A multi-degree-of-freedom seeding monomer profiling device and method for sloping farmland

Abstract

The present invention belongs to the technical field of agriculture, and particularly relates to a multi-degree-of-freedom seeding unit profiling device and method for sloping farmland. The purpose of the present invention is to provide a multi-degree-of-freedom seeding unit profiling device and method for sloping farmland, which can achieve full-topography profiling of the seeding unit, improve the profiling effect of the seeder on sloping farmland and the sowing depth control effect of seeding on sloping farmland. A multi-degree-of-freedom seeding unit profiling device for sloping farmland is arranged on a traction seeder; the multi-degree-of-freedom seeding unit profiling device for sloping farmland includes: a profiling adjustment mechanism (1-2), a right pressure sensor (1-4-1), a left pressure sensor (1-4-5), a controller (3), and an electromagnetic proportional directional valve (6).

Description

Technical Field

[0001] The present invention belongs to the technical field of agriculture, and particularly relates to a multi-degree-of-freedom seeding monomer profiling device and method for sloping farmland. Background Art

[0002] The cultivated area of sloping farmland in China accounts for about one-third of the total cultivated area in the country. The agricultural development of sloping farmland directly affects the overall development level of agriculture in China. At present, the comprehensive mechanization rate of crops in sloping farmland in China is less than 50%, far lower than the national comprehensive mechanization rate of 71%. Therefore, it is urgent to promote the development of agricultural mechanization in sloping farmland.

[0003] The seeder is an important part of agricultural machinery. Most of the existing no-till seeders in China adopt passive mechanical spring profiling, with a small adjustment range, insufficient downward pressure provided, and it is easy to cause the phenomenon of too shallow seeding depth or even seed exposure. The surface of sloping farmland has large undulations. The existing passive mechanical spring profiling can only be adjusted up and down, and it is difficult to cope with the left and right undulations of the surface, which is easy to cause one depth-limiting wheel to touch the ground and the other wheel to be suspended, resulting in the inability to sow and making it difficult to meet the seeding operation requirements of sloping farmland. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom seeding monomer profiling device and method for sloping farmland, which can realize the all-terrain profiling of the seeding monomer, improve the profiling effect of the seeder on sloping farmland and the seeding depth control effect of sloping farmland seeding.

[0005] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0006] A multi-degree-of-freedom seeding monomer profiling device for sloping farmland is arranged on a traction-type seeder;

[0007] The traction-type seeder includes a seeding monomer 1, a cross beam 2, a fertilizer box 4 and a traction frame 5; the traction frame 5 is located at the front of the traction-type seeder; the fertilizer box 4 is located above the traction frame 5 and is detachably fixed to the traction frame 5 by screws; the cross beam 2 is transversely arranged in the middle of the traction-type seeder and is detachably fixed to the traction frame 5 by screws;

[0008] The seeding monomer 1 includes: a seedbed cleaning mechanism 1-1, double disc knives 1-3, a depth-limiting device 1-4, a seed and fertilizer box support 1-5, a monomer fixing frame 1-6, a seed box 1-7, a pressing device 1-8 and a starter fertilizer box 1-9;

[0009] The seeding monomer 1 is detachably fixed to the cross beam 2 by a connecting plate 1-2-1 using a "U" - shaped screw;

[0010] The seedbed cleaning mechanism 1-1 is detachably fixed to the front lower part of the single-body fixing frame 1-6 by screws; the seed and fertilizer box support 1-5 is detachably fixed to the rear upper part of the single-body fixing frame 1-6 by screws; the seed box 1-7 is detachably fixed to the front upper part of the seed and fertilizer box support 1-5 by screws; the pressing device 1-8 is detachably fixed to the rear lower part of the single-body fixing frame 1-6 by screws; the top dressing box 1-9 is located at the rear side of the seed box 1-7 and is detachably fixed to the rear upper part of the seed and fertilizer box support 1-5 by screws.

[0011] The depth-limiting device 1-4 includes: a right depth-limiting wheel 1-4-2, a depth-limiting wheel support arm 1-4-3, and a left depth-limiting wheel 1-4-4.

[0012] The depth-limiting device 1-4 is detachably fixed to the middle lower part of the single-body fixing frame 1-6 by the depth-limiting wheel support arm 1-4-3 using screws; the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 are symmetrically arranged left and right and are respectively detachably fixed to the depth-limiting wheel support arm 1-4-3 by screws; the double disc cutter 1-3 is detachably fixed between the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 by screws.

