GB2617814A - Multi-component coordinated motion control device and method for air vibration type precision seeding assembly line - Google Patents
Multi-component coordinated motion control device and method for air vibration type precision seeding assembly line Download PDFInfo
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- GB2617814A GB2617814A GB2201952.5A GB202201952A GB2617814A GB 2617814 A GB2617814 A GB 2617814A GB 202201952 A GB202201952 A GB 202201952A GB 2617814 A GB2617814 A GB 2617814A
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- 238000010408 sweeping Methods 0.000 description 8
- 241000209094 Oryza Species 0.000 description 6
- 235000007164 Oryza sativa Nutrition 0.000 description 6
- 235000009566 rice Nutrition 0.000 description 6
- 238000005507 spraying Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/085—Devices for setting seeds in pots
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Abstract
A multi-component coordinated motion control device and method for an air vibration type precision seeding assembly line. The device comprises a seeding assembly line, a seed suction tray motion control component, a moving seed addition component (4), and a seed cleaning component (11). The seed suction tray motion control component serves as a main control object. A seed suction tray (5) is connected to a four-degree-of-freedom manipulator, and can realize any displacement in a rectangular coordinate system for cooperation with a seeding assembly line to complete the coordinated operation of seeding. The seed suction height can be adjusted with the thickness change of a seed layer in a vibrating seed tray, thereby increasing the seed suction rate. A series motion control model for seed carrying speed and seed suction tray accompanying speed is established to control the seed suction tray to complete seed metering in the process of moving along with a seedling tray at the same speed, so that the seed suction tray can cooperate with the moving seed addition component, the seed cleaning component and the assembly line to complete seeding flow process. The seeding process rhythm is adjusted while increasing the seed suction rate, and optimal coupling of seed addition, seed suction, seed carrying, seed metering and seed cleaning is achieved.
Description
APPARATUS AND METHOD FOR CONTROLLING COORDINATED MOVEMENT OF MULTIPLE MEMBERS ON PNEUMATIC VIBRATION-TYPE PRECISION SEEDING LINE
Technical Field
The present invention relates to the technical field of precision seeding in agriculture, and in particular, to an apparatus and a method for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line.
Background
China is currently the world's largest rice producer with an annual output accounting for approximately 31% of the world's total rice output. Meanwhile, rice is one of the main food crops in China and is widely planted, which promotes gradual development from artificial raising to mechanically automated raising of rice seedlings. With the promotion of super rice, industrialized seedling raising requires higher seeding precision of 1-2 grains per hole. Seeding devices are core members in industrialized seedling raising. Roller-type seeding devices are mainly adopted, but their seeding precision is low. Pneumatic seeding devices, featuring a low seed damage rate, high seeding precision, and the like, are widely applied in seedling raising of super rice. Regarding the working process of a pneumatic vibration-type seeding line, the seed suction rate is mainly influenced by seed suction height. At present, since the seed suction height is fixed, the seed population cannot enter the effective region of an airflow field when the thickness of the seed layer is reduced and thus the seed suction rate is lowered. During seed discharge, due to limited movement of a two-degree-of-freedom manipulator, a seedling tray needs to wait at a seed discharge position till a seed suction tray arrives to discharge seeds, so the working efficiency is low.
Summary
To eliminate the defects in the prior art, the present invention provides an apparatus and a method for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line, which are applicable to a pneumatic vibration-type precision seeding line. The present invention improves coordination among adding, suction, carrying, discharge, and clearing of seeds, and employs a rotating mechanism and a three-dimensional space following-type seed discharge method to improve the precision of alignment and dropping of seeds and the seeding efficiency.
The present invention achieves the above objective through the following technical means.
An apparatus for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line includes a seed suction tray movement control member, a movable seed adding member, and a seed clearing member, wherein the movable seed adding member, the seed suction tray movement control member, and the seed clearing member are disposed between a hole-pressing mechanism and a surface-soil covering mechanism on a seeding line; the seed suction tray movement control member includes a seed suction tray, a four-degree-of-freedom manipulator, a seed vibration tray, and a vacuum pump, wherein the seed suction tray is driven by the four-degree-of-freedom manipulator to move to any position in a rectangular coordinate system, an air inlet of the seed suction tray is connected to the vacuum pump through an air pipe, and the seed vibration tray is connected to an output shaft of a vibration motor through a crank-and-connecting rod mechanism; the movable seed adding member includes a seed adding mechanism and a seed supply transmission mechanism, wherein the seed adding mechanism includes a seed adding motor, a seed dropping valve, and a seed feed hopper; an output shaft of the seed adding motor is connected to the seed dropping valve and a top portion of the seed dropping valve is closely attached to a bottom opening of the seed feed hopper; the seed feed hopper is fixed to a sliding block of the seed supply transmission mechanism through a Z-shaped connector; a movable seed supply motor is connected to a fourth linear sliding table module to constitute the seed supply transmission mechanism; a positioning stop plate is connected to a support of the seeding line through a positioning motor, and a ranging sensor is mounted on the positioning stop plate; a second photoelectric sensor is disposed on a distal end of the hole-pressing mechanism, and a deflection angle detection mechanism and a first photoelectric sensor are respectively disposed directly below two corners of the seed suction tray when the seed suction tray is located directly above the seeding line; the vacuum pump, the vibration motor, the positioning motor, the seed adding motor, the movable seed supply motor, and a motor of the four-degree-of-freedom manipulator are all controlled by a main control unit, and the main control unit also receives signals collected by the ranging sensor, the first photoelectric sensor, the second photoelectric sensor, the deflection angle detection mechanism, a charge-coupled device (CCD) detection element, and displacement and ranging sensors allocated to the four-degree-of-freedom manipulator; the seed clearing member includes a two-degree-of-freedom rotary manipulator and a seed clearing needle, the two-degree-of-freedom manipulator is fixed on a middle beam of a frame, and the seed clearing needle is disposed on a top end of the two-degree-of-freedom rotary manipulator.
In the above technical solution, the four-degree-of-freedom manipulator includes a rotating mechanism, a Z-axis transmission mechanism, an X-axis transmission mechanism, and a Y-axis transmission mechanism, wherein the rotating mechanism includes a rotary motor, the rotary motor is fixed on a metal plate connector through a first L-shaped connector, and a motor shaft of the rotary motor is fixed to the seed suction tray through a U-shaped connector.
In the above technical solution, a Z-axis motor is directly connected to a second linear sliding table module to constitute the Z-axis transmission mechanism, and a housing of the second linear sliding table module is fixed to a second sliding block of the X-axis transmission mechanism through a second L-shaped connector; an output shaft of the Z-axis motor is connected to a third lead screw, and the third lead screw passes through a first sliding block to constitute a first threaded transmission mechanism; the first sliding block is further connected to an upper end of the metal plate connector, and the metal plate connector is fixedly connected to a Z-axis displacement sensor measuring rod through an extension plate; an upper limit switch, a seed discharge waiting position limit switch, and a lower limit switch are sequentially disposed on the housing of the second linear sliding table module in a vertical direction, and a Z-axis displacement sensor is also disposed on the housing of the second linear sliding table module.
