, V. px With V t Equal in size but opposite in direction, we have: V px =V t ; In the formula, T f This refers to the flight time of a seed from when it is thrown to when it lands.

4. A kinetic energy-based rotating projectile high-speed precision seeding control method, characterized in that: According to claim 2, the control method of the seed metering device specifically includes the following steps: Step 1: Determine the seed's position at the launch point and the seed spoon's velocity at the launch point; The linear velocity V of the seed during projection 2p The launch angle θ is determined by the horizontal distance L between the launch point and the landing point. x and vertical distance L y and the overall forward speed V t It is determined together with the gravitational acceleration g, and the calculation formula is: V px and V py These are the horizontal and vertical components of the seed's velocity at the launch point, V. px With V t Equal in size but opposite in direction: V px =V t ; In the formula, T f The flight time of a seed from when it is thrown to when it lands; The angular velocity ω of the seed spoon (3) at the launch point 2p The calculation formula is: In the formula, r2 is the radius of rotation of the seed spoon; Step 2: Determine the average angular velocity of the seed supply tray and seed spoon; Given the overall forward speed V t and planting spacing L p The average angular velocity ω of the seed supply plate (4) 1m The average angular velocity ω of the seed spoon (3) 2m The calculation formula is: In the formula, Z represents the number of seed suction holes on the seed supply tray; Step 3: Determine the angular velocity of the seed tray and seed spoon at the moment of seed collection; The linear velocity of the seed at the seed collection point as it moves with the seed supply tray (4) is related to the linear velocity of the seed scoop (3) when it picks up the seed. With consistent speeds, the angular velocity ω at the seed-taking point of the seed-taking spoon (3) is obtained. 2q The angular velocity ω of the seed-taking point of the seed-supplying tray (4) 1q The calculation formula is: oh 2q =2h 2m -oh 2p ; In the formula, r1 is the radius of the seed as it rotates with the seed supply tray; Step 4: Obtain the rotational trajectory of the seed tray and seed spoon by measuring the angular velocity at each key moment; Taking the seed-taking point as the reference time zero point and position zero point, the velocity curve ω2(t) and position curve θ2(t) of the seed spoon (3) rotating one revolution include acceleration and deceleration segments, and are divided into acceleration process angular velocity curve ω 2a (t), angular velocity curve during deceleration ω 2d (t) and the position curve θ of the acceleration process 2a (t), position curve θ during deceleration 2d (t), the formulas for calculating the trajectories of each curve are: In the formula, [0,T 2a ) represents the acceleration time period, [T] 2a ,T 2s T represents the deceleration time period. 2a To accelerate the seeding process to its maximum time point, T 2s The time it takes for the seed spoon to rotate once. T 2d T is the time it takes for the seed spoon to travel from its maximum acceleration point to the seed collection point. 2d =T 2s -T 2a ; Where, θ th Let be the angle through which the seed spoon rotates between the seed-taking point and the projection point. When the seed-taking point of the seed spoon (3) makes an angle θ0 with the horizontal direction, we have: The formulas for calculating the velocity curve ω1(t) and position curve θ1(t) of the seed supply tray (4) during one seed-taking cycle are as follows:

5. The kinetic energy rotating projectile high-speed precision seeding control method according to claim 4, characterized in that: Step one involves position compensation to ensure that the seeds land at the same point relative to the rotation center of the seed scoop (3). The L value is adjusted after position compensation for different launch points. x and L y They are respectively: L x =L x0 +r2sinθ; L y =L y0 -r2cosθ; Among them, L x0 and L y0 These represent the horizontal and vertical distances between the landing point and the center of rotation of the seed spoon, respectively.

6. The kinetic energy rotating projectile high-speed precision seeding control method according to claim 4, characterized in that: In step four, the launch point time T 2a The position curve θ during the subsequent deceleration process 2d A jitter curve θ is then superimposed on (t). 2v (t), θ 2v (t) is the position jitter amplitude of A and angular frequency of ω. v The cosine locus of θ is calculated using the formula: 2v (t)=-A+A cos(ω v (tT 2a ))t∈[T 2a ,T 2a +T 2v ); Among them, (T) 2a +T 2v ) < T 2s T 2v For the cosine locus θ 2v (t) is the time of one cycle.

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