[0013] Among them,

[0014] The multi-degree-of-freedom seeding single-body profiling device for sloping cultivated land includes: a profiling adjustment mechanism 1-2, a right pressure sensor 1-4-1, a left pressure sensor 1-4-5, a controller 3, and an electro-hydraulic proportional directional valve 6.

[0015] The profiling adjustment mechanism 1-2 includes a connecting plate 1-2-1, a hydraulic cylinder support frame 1-2-2, a telescopic hydraulic cylinder 1-2-3, a front gear fixing frame 1-2-4, a steering gear 1-2-5, a rear gear fixing frame 1-2-6, a hydraulic motor 1-2-7, a hydraulic motor support frame 1-2-8, a driving gear 1-2-9, and a four-link mechanism 1-2-10.

[0016] The hydraulic cylinder support frame 1-2-2 is located behind the connecting plate 1-2-1 and is detachably fixed to the connecting plate 1-2-1 by screws; the front upper end of the telescopic hydraulic cylinder 1-2-3 is detachably and rotatably fixed to the rear end face of the hydraulic cylinder support frame 1-2-2 by a pin shaft, and the rear lower end of the telescopic hydraulic cylinder 1-2-3 is detachably and rotatably fixed to the front end face of the front gear fixing frame 1-2-4 by a pin shaft; the front gear fixing frame 1-2-4 is detachably fixed to the connecting plate 1-2-1 by screws by means of a four-bar linkage mechanism 1-2-10; one end of the steering gear 1-2-5 is detachably fixed to the rear end face of the front gear fixing frame 1-2-4 by screws, and the other end of the steering gear 1-2-5 is detachably fixed to the rear gear fixing frame 1-2-6 by a bearing for rotation; the rear gear fixing frame 1-2-6 is detachably fixed to the front upper part of the single fixing frame 1-6 by screws; the hydraulic motor support frame 1-2-8 is detachably fixed to the side of the single fixing frame 1-6 by screws; the hydraulic motor 1-2-7 is detachably fixed to the hydraulic motor support frame 1-2-8 by screws; the drive gear 1-2-9 is fixed to the power output shaft of the hydraulic motor 1-2-7; the drive gear 1-2-9 meshes with the steering gear 1-2-5;

[0017] The drive gear 1-2-9 is fixed to the power output shaft of the hydraulic motor 1-2-7 and can rotate driven by the hydraulic motor 1-2-7; the drive gear 1-2-9 meshes with the steering gear 1-2-5 and can perform gear transmission; the rear drive gear fixing frame 1-2-6 rotates clockwise or counterclockwise driven by the hydraulic motor 1-2-7; the front gear fixing frame 1-2-4 is fixedly connected to the steering gear 1-2-5, so the front gear fixing frame 1-2-4 and the gear 1-2-5 cannot rotate relative to each other; the rear gear fixing frame 1-2-6 is connected to the steering gear 1-2-5 by a bearing, and the rear gear fixing frame 1-2-6 can rotate relative to the steering gear 1-2-5;

[0018] The right pressure sensor 1-4-1 is detachably fixed to the installation position of the right depth wheel 1-4-2 and the depth wheel support arm 1-4-3 by screws; the left pressure sensor 1-4-5 is detachably fixed to the installation position of the left depth wheel 1-4-4 and the depth wheel support arm 1-4-3 by screws;

[0019] The controller 3 is detachably fixed to the fertilizer box 4 by screws;

[0020] The electromagnetic proportional reversing valve 6 is detachably fixed to the towing frame 5 by screws;

[0021] The telescopic hydraulic cylinder 1-2-3 is connected to the electro-hydraulic proportional directional valve 6 through a hydraulic oil pipe; the port A of the telescopic hydraulic cylinder 1-2-3-1 is connected to the port B of the electro-hydraulic proportional directional valve 6-2 through a hydraulic oil pipe; the port B of the telescopic hydraulic cylinder 1-2-3-2 is connected to the port A of the electro-hydraulic proportional directional valve 6-1 through a hydraulic oil pipe;

[0022] The hydraulic motor 1-2-7 is connected to the electro-hydraulic proportional directional valve 6 through a hydraulic oil pipe; the port A of the hydraulic motor 1-2-7-1 is connected to the port C of the electro-hydraulic proportional directional valve 6-3 through a hydraulic oil pipe; the port B of the hydraulic motor 1-2-7-2 is connected to the port D of the electro-hydraulic proportional directional valve 6-4 through a hydraulic oil pipe;

[0023] The electro-hydraulic proportional directional valve 6 is communicatively connected to the controller 3; the controller 3 controls the operation of the telescopic hydraulic cylinder 1-2-3 and the hydraulic motor 1-2-7 by controlling the electro-hydraulic proportional directional valve 6;

[0024] The right pressure sensor 1-4-1 is communicatively connected to the controller 3; the left pressure sensor 1-4-5 is communicatively connected to the controller 3.