In the above technical solution, an X-axis motor is directly connected to a third linear sliding table module to constitute the X-axis transmission mechanism, and the third linear sliding table module is fixed on an upper portion of a beam; the X-axis motor is connected to a first lead screw, and the first lead screw passes through an internal thread of the second sliding block to constitute a second threaded transmission mechanism; an X-axis ranging sensor is mounted on a housing of the third linear sliding table module, and a right limit switch and a left limit switch are further disposed on the housing of the third linear sliding table module in an X-axis direction.
In the above technical solution, the Y-axis transmission mechanism includes a transmission shaft and a Y-axis motor, wherein two ends of the transmission shaft are connected through couplings to two linear modules disposed in a Y-axis direction respectively, a planetary reducer is mounted on the coupling at one of the linear modules, and the planetary reducer is mounted on the Y-axis motor; second lead screws of the linear modules respectively pass through third sliding blocks to constitute a third threaded transmission mechanism, and the beam is fixed to the two third sliding blocks; a Y-axis ranging sensor is further mounted on a housing of each of the linear modules, and a minimum travel limit switch and a maximum travel limit switch are sequentially disposed on the housing of each of the linear modules in the Y-axis direction.
A method for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line includes serial control over suction, carrying, discharge, and clearing of seeds and parallel control over movement of a seedling tray, seed adding, and movement of the seed suction tray in the Y-axis direction, wherein when the seed suction tray is located at an initial position, the seed suction tray movement control member and the seeding line are started; when the seedling tray enters the seeding line, the positioning stop plate is lowered and the seed vibration tray vibrates at a high frequency; a seed suction height corresponding to a thickness of a seed layer is found according to a modified relationship between the thickness of the seed layer and the seed suction height, a seed suction height control signal is output to the four-degree-of-freedom manipulator, and the seed suction tray is controlled to move downward; when the seed suction tray reaches a seed suction position, the vacuum pump produces a negative pressure to suck seeds; when seed suction is completed, the seed vibration tray vibrates at a low frequency; the seed suction tray moves upward, and when the upper limit switch is triggered, the seed suction tray carries seeds and moves rightward; when the right limit switch is triggered, the seed suction tray moves downward; when the seed discharge waiting position limit switch is triggered and seeds need to be added, the movable seed supply motor and the seed adding motor are started, and the seed dropping valve is opened; when there is no relative displacement between the seed suction tray and the seedling tray, the vacuum pump produces a negative pressure and following-type seed discharge is started; after seed discharge is completed, the positioning stop plate is lifted, and the seed suction tray returns to the initial position; if seed clearing is needed, the two-degree-of-freedom rotary manipulator is started to carry out seed clearing, and after seed clearing is completed, a next seedling tray enters the seeding line.
Further, a mathematical model of coordinated operation between the seed suction tray and the seedling tray is: dV2(t) L4 h 2 -4.5L2/Rif 2 --Ts -dt tran v 3 (V4 -Vtran)/At=aL wherein V2 is a seed carrying speed, V3 is an operating speed of the seed suction tray to reach a seed discharge waiting position, V4 is a following speed of the seed suction tray, Vtran is an operating speed of a conveyor belt, h is the seed suction height, L3 is a downward movement length of the seed suction tray to reach the seed discharge waiting position, L4 is a distance from the seedling tray to the seed discharge position, T, is a seed suction time, AL is a relative displacement between the seed suction tray and the seedling tray, and At is a time required to adjust the following speed of the seed suction tray in the Y-axis direction to be identical to a speed of the seedling tray.
Further, the modified relationship between the thickness of the seed layer and the seed suction height is obtained by: performing gas-solid coupling calculation based on vibration frequency amplitude, and pressure difference to obtain an ideal corresponding relationship between the thickness of the seed layer and the seed suction height in an ideal state, carrying out a bench test according to the vibration frequency amplitude, and pressure difference, adopting an actual seed suction height leading to a seed suction rate of above 95%, and obtaining an actual corresponding relationship between the seed suction height and the thickness of the seed layer; and comparing the actual corresponding relationship with a theoretical corresponding relationship between the seed suction height and the thickness of the seed layer Further, the seed carrying speed of the seed suction tray in the X-axis direction is controlled by: creating a first predictive controller for controlling the seed carrying speed by using a target curve of the seed carrying speed as an input signal and using an actual speed of the seed suction tray in the X-axis direction as feedback; the following speed of the seed suction tray in the Y-axis direction is controlled by: creating a second predictive controller for controlling the following speed by using a target curve of the speed of the seed suction tray moving along with the seedling tray as an input signal and using an actual speed of the seed suction tray in the Y-axis direction as feedback.
The present invention has the following beneficial effects: (1) The present invention adopts serial control over suction, carrying, discharge, and clearing of seeds and parallel control over movement of the seedling tray, seed adding, and movement of the seed suction tray in the Y-axis direction based on the concept of sequential control, so that the process cycle time of seeding is adjusted, thereby achieving optimal coupling of adding, suction, carrying, discharge, and clearing of seeds.
(2) According to the present invention, following-type seed discharge is performed, so that the operating speed of the seed suction tray can be automatically adjusted, the time waiting for seed discharge is eliminated, the transition from two-dimensional plane intermittent seed discharge to three-dimensional space following-type seed discharge is realized, and the seeding efficiency is effectively improved.
(3) In the present invention, the rotating mechanism, the Z-axis transmission mechanism, the X-axis transmission mechanism, and the Y-axis transmission mechanism constitute the four-degree-of-freedom manipulator that controls the operation of the seed suction tray. The manipulator can automatically adjust the seed suction height and thus reduce the suction missing rate.
(4) The present invention detects the deflection angle of the seedling tray by using the deflection angle detection mechanism, thereby providing a control basis for the rotating mechanism of the four-degree-of-freedom manipulator and improving the precision of alignment and dropping of seeds.