[0025] A multi-degree-of-freedom seeding monomer profiling method using the multi-degree-of-freedom seeding monomer profiling device for sloping cultivated land as claimed in claim 1, wherein the method comprises the following steps:

[0026] S1. The traction seeder starts to work, and the controller 3 obtains the pressure values of the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5 in real time;

[0027] S2. The controller 3 calculates according to the obtained pressure values of the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, and determines whether the telescopic hydraulic cylinder 1-2-3 and the hydraulic motor 1-2-7 work:

[0028] If P < T1, the controller 3 controls the hydraulic oil to flow from the port B of the electro-hydraulic proportional directional valve 6-2 to the port A of the telescopic hydraulic cylinder 1-2-3-1, and from the port B of the telescopic hydraulic cylinder 1-2-3-2 to the port A of the electro-hydraulic proportional directional valve 6-1 through the electro-hydraulic proportional directional valve 6, and the telescopic hydraulic cylinder 1-2-3 extends a distance of 1 n1 ;

[0029] wherein, T1 is the pressure threshold for determining whether the telescopic hydraulic cylinder 1-2-3 extends, with the unit of N; 1 n1 is the unit distance of each extension and retraction of the telescopic hydraulic cylinder 1-2-3, with the unit of mm; P is the average value of the pressure values measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N, and P is determined by formula 1;

[0030] When P < T1, the average pressure on the right depth wheel 1-4-2 and the left depth wheel 1-4-4 is small, it is determined that the contact between the depth wheels on both sides and the ground is insufficient, affecting the seeding effect; at this time, extend the telescopic hydraulic cylinder 1-2-3 to press the entire seeding unit downward, so that the right depth wheel 1-4-2 and the left depth wheel 1-4-4 are in reasonable contact with the ground;

[0031] If P > T2, the controller 3 controls the hydraulic oil to flow from the A port 6-1 of the electromagnetic proportional directional valve 6 to the B port 1-2-3-2 of the telescopic hydraulic cylinder through the electromagnetic proportional directional valve, and from the A port 1-2-3-1 of the telescopic hydraulic cylinder to the B port 6-2 of the electromagnetic proportional directional valve, and the telescopic hydraulic cylinder 1-2-3 retracts by a distance l n2 ;

[0032] wherein, T2 is the pressure threshold for judging whether the telescopic hydraulic cylinder 1-2-3 retracts, with the unit of N; l n2 is the unit distance of each extension and retraction of the telescopic hydraulic cylinder 1-2-3, with the unit of mm; P is the average value of the pressure values measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N, and P is determined by formula 1;

[0033] When P > T2, the average pressure on the right depth wheel 1-4-2 and the left depth wheel 1-4-4 is large, it is determined that at least one depth wheel has too much pressure on the soil, affecting the seeding effect; control the telescopic hydraulic cylinder 1-2-3 to retract, so that the right depth wheel 1-4-2 and the left depth wheel 1-4-4 are in reasonable contact with the ground;

[0034] P = (P1 + P2) / 2 Formula 1

[0035] In formula 1, P is the average value of the pressure values measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N; P1 is the pressure value measured by the right pressure sensor 1-4-1, with the unit of N; P2 is the pressure value measured by the left pressure sensor 1-4-5, with the unit of N;

[0036] If |P d | < T3, the hydraulic motor 1-2-7 does not work;

[0037] wherein, T3 is the pressure threshold for judging whether the hydraulic motor 1-2-7 works, with the unit of N; |P d | is the absolute value of the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N; P d is determined by formula 2;

[0038] |P dWhen at T3, the pressure difference between the right depth wheel 1-4-2 and the left depth wheel 1-4-4 is small, indicating that the degree of contact between the depth wheels on both sides and the ground is basically the same, and there is no need for the hydraulic motor 1-2-7 to work to make the seeding unit rotate for profiling;