Brief Description of the Drawings
FM. 1 is a block diagram of an apparatus for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line according to the present invention; FIG. 2(a) is a front view of the apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to the present invention FIG. 2(b) is a top view of the apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to the present invention FIG. 3(a) is a front view of the structure of a four-degree-of-freedom manipulator according to the present invention; FIG. 3(b) is a top view of the structure of the four-degree-of-freedom manipulator according to the present invention; FIG. 3(c) is an isometric view of a Z-axis transmission mechanism according to the present invention; FIG. 4(a) is a front view of a positioning mechanism that limits movement according to the present invention; FIG. 4(b) is an isometric view of the positioning mechanism that releases movement according to the present invention; FIG. 5 is a flow chart of detection of the positioning mechanism according to the present invention; FIG. 6 is a structural diagram of system hardware in the apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to the present invention; FIG. 7 is a schematic diagram of the movement of a seed suction tray according to the present invention; FIG. 8(a) is a diagram showing the principle of building a control model for automatic adjustment of the seed suction height according to the present invention; FIG. 8(b) is a flow chart of seed suction movement control of the seed suction tray according to the present invention; FIG. 9(a) is a diagram showing the principle of a following movement control algorithm according to the present invention; FIG. 9(b) is a flow chart of seed carrying movement control of the seed suction tray according to the present invention; FIG. 10(a) is a flow chart of control over coordinated movement of multiple members on a pneumatic vibration-type precision seeding line according to the present invention; FIG. 10(b) is a flow chart of control over suction, carrying, discharge, adding, and clearing of seeds according to the present invention; FIG. 11(a) is a schematic diagram of a main display interface of a touch screen after being turned on according to the present invention; FIG. 11(b) is a schematic diagram of the main display interface of the touch screen in a manual control mode according to the present invention; and FIG. 11(c) is a schematic diagram of the main display interface of the touch screen in an automatic control mode according to the present invention.
In the figures: 1. bottom-soil laying mechanism, 2. bottom-soil sweeping mechanism, 3. hole-pressing mechanism, 4. movable seed adding member, 5. seed suction tray, 6. rotating mechanism, 6a. U-shaped connector, 6b. motor shaft, 6c. rotary motor, 6d. first L-shaped connector, 6e, metal plate connector, 7. Z-axis transmission mechanism, 7a. Z-axis motor, 7b. upper limit switch, 7c, first sliding block, 7d. second L-shaped connector, 7e. seed discharge waiting position limit switch, 7 lower limit switch, 7g. displacement sensor base, 7h. displacement sensor measuring rod, 7i. metal plate connector extension plate, 7j. third coupling, 7k. third lead screw, 8. X-axis transmission mechanism, 8a. X-axis motor, 8b. first coupling, Sc. X-axis sensor support, 8d. X-axis ranging sensor, 8e, right limit switch, 8E first lead screw, 8g. second sliding block, 8h. left limit switch, 9. Y-axis transmission mechanism, 9a. Y-axis sensor support, 9b. Y-axis ranging sensor, 9c. second lead screw, 9d. beam, 9e. third sliding block, 9f minimum travel limit switch, 9g. Y-axis motor, 9h. planetary reducer, 9i. flange, 9j. second coupling, 9k. transmission shaft, 91 linear module, 9m. maximum travel limit switch, 10. seed vibration tray, 11. seed clearing member, 12. vacuum pump, 13. frame, 14. surface-soil covering mechanism, 15. surface-soil sweeping mechanism, 16. water spraying mechanism, 17. seeding line, 18. CCD detection element, 19. positioning mechanism, 19a. positioning support, 19b. positioning stop plate, 19c, ranging sensor, 19d. motor shaft, 19e, third coupling, 19f. positioning motor, 20, first photoelectric sensor, 21. seedling tray, 22. deflection angle detection mechanism, 23. second photoelectric sensor, 24. seed clearing needle, 25. two-degree-of-freedom rotary manipulator, 26. seed adding mechanism, 27. seed supply transmission mechanism, 28. seed adding motor, 29. seed dropping valve, 30. seed feed hopper, 31. movable seed supply motor, 32. Z-shaped connector, 33. vibration motor, 34. crank-and-connecting rod mechanism.
Detailed Description of the Embodiments
The present invention is further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.
As shown in FIG. 1, FIG. 2(a), and FIG. 2(b), an apparatus for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line of the present invention includes a seeding line 17, a seed suction fray movement control member, a movable seed adding member 4, and a seed clearing member 11. A conveyor belt transmission mechanism is disposed on the seeding line 17. A bottom-soil laying mechanism 1, a bottom-soil sweeping mechanism 2, a hole-pressing mechanism 3, a surface-soil covering mechanism 14, a surface-soil sweeping mechanism 15, and a water spraying mechanism 16 are sequentially disposed on the seeding line 17 in the working direction. The bottom-soil laying mechanism 1, the bottom-soil sweeping mechanism 2, the hole-pressing mechanism 3, the surface-soil covering mechanism 14, the surface-soil sweeping mechanism 15, and the water spraying mechanism 16 are all described in the prior art and the details will not be repeated herein. The movable seed adding member 4, the seed suction tray movement control member, and the seed clearing member 11 are disposed between the hole-pressing mechanism 3 and the surface-soil covering mechanism 14. The seed suction tray movement control member includes a seed suction tray 5, a rotating mechanism 6, a Z-axis transmission mechanism 7, an X-axis transmission mechanism 8, a Y-axis transmission mechanism 9, a seed vibration tray 10, and a vacuum pump 12. The seed suction tray 5 is driven by the X-axis transmission mechanism 8, the Y-axis transmission mechanism 9, the Z-axis transmission mechanism 7, and the rotating mechanism 6 to move to any position in a rectangular coordinate system. An air inlet of the seed suction tray 5 is fixed to one end of an air pipe through a flange, and the other end of the air pipe is connected to the vacuum pump 12. The seed vibration tray 10 is connected to an output shaft of a vibration motor 33 through a crank-and-connecting rod mechanism 34. The seed vibration tray 10 is located between the movable seed adding member 4 and the seed clearing member 11. The movable seed adding member 4 includes a seed adding mechanism 26 and a seed supply transmission mechanism 27. The seed adding mechanism 26 consists of a seed adding motor 28, a seed dropping valve 29, and a seed feed hopper 30. An output shaft of the seed adding motor 28 is connected to the seed dropping valve 29 to control the opening size of the seed dropping valve 29. A top section of the seed dropping valve 29 is closely attached to a bottom opening of the seed feed hopper 30. A right end of a Z-shaped connector 32 is fixed to a housing of the seed feed hopper 30 by bolts, and a left end of the Z-shaped connector 32 is fixed to a sliding block (included in a fourth linear sliding table module) of the seed supply transmission mechanism 27. A movable seed supply motor 31 is connected to the fourth linear sliding table module by screws to constitute the seed supply transmission mechanism 27. The seed supply transmission mechanism 27 is mounted on an extension plate of a frame 13. The seed clearing member II includes a two-degree-of-freedom rotary manipulator 25 and a seed clearing needle 24. A base of the two-degree-of-freedom manipulator 25 is fixed on a middle beam of the frame 13 by bolts. The seed clearing needle 24 is disposed on a top end of the two-degree-of-freedom rotary manipulator 25 and is movable in an XY plane. The process cycle time of the seed suction tray 5, the movable seed adding member 4, the seed clearing member 11, and the seeding line 17 is adjusted to achieve optimal coupling among adding, suction, carrying, discharge, and clearing of seeds.
A second photoelectric sensor 23 is disposed on a distal end of the hole-pressing mechanism 3 on the seeding line 17. When the seed suction tray 5 is located directly above the seeding line 17, a deflection angle detection mechanism 22 is disposed directly below a right corner of the seed suction tray 5, and a first photoelectric sensor 20 is disposed directly below a left corner of the seed suction tray 5. The deflection angle detection mechanism 22 consists of a pair of ranging sensors.