[0039] If |P d | > T3, and P d > 0, the controller 3 controls the hydraulic oil to flow from the D port 6-4 of the electromagnetic proportional reversing valve 6 to the B port 1-2-7-2 of the hydraulic motor through the electromagnetic proportional reversing valve, and flows from the A port 1-2-7-1 of the hydraulic motor 1-2-7 to the C port 6-3 of the electromagnetic proportional reversing valve through the hydraulic motor 1-2-7. The hydraulic motor 1-2-7 rotates counterclockwise by α n , driving the single-unit fixing frame 1-6 to rotate counterclockwise to achieve the profiling of the seeding unit 1 with the ground;

[0040] Among them, T3 is the pressure threshold for judging whether the hydraulic motor 1-2-7 works, with the unit of N; |P d | is the absolute value of the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N; P d is determined by formula 2; α n is the unit angle of each rotation of the hydraulic motor 1-2-7. Taking the forward direction of the traction seeder as the positive direction, the unit is °;

[0041] |P d | > T3, the pressure difference between the right depth wheel 1-4-2 and the left depth wheel 1-4-4 is large, and it is necessary for the hydraulic motor 1-2-7 to work to make the seeding unit rotate for profiling, P d > 0, indicating that the right depth wheel 1-4-2 has a greater pressure on the ground than the left depth wheel 1-4-4, affecting the seeding effect; it is necessary for the hydraulic motor 1-2-7 to rotate counterclockwise by α n so that the contact degree of the right depth wheel 1-4-2 with the ground is the same as that of the left depth wheel 1-4-4 with the ground;

[0042] If |P d | > T3, and P d < 0, the controller 3 controls the hydraulic oil to flow from the C port 6-3 of the electromagnetic proportional reversing valve 6 to the A port 1-2-7-1 of the hydraulic motor through the electromagnetic proportional reversing valve, and flows from the B port 1-2-7-2 of the hydraulic motor 1-2-7 to the D port 6-4 of the electromagnetic proportional reversing valve through the hydraulic motor 1-2-7. The hydraulic motor 1-2-7 rotates clockwise by α n , driving the single-unit fixing frame 1-6 to rotate clockwise to achieve the profiling of the seeding unit 1 with the ground;

[0043] Among them, T3 is the pressure threshold for judging whether the hydraulic motor 1-2-7 works, with the unit of N; |P d|is the absolute value of the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N; P d is determined by Formula 2; α n is the unit angle of each rotation of the hydraulic motor 1-2-7. Taking the forward direction of the pull-type seeder as the positive direction, the unit is °;

[0044] |P d |When P>T3, the pressure difference between the right depth wheel 1-4-2 and the left depth wheel 1-4-4 is large, and the hydraulic motor 1-2-7 needs to work to make the seeding unit rotate and follow the contour of the land, P d <0 indicates that the pressure measured by the left pressure sensor 1-4-5 is greater than that measured by the right pressure sensor 1-4-1, indicating that the pressure of the left depth wheel 1-4-4 on the ground is greater than that of the right depth wheel 1-4-2 on the ground, affecting the seeding effect; the hydraulic motor 1-2-7 needs to rotate clockwise by α n so that the contact degree of the right depth wheel 1-4-2 with the ground is the same as that of the left depth wheel 1-4-4 with the ground;

[0045] P d = P1 - P2 Formula 2

[0046] In Formula 2, P d is the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N; P1 is the pressure value measured by the right pressure sensor 1-4-1, with the unit of N; P2 is the pressure value measured by the left pressure sensor 1-4-5, with the unit of N;

[0047] S3. The controller 3 obtains the navigation and positioning information in real time, and generates a topographic map of the seeding belt according to the adjustment information of the seeding unit 1 this time, providing information support for harvesting, tillage, and seeding.

[0048] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0049] 1. A multi-degree-of-freedom seeding unit profiling device is designed, which can realize the all-terrain adjustment of the seeding unit, improving the profiling effect of the seeder on sloping farmland and the sowing depth control effect of seeding on sloping farmland.

[0050] 2. Based on the pressure sensor, by respectively detecting the pressures of the two depth wheels on both sides, the pressure difference and average value of the two depth wheels on both sides can be obtained in real time and accurately, and then the topographic conditions of the seeding belt can be obtained, providing information support for realizing the all-terrain adjustment of the seeding unit.

[0051] 3. The multi-degree-of-freedom profiling device of the seeding unit is a general detachable device. Using this device, the traditional pull-type seeder can be quickly transformed to make it suitable for sloping farmland and improve the sowing depth control effect of seeding on sloping farmland.