As shown in FIG. 3(a), FIG. 3(b), and FIG. 3(c), the rotating mechanism 6, the Z-axis transmission mechanism 7, the X-axis transmission mechanism 8, and the Y-axis transmission mechanism 9 constitute a four-degree-of-freedom manipulator One end of a first L-shaped connector 6d of the rotating mechanism 6 is fixed to a metal plate connector 6e by bolts, and the other end of the first L-shaped connector 6d is fixed to the bottom of a rotary motor 6c. A motor shaft 6b of the rotary motor 6c passes through the bottom of the first L-shaped connector 6d and is in key connection to an upper end of a U-shaped connector 6a. The seed suction tray 5 is fixed to a lower end of the U-shaped connector 6a by bolts. The seed suction tray 5 is driven by the rotary motor 6c to rotate by a certain angle. An upper end of the metal plate connector 6e is connected to a first sliding block 7c. A third lead screw 7k passes through the first sliding block 7c to constitute a first threaded transmission mechanism. The Z-axis transmission mechanism 7 includes a Z-axis motor 7a and a second linear sliding table module. The Z-axis motor 7a is directly connected to the second linear sliding table module by screws. A housing of the second linear sliding table module is fixed on a second sliding block 8g of the X-axis transmission mechanism 8 through a second L-shaped connector 7d. The power in the vertical direction is provided by the Z-axis motor 7a, the Z-axis motor 7a is a stepper motor, and an output shaft of the Z-axis motor 7a is connected to the third lead screw 7k through a third coupling 7j (FIG. 3(c)). An upper limit switch 7b, a seed discharge waiting position limit switch 7e, and a lower limit switch 7f are sequentially fixed in a first T-nut groove in the vertical direction. The first T-nut groove is provided in the housing of the second linear sliding table module. The positions of the limit switches can be manually adjusted. A Z-axis displacement sensor base 7g is fixedly mounted on a side of the housing of the second linear sliding table module. A Z-axis displacement sensor is mounted on the Z-axis displacement sensor base 7g. A Z-axis displacement sensor measuring rod 7h is fixedly connected to a metal plate connector extension plate 7i. The metal plate connector extension plate 7i is fixed to the bottom of the metal plate connector 6e. The Z-axis displacement sensor measuring rod 7h follows the seed suction tray 5 to move linearly in sync. The X-axis transmission mechanism 8 includes an X-axis motor 8a and a third linear sliding table module. The X-axis motor 8a is directly connected to the third linear sliding table module by screws. The third linear sliding table module is fixed on an upper portion of a beam 9d. The X-axis motor 8a is connected to a first lead screw 8f through a first coupling 8b. The first lead screw 8f passes through an internal thread of the second sliding block 8g to constitute a second threaded transmission mechanism. The second sliding block 8g is driven by the X-axis motor 8a to move linearly in the horizontal direction. An X-axis sensor support 8c is mounted on a housing of the third linear sliding table module. An X-axis ranging sensor 8d is fixedly mounted on the X-axis sensor support 8c and can measure the displacement of the second sliding block 8g in the X-axis direction. Aright limit switch 8e and a left limit switch 8h are disposed in a second T-nut groove in the X-axis direction. The second T-nut groove is provided in the housing of the third linear sliding table module. A transmission shall 9k of the Y-axis transmission mechanism 9 is connected, through two couplings 9j, to two linear modules 9/ disposed in the Y-axis direction, respectively. The linear modules 9/ are mounted on the frame 13. A Y-axis motor 9g is mounted on a planetary reducer 9h. The planetary reducer 9h is mounted on one of the second couplings 9j through a flange 9i. The two linear modules 9/ are controlled by the motor 9g to move in sync. Two ends of the beam 9d are fixed to two third sliding blocks 9e in the Y-axis direction by bolts, respectively. Second lead screws 9c of the linear modules 9/ pass through the third sliding blocks 9e respectively to constitute a third threaded transmission mechanism. A Y-axis sensor support 9a is mounted on a housing of each of the linear modules 9/, and a Y-axis ranging sensor 9b is mounted on each of the Y-axis sensor supports 9a. A minimum travel limit switch 9f and a maximum travel limit switch 9m are sequentially disposed on a side of the housing of each of the linear modules 9/ in the Y-axis direction.
As shown in FIG. 4(a) and FIG. 4(b), a positioning mechanism 19 includes a positioning support 19a, a positioning stop plate 19b, a ranging sensor 19c, a motor shaft 19d, a third coupling 19e, and a positioning motor 19f The positioning support 19a is fixed on a support of the seeding line 17 by bolts. The positioning motor 19f is fixed on the positioning support 19a. The third coupling I 9e is connected to the motor shaft I 9d of the positioning motor 19f and the positioning stop plate 19b. The positioning stop plate 19b can be driven by the positioning motor 19f to turn clockwise or counterclockwise by 90°. The ranging sensor 19c is fixedly mounted on the positioning stop plate 19b.
As shown in FIG. 5, when a hole-pressing process is completed, a seedling tray 21 enters the seed discharge waiting region, the second photoelectric sensor 23 is triggered, the positioning stop plate 19b turns clockwise by 90° to be perpendicular to the conveyor belt, and the ranging sensor 19c starts measuring the distance between the seedling tray 21 and the ranging sensor 19c and transmits the result to a main control unit to figure out the position of the seedling tray 21 on the seeding line 17. After seed discharge is completed, the positioning stop plate 19b rotates counterclockwise by 900 to be parallel to the conveyor belt, and the ranging sensor 19c stops measuring. When another seedling tray 21 enters the seed discharge waiting region, the positioning stop plate 19b is lowered again to start measuring the position of the seedling tray 21. The above process is repeatedly carried out.
As shown in FIG. 6, system hardware of the apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to the present invention includes an information collection module, the main control unit, a touch screen, a driving module, and an execution module. The information collection module includes the Z-axis displacement sensor, the X-axis ranging sensor 8d, the Y-axis ranging sensors 9b, the ranging sensor 19c, the deflection angle detection mechanism 22, the photoelectric sensors (including the first photoelectric sensor 20 and the second photoelectric sensor 23), the limit switches (including the upper limit switch 7b, the lower limit switch 7f, the seed discharge waiting position limit switch 7e, the right limit switch 8e, the left limit switch 8h, the minimum travel limit switches 9f, and the maximum travel limit switches 9m), a CCD detection element 18, and a weighing sensor (disposed below the seed vibration tray 10), wherein the CCD detection element 18 is mounted on a cross bar above the outlet for the seedling tray 21 and the cross bar is mounted on the frame 13. The Z-axis displacement sensor detects the displacement of the seed suction tray 5 in the Z-axis direction. The X-axis ranging sensor 8d and the Y-axis ranging sensors 9b detect the displacements of the seed suction fray 5 in the X-axis and Y-axis directions, respectively. The ranging sensor 19c is used for obtaining the position of the seedling tray 21 on the seeding line 17. The deflection angle detection mechanism 22 is used for detecting the deflection angle of the seedling tray 21. The photoelectric sensors collect the operating states of the seedling tray 21 in the seed discharge waiting region. The limit switches limit the movement range of the manipulator. The CCD detection element 18 detects the miss-seeding rate and the hole-blocking position. The weighing sensor measures the quality of seeds in the seed vibration tray 10.
The driving module includes a drive and a frequency converter. The drive serves as a driving unit for each of the stepper motors (including the rotary motor 6c, the Z-axis motor 7a, the X-axis motor 8a, the Y-axis motor 9g, the positioning motor 19f, the seed adding motor 28, and the movable seed supply motor 31), and is responsible for speed adjustment and displacement control of each of the stepper motors. The frequency converter serves as a driving unit for the vacuum pump 12 and the vibration motor 33, and is responsible for pressure adjustment of the vacuum pump 12 and speed adjustment of the vibration motor 33.
The vacuum pump 12, the rotary motor 6c, the Z-axis motor 7a, the X-axis motor 8a, the Y-axis motor 9g, the positioning motor 191, the seed adding motor 28, the movable seed supply motor 31, the vibration motor 33, and the two-degree-of-freedom rotary manipulator 25 constitute the execution module.
The main control unit is a single-chip microcomputer or a programmable logic controller (PLC), and is responsible for collecting sensor data and controlling the movement of each of the axis motors (including the Z-axis motor 7a, the X-axis motor 8a, and the Y-axis motor 9g) in the seeding device, cooperating with the seeding line 17 to complete adding, suction, carrying, discharge, and clearing of seeds, and displaying equipment operating parameters on the industrial touch screen.
As shown in FIG. 7, the seed suction tray 5 operates in the following steps: 0 0 ® O. When the second photoelectric sensor 23 detects that one seedling tray 21 enters the seed discharge waiting region on the seeding line 17, the seed suction tray 5 is self-driven to move downward from an initial position to a seed suction position and starts sucking seeds (CD). After seed suction is completed, the seed suction tray 5 moves upward to an upper limit position (0). The seed suction tray 5 carries the seeds and moves rightward to reach a right limit position in an S-curve acceleration and deceleration control manner (0). The seed suction tray 5 is self-driven to move downward to a seed discharge waiting position (0). The following speed of the seed suction tray 5 is adjusted, so that the seed suction tray 5 is controlled to move along with the seedling tray 21 in a relatively static state and then discharges seeds (0). After seed discharge is completed, the seed suction tray 5 is controlled to return to the initial position in the shortest time by means of multi-axis interworking, and waits for the next seedling tray to enter the seed discharge waiting region (0). In the above process, the operation of the seed suction tray 5 is realized by the four-degree-of-freedom manipulator under the control of the main control unit.
A mathematical model of coordinated operation between the seed suction tray 5 and the seedling tray 21 is built according to cyclic movement of suction, carrying, and discharge of seeds carried out by the seed suction tray 5 in FIG. 7. In the seed discharge waiting region, when the time taken by the seed suction tray 5 to carry seeds to the seed discharge position is equal to the time taken by the seedling tray 21 to move from the current position to the seed discharge position, the seed suction tray 5 and the seeding line 17 reach an optimal coupling state, and the mathematical model of coordinated operation between the seed suction tray 5 and the seedling tray 21 is built accordingly: L L4 2 I= + T, + 12 + ' vi Vs Vtran 1 Vxa T2 2 T2 --1 -Vxo T2 2 = [Vxo -3 2 T2/3 ( -3) (2)
-
dV2(0 3Vxo it -T2 44 4 The relationship among the seed carrying speed, the seed suction height, and the position of the seedling tray can be obtained according to the formulas (I), (2), and (3): dV2(t) -4.5L2/R 1= 2 -h Ts -) ] (4). dt V,
Vtran v, In the speed adjustment region, the relationship between the following speed of the seed suction tray 5 and the relative displacement is: (V4 -Vtran)/At = AL (5).
When the relative displacement between the seed suction tray 5 and the seedling fray 21 is eliminated, thc two trays cntcr thc seed discharge region and following-type seed discharge is started.
In the above formulas, V1 is the operating speed of the seed suction tray S in the Z-axis direction, V2 is the seed carrying speed, V3 is the operating speed of the seed suction tray 5 to reach the seed discharge position, V4 is the following speed of the seed suction tray 5, Vtran is the operating speed of the conveyor belt, h is the seed suction height, L2 is the seed carrying movement length, L3 is the downward movement length of the seed suction tray 5 to reach the seed discharge waiting position, L4 is the distance from the seedling tray 21 to the seed discharge position, Vx0 is the maximum seed carrying speed, T, is the seed suction time, T2 is the seed carrying time, AL is the relative displacement between the seed suction tray 5 and the seedling tray 21, and At is the time required to adjust the following speed of the seed suction tray 5 in the Y-axis direction to be identical to the speed of the seedling tray 21.
As shown in FIG. 8(a), a seed suction height control model is built by combining gas-solid (I) coupling and a bench test. Firstly, gas-solid coupling calculation is performed based on vibration frequency, amplitude, and pressure difference to obtain the ideal corresponding relationship between the thickness of the seed layer and the seed suction height in an ideal state. Then, a bench test is carried out according to the vibration frequency, amplitude, and pressure difference, an actual seed suction height leading to a seed suction rate of above 95% is adopted, and the actual corresponding relationship between the seed suction height and the thickness of the seed layer is obtained. Finally, the actual corresponding relationship is compared with the theoretical corresponding relationship between the seed suction height and the thickness of the seed layer, and the corresponding relationship between the seed suction height and the thickness of the seed layer is modified. The photoelectric sensors on the seeding line 17 detect the number of finished seedling trays, and the number N of the seeds left in the seed vibration tray ID is calculated according to the number of finished seedling trays and the miss-seeding rate measured by the CCD detection element 18. The specific formula is: NmD C = -(6) Ap wherein C is the thickness of the seed layer, p is the density of seeds, m is the quality of seeds, D is the compactness of the seed population, A is the bottom area of the seed vibration tray 10, and N is the number of seeds.
As shown in FIG. 8(b), the seed vibration tray 10 vibrates at a high frequency fl, the thickness C of the seed layer is obtained through the formula (6), and the range of the thickness C of the seed layer is determined. If the thickness of the seed layer is in a range of Cl -C2, the seed suction height is hl; if the thickness C of the seed layer is in a range of C2-C3, the seed suction height is h2; and the rest can be deduced in the same manner The seed suction height corresponding to the thickness of the seed layer is found according to the modified relationship between the thickness of the seed layer and the seed suction height, a seed suction height control signal is output to the four-degree-of-freedom manipulator, and the seed suction tray 5 is controlled to move downward. The current descending height of the seed suction tray 5 is detected by the Z-axis displacement sensor and is compared with a specified seed suction height. When the seed suction tray 5 reaches the seed suction position, the vacuum pump 12 produces a negative pressure to suck seeds. When seed suction is completed, a seed suction flag bit is set to 1, and the seed vibration tray 10 is controlled to vibrate at a low frequency f2. When the thickness of the seed layer is less than Cl, a seed adding flag bit is set to 1 As shown in FIG. 9(a), a control model of the seed carrying speed of the seed suction tray 5 in the X-axis direction and the following speed of the seed suction tray 5 in the Y-axis direction is built. According to the built mathematical model about cyclic movement of suction, carrying, and discharge of seeds (the formulas (1)-(3)), a first predictive controller for controlling the seed carrying speed is created by using a target curve of the seed carrying speed calculated through the formula (4) as an input signal and using the actual speed of the seed suction tray 5 obtained by a speed sensor on the X-axis motor 8a as feedback. The distance between the seed suction tray 5 and the seedling fray 21 is calculated by the Y-axis ranging sensors 9b and the ranging sensor 19c. A second predictive controller for controlling the following speed is created by using a target curve of the following speed calculated through the formula (5) as an input signal and using the actual speed of the seed suction tray 5 obtained by a speed sensor on the Y-axis motor 9g as feedback. Therefore, a series motion control system is constituted. A series motion control model of the seed carrying speed and the following speed is built by using an improved generalized predictive control algorithm, an objective function is created by weighting an output error in a prediction time domain and a control increment in a control time domain, and an a factor is added in the objective function to avoid overshoot of the control value. The objective function is as follows: minKt) = EfEr.2N, [y(t + j It) -(t + j)12 + A(j) jau(t + j - 2 ± a} (7) a = Eivil3(jMu(t +j -110r (8).
According to the kinematic requirements of seed carrying, the maximum acceleration without causing dropping of the seeds is obtained according to Newton's second law, and input saturation constraints are set accordingly: Aurnin [1, ,11T Au(t) Aumax[1, ...,11T (9) at(Pm) (10) wherein N1 is the minimum length of the prediction time domain, N2 is the maximum length of the prediction time domain, N" is the length of the control time domain, y is a predicted value of future output, yr is an input reference value, A is a weighting coefficient of the control increment, au is a predicted output increment, II is a weighting coefficient of the control value, f is the inertial force, m is the quality of seeds, and P is the force of the airflow field acting on the seeds An optimal control law is obtained based on the objective function and the input saturation constraints, a recursive extended least squares method with a forgetting factor is used to directly identify an inversion part in the optimal control law, and the predictive controllers are created to control X-axis and Y-axis motor speeds according to output signals.
As shown in FIG. 9(b), according to the position of the seedling tray 21 on the seeding line 17 that is figured out by the ranging sensor 19c, the seed carrying speed is calculated through the formula (4), and the seed suction tray 5 is controlled to carry seeds and move rightward. When the right limit switch 8e is triggered, the seed suction tray 5 moves downward. When the seed discharge waiting position limit switch 7e is triggered, it is determined whether seeds need to be added. If the seed adding flag bit is 1, the movable seed supply motor 31 and the seed adding motor 28 are started, and the seed dropping valve 29 is opened, so that seeds are added and discharged in sync. The deflection angle detection mechanism 22 obtains the distances between the seedling tray 21 and the two edges of the support of the seeding line 17 and calculates the deflection angle of the seedling tray 21, and thus the seed suction tray 5 is controlled to rotate by a certain angle. An ideal following speed is calculated according to the formula (5) and is input to the second predictive controller, so that the following speed of the seed suction tray 5 is adjusted and the seed suction tray 5 is controlled to move along with the seedling tray 21 in a relatively static state. When there is no relative displacement between the seed suction tray 5 and the seedling tray 21, the vacuum pump 12 produces a negative pressure and following-type seed discharge is started. The seed discharge time is set to 0.5 seconds. When seed discharge is completed, a seed discharge flag bit is set to 1.
FIG. 10(a) is a flow chart of control over coordinated movement of multiple members on a pneumatic vibration-type precision seeding line according to the present invention. The control process is divided into serial control relationships and parallel control relationships based on the concept of sequential control. The suction, carrying, discharge, and clearing of seeds belong to the serial control relationships, while the movement of the seedling tray 21, seed adding, and the movement of the seed suction tray 5 in the Y-axis direction belong to the parallel control relationships. When the program is started, it is detected whether the seed suction tray 5 is at the initial position, and if not, the seed suction tray 5 returns to the initial position. When the seed suction tray 5 is at the initial position, the seed suction tray movement control member and the seeding line 17 are started, and bottom-soil laying, bottom-soil sweeping, and hole-pressing are carried out after the seedling tray 21 enters the seeding line 17. When the second photoelectric sensor 23 at the inlet detects that the seedling tray 21 enters the seeding line, the positioning stop plate 19b is lowered, ensuring that the seedling tray 21 will not leave the seeding region before the whole process is completed. The seedling tray 21 moves at a constant speed on the conveyor belt and subflows of control over suction, carrying, discharge, adding, and clearing of seeds are carried out, as shown in FIG. 10(b). Firstly, a subflow of seed suction by the seed suction tray is called to control the seed suction tray 5 to move downward and suck seeds, and control the vibration frequency of the seed vibration tray 10 as well as the pressure of the vacuum pump 12. Reference can be made to FIG. 8(b), and the details have been provided in the above and will not be repeated herein. When the seed suction flag bit is 1, the seed suction tray 5 moves upward. When the upper limit switch 7b is triggered, a subflow of seed carrying operation by the seed suction tray 5 is called to control adding and discharge of seeds by the seed suction tray 5. Reference can be made to FIG. 9(b), and the details have been provided in the above and will not be repeated herein. When the seed discharge flag bit is 1, the positioning stop plate 19b is lifted, the seedling tray 21 leaves the seed discharge region, the subflow call is ended, the control over the seeding line is recovered, and surface-soil covering, surface-soil sweeping, and water spraying are sequentially carried out. Meanwhile, the seed suction tray 5 returns to the initial position. If needed, seed clearing is carried out on the seed suction tray 5 at the initial position. After seed clearing is completed, a next seeding cycle is started. The above process is repeatedly carried out to complete successive seeding on multiple trays.
FIG. I I (a) shows an interface presenting the working process of the seed suction tray movement control member according to the present invention. After the apparatus is powered on, the touch screen is turned on and displays a home page with manual control, automatic control, historical information, and operating instructions. As shown in FIG. I I (b), in the manual control mode, the vibration frequency, initial height of the seed suction tray, seed suction pressure, and seed discharge pressure can be manually entered in a parameter setting module on the touch screen. After a Start button is tapped, a Manual control button is tapped to enable the following functions in a manual control module: the seed suction tray 5 is controlled to move upward, downward, leftward, and rightward through four arrow keys; the seed suction tray 5 is controlled to move in the Y-axis direction through Follow buttons, and the seed suction tray 5 is controlled to rotate clockwise or counterclockwise through Rotate buttons. In a single-step control mode, every time a triangular forward button is tapped, the seed suction tray 5 performs an action. In a single-cycle control mode, every time a triangular forward button is tapped, the seed suction tray 5 pauses after completing a cycle of operations including suction, carrying, and discharge of seeds and then returning to the start point. Three On/Off buttons control the movable seed adding member 4, the seed clearing member 11, and the seeding line 17 to start or stop, respectively If an anomaly occurs in working, an Emergency stop button can be tapped to stop all the operations. As shown in FIG. 11(c), in the automatic control mode, the touch screen interface presents parameter settings, seed suction tray control, and operating parameter monitoring. Firstly, related parameters including vibration frequency initial height of the seed suction tray, seed suction pressure, and seed discharge pressure are manually configured. After a Start button is tapped, an On button on a seed suction tray control interface is tapped, and the seed suction tray 5 waits for a movement control signal. When a seeding line On button is tapped, the seeding line starts to work, and the seed suction tray 5 cooperates with the seeding line to carry out successive seeding on multiple trays. An operating parameter monitoring module is used to monitor online the position and speed of the seedling tray 21 on the seeding line, the rotation angle of the four-degree-of-freedom manipulator, and the operating speed along each axis, and to check the seed clearing times, the seed adding times, the number of finished seedling trays, and the qualification rate of seeding in each cycle. A seed adding Off button is tapped to cancel seed adding, and a seed clearing Off button is tapped to cancel seed clearing. If an anomaly occurs in working, an Emergency stop button can be tapped to stop all the operations.
The above descriptions are preferred embodiments of the present invention, and are not intended to limit the present invention. Any obvious improvements, replacements, or modifications made by persons skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.
Claims (10)
- Claims What is claimed is: 1. An apparatus for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line, characterized by comprising a seed suction tray movement control member and a movable seed adding member (4), wherein the movable seed adding member (4) and the seed suction tray movement control member are disposed between a hole-pressing mechanism (3) and a surface-soil covering mechanism (14) on a seeding line (17); the seed suction tray movement control member comprises a seed suction tray (5), a four-degree-of-freedom manipulator, a seed vibration tray (10), and a vacuum pump (12), wherein the seed suction tray (5) is driven by the four-degree-of-freedom manipulator to move to any position in a rectangular coordinate system, an air inlet of the seed suction tray (5) is connected to the vacuum pump (12) through an air pipe, and the seed vibration tray (10) is connected to an output shaft of a vibration motor (33) through a crank-and-connecting rod mechanism (34); the movable seed adding member (4) comprises a seed adding mechanism (26) and a seed supply transmission mechanism (27), wherein the seed adding mechanism (26) comprises a seed adding motor (28), a seed dropping valve (29), and a seed feed hopper (30); an output shaft of the seed adding motor (28) is connected to the seed dropping valve (29) and a top portion of the seed dropping valve (29) is closely attached to a bottom opening of the seed feed hopper (30), the seed feed hopper (30) is fixed to a sliding block of the seed supply transmission mechanism (27) through a Z-shaped connector (32); a movable seed supply motor (31) is connected to a fourth linear sliding table module to constitute the seed supply transmission mechanism (27); a positioning stop plate (1 9b) is connected to a support of the seeding line (17) through a positioning motor (19f), and a ranging sensor (19c) is mounted on the positioning stop plate (19b); a second photoelectric sensor (23) is disposed on a distal end of the hole-pressing mechanism (3), and a deflection angle detection mechanism (22) and a first photoelectric sensor (20) are respectively disposed directly below two corners of the seed suction tray (5) when the seed suction tray (5) is located directly above the seeding line (17); the vacuum pump (12), the vibration motor (33), the positioning motor (190, the seed adding motor (28), the movable seed supply motor (31), and a motor of the four-degree-of-freedom manipulator are all controlled by a main control unit, and the main control unit also receives signals collected by the ranging sensor (19c), the first photoelectric sensor (20), the second photoelectric sensor (23), the deflection angle detection mechanism (22), a charge-coupled device (CCD) detection element (18), and displacement and ranging sensors allocated to the four-degree-of-freedom manipulator.
- 2. The apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to claim 1, characterized in that the four-degree-of-freedom manipulator comprises a rotating mechanism (6), a Z-axis transmission mechanism (7), an X-axis transmission mechanism (8), and a Y-axis transmission mechanism (9), wherein the rotating mechanism (6) comprises a rotary motor (6c), the rotary motor (6c) is fixed on a metal plate connector (6e) through a first L-shaped connector (6d), and a motor shaft (6b) of the rotary motor (6c) is fixed to the seed suction tray (5) through a U-shaped connector (6a).
- 3. The apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to claim 2, characterized in that a Z-axis motor (7a) is directly connected to a second linear sliding table module to constitute the Z-axis transmission mechanism (7), and a housing of the second linear sliding table module is fixed to a second sliding block (8g) of the X-axis transmission mechanism (8) through a second L-shaped connector (7d); an output shaft of the Z-axis motor (7a) is connected to a third lead screw (7k), and the third lead screw (7k) passes through a first sliding block (7c) to constitute a first threaded transmission mechanism; the first sliding block (7c) is further connected to an upper end of the metal plate connector (6e), and the metal plate connector (6e) is fixedly connected to a Z-axis displacement sensor measuring rod (7h) through an extension plate; an upper limit switch (7b), a seed discharge waiting position limit switch (7e), and a lower limit switch (7f) are sequentially disposed on the housing of the second linear sliding table module in a vertical direction, and a Z-axis displacement sensor is also disposed on the housing of the second linear sliding table module.
- 4. The apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to claim 2, characterized in that an X-axis motor (8a) is directly connected to a third linear sliding table module to constitute the X-axis transmission mechanism (8), and the third linear sliding table module is fixed on an upper portion of a beam (9d); the X-axis motor (8a) is connected to a first lead screw (80, and the first lead screw (80 passes through an internal thread of the second sliding block (8g) to constitute a second threaded transmission mechanism; an X-axis ranging sensor (8d) is mounted on a housing of the third linear sliding table module, and a right limit switch (8e) and a left limit switch (8h) are further disposed on the housing of the third linear sliding table module in an X-axis direction.
- 5. The apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to claim 2, characterized in that the Y-axis transmission mechanism (9) comprises a transmission shaft (9k) and a Y-axis motor (9g), wherein two ends of the transmission shaft (9k) are connected through couplings (9j) to two linear modules (91) disposed in a Y-axis direction respectively, a planetary reducer (9h) is mounted on the coupling (9j) at one of the linear modules (90, and the planetary reducer (9h) is mounted on the Y-axis motor (9g); second lead screws (9c) of the linear modules (90 respectively pass through third sliding blocks (9e) to constitute a third threaded transmission mechanism, and the beam (9d) is fixed to the two third sliding blocks (9e); a Y-axis ranging sensor (9b) is further mounted on a housing of each of the linear modules (9/), and a minimum travel limit switch (90 and a maximum travel limit switch (9m) are sequentially disposed on the housing of each of the linear modules (90 in the Y-axis direction.
- 6. The apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to claim 1, characterized by finther comprising a seed clearing member (11), wherein the seed clearing member (11) comprises a two-degree-of-freedom rotary manipulator (25) and a seed clearing needle (24), the two-degree-of-freedom manipulator (25) is fixed on a middle beam of a frame (13), and the seed clearing needle (24) is disposed on a top end of the two-degree-of-freedom rotary manipulator (25).
- 7. A control method of the apparatus for controlling the coordinated movement of the multiple members on the pneumatic vibration-type precision seeding line according to any one of claims 1 to 6, characterized by comprising serial control over suction, carrying, discharge, and clearing of seeds and parallel control over movement of a seedling tray (21), seed adding, and movement of the seed suction tray (5) in the Y-axis direction, wherein when the seed suction tray (5) is located at an initial position, the seed suction tray movement control member and the seeding line (I7) are started; when the seedling tray (21) enters the seeding line (17), the positioning stop plate (19b) is lowered and the seed vibration tray (10) vibrates at a high frequency; a seed suction height corresponding to a thickness of a seed layer is found according to a modified relationship between the thickness of the seed layer and the seed suction height, a seed suction height control signal is output to the four-degree-of-freedom manipulator, and the seed suction tray (5) is controlled to move downward; when the seed suction tray (5) reaches a seed suction position, the vacuum pump (12) produces a negative pressure to suck seeds; when seed suction is completed, the seed vibration tray (10) vibrates at a low frequency; the seed suction tray (5) moves upward, and when the upper limit switch (7b) is triggered, the seed suction tray (5) carries seeds and moves rightward; when the right limit switch (8e) is triggered, the seed suction tray (5) moves downward; when the seed discharge waiting position limit switch (7e) is triggered and seeds need to be added, the movable seed supply motor (31) and the seed adding motor (28) are started, and the seed dropping valve (29) is opened; when there is no relative displacement between the seed suction tray (5) and the seedling tray (21), the vacuum pump (12) produces a negative pressure and following-type seed discharge is started; after seed discharge is completed, the positioning stop plate (19b) is lifted, and the seed suction tray (5) returns to the initial position if seed clearing is needed, the two-degree-of-freedom rotary manipulator (25) is started to carry out seed clearing, and after seed clearing is completed, a next seedling tray enters the seeding line.
- 8. The method for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line according to claim 7, characterized in that a mathematical model of coordinated operation between the seed suction tray (5) and the seedling tray (21) is: dV2(t) L, 2 24( 2 Ts) dt * v tran Viv 3 (V4 -Vtran)/at-AL wherein V2 is a seed carrying speed, V3 is an operating speed of the seed suction tray (5) to reach a seed discharge waiting position, V4 is a following speed of the seed suction tray (5), Via, is an operating speed of a conveyor belt, h is the seed suction height, L3 is a downward movement length of the seed suction tray (5) to reach the seed discharge waiting position, L, is a distance from the seedling tray (21) to the seed discharge position, Ts is a seed suction time, AL is a relative displacement between the seed suction tray (5) and the seedling tray (21), and At is a time required to adjust the following speed of the seed suction tray (5) in the Y-axis direction to be identical to a speed of the seedling tray (21).
- 9. The method for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line according to claim 7, characterized in that the modified relationship between the thickness of the seed layer and the seed suction height is obtained by: performing gas-solid coupling calculation based on vibration frequency, amplitude, and pressure difference to obtain an ideal corresponding relationship between the thickness of the seed layer and the seed suction height in an ideal state; carrying out a bench test according to the vibration frequency, amplitude, and pressure difference, adopting an actual seed suction height leading to a seed suction rate of above 95%, and obtaining an actual corresponding relationship between the seed suction height and the thickness of the seed layer; and comparing the actual corresponding relationship with a theoretical corresponding relationship between the seed suction height and the thickness of the seed layer.
- 10. The method for controlling coordinated movement of multiple members on a pneumatic vibration-type precision seeding line according to claim 7, characterized in that the seed carrying speed of the seed suction tray (5) in the X-axis direction is controlled by: creating a first predictive controller for controlling the seed carrying speed by using a target curve of the seed carrying speed as an input signal and using an actual speed of the seed suction tray (5) in the X-axis direction as feedback; the following speed of the seed suction tray (5) in the Y-axis direction is controlled by: creating a second predictive controller for controlling the following speed by using a target curve of the speed of the seed suction tray (5) moving along with the seedling tray (21) as an input signal and using an actual speed of the seed suction tray (5) in the Y-axis direction as feedback.
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| CN202110238591.6A CN113170634B (en) | 2021-03-04 | 2021-03-04 | Multi-component coordinated motion control device and method for air vibration type precise seeding assembly line |
| PCT/CN2021/080672 WO2022183523A1 (en) | 2021-03-04 | 2021-03-15 | Multi-component coordinated motion control device and method for air vibration type precision seeding assembly line |
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| CN208783200U (en) * | 2018-08-01 | 2019-04-26 | 山东中天盛科自动化设备有限公司 | A kind of small-sized assembly line seeding apparatus |
| CN111052912A (en) * | 2019-12-31 | 2020-04-24 | 江苏大学 | Air-suction vibration disc type precision seedling raising and sowing production line device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6637336B2 (en) * | 2015-02-27 | 2020-01-29 | 田中精密工業株式会社 | Seeding equipment |
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2021
- 2021-03-15 GB GB2201952.5A patent/GB2617814A/en active Pending
- 2021-03-15 JP JP2022516165A patent/JP7296679B2/en active Active
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| JP2002142646A (en) * | 2000-11-08 | 2002-05-21 | Seirei Ind Co Ltd | Agrochemical applicator for seedling plant |
| KR20070011638A (en) * | 2007-01-04 | 2007-01-24 | 박윤철 | Precision seeding-machine for sprout mass production |
| CN102550180A (en) * | 2011-12-29 | 2012-07-11 | 江苏大学 | Air-sucking vibration plate type precision seeder for field seedling raising |
| CN204721834U (en) * | 2015-05-30 | 2015-10-28 | 同济大学 | Novel precision seeder machine |
| CN208783200U (en) * | 2018-08-01 | 2019-04-26 | 山东中天盛科自动化设备有限公司 | A kind of small-sized assembly line seeding apparatus |
| CN111052912A (en) * | 2019-12-31 | 2020-04-24 | 江苏大学 | Air-suction vibration disc type precision seedling raising and sowing production line device and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2023512377A (en) | 2023-03-27 |
| GB202201952D0 (en) | 2022-03-30 |
| JP7296679B2 (en) | 2023-06-23 |
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