[0052] 4. The controller can obtain the navigation and positioning information in real time, generate the topographic map of the sowing belt according to the all-terrain profiling adjustment information of the sowing unit, and provide information support for harvesting, tillage, and sowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a general three-dimensional structural schematic diagram of the present invention applied to a traction seeder;

[0054] Figure 2 It is a three-dimensional structural schematic diagram of the sowing unit 1 of the present invention;

[0055] Figure 3 It is a three-dimensional structural schematic diagram of the profiling adjustment mechanism 1-2 of the present invention;

[0056] Figure 4 It is a three-dimensional structural schematic diagram of the depth-limiting device 1-4 of the present invention;

[0057] Figure 5 It is a schematic diagram of the oil circuit connection of each component of the present invention;

[0058] Figure 6 It is a schematic diagram of the principle of the hydraulic system of the present invention;

[0059] Figure 7 It is an effect diagram of the slope sowing operation when the present invention is not applied to a traction seeder;

[0060] Figure 8 It is an effect diagram of the slope sowing operation when the present invention is applied to a traction seeder;

[0061] Figure 9 It is a flowchart of the operation control of the profiling adjustment mechanism.

[0062] The reference numerals therein are:

[0063] 1. Sowing unit lifting hydraulic cylinder

[0064] 1-1. Seedbed cleaning mechanism 1-2. Profiling adjustment mechanism

[0065] 1-3. Double disc knives 1-4. Depth-limiting device

[0066] 1-5. Seed and fertilizer box support 1-6. Monomer fixing frame

[0067] 1-7. Seed box 1-8. Pressing device

[0068] 1-9. Top dressing box

[0069] 1-2-1. Connecting plate 1-2-2. Hydraulic cylinder support frame

[0070] 1-2-3. Telescopic hydraulic cylinder 1-2-4. Front gear fixing frame

[0071] 1 - 2 - 5, Steering gear 1 - 2 - 6, Rear fixing bracket of gear

[0072] 1 - 2 - 7, Hydraulic motor 1 - 2 - 8, Hydraulic motor bracket

[0073] 1 - 2 - 9, Driving gear 1 - 2 - 10, Four - link mechanism

[0074] 1 - 4 - 1, Right - hand side pressure sensor 1 - 4 - 2, Right - hand side depth - control wheel

[0075] 1 - 4 - 3, Depth - control wheel support arm 1 - 4 - 4, Left - hand side depth - control wheel

[0076] 1 - 4 - 5, Left - hand side pressure sensor

[0077] 1 - 2 - 3 - 1, Oil port A of telescopic hydraulic cylinder 1 - 2 - 3 - 2, Oil port B of telescopic hydraulic cylinder

[0078] 1 - 2 - 7 - 1, Oil port A of hydraulic motor 1 - 2 - 7 - 2, Oil port B of hydraulic motor

[0079] 2, Cross beam 3, Controller

[0080] 4, Fertilizer box 5, Towing frame

[0081] 6, Electro - magnetic proportional directional control valve

[0082] 6 - 1, Oil port A of electro - magnetic proportional directional control valve 6 - 2, Oil port B of electro - magnetic proportional directional control valve

[0083] 6 - 3, Oil port C of electro - magnetic proportional directional control valve 6 - 4, Oil port D of electro - magnetic proportional directional control valve Detailed implementation manners

[0084] The following further describes the detailed implementation manners of the present invention with reference to the accompanying drawings.

[0085] A multi - degree - of - freedom seeding monomer profiling device for sloping farmland is arranged on a towed seeder.

[0086] As Figure 1 shown, the towed seeder includes a seeding monomer 1, a cross beam 2, a fertilizer box 4, and a towing frame 5. The towing frame 5 is located at the front of the towed seeder. The fertilizer box 4 is located above the towing frame 5 and is detachably fixed to the towing frame 5 by screws. The cross beam 2 is transversely arranged in the middle of the towed seeder and is detachably fixed to the towing frame 5 by screws.

[0087] As Figure 2As shown in the figure, the seeding unit 1 includes: a seedbed cleaning mechanism 1-1, double disc blades 1-3, a depth-limiting device 1-4, a fertilizer and seed box support 1-5, a unit fixing frame 1-6, a seed box 1-7, a pressing device 1-8, and a topdressing box 1-9.

[0088] The seeding unit 1 is detachably fixed to the cross beam 2 through a connecting plate 1-2-1 by means of a "U" shaped screw.

[0089] The seedbed cleaning mechanism 1-1 is detachably fixed to the front lower part of the unit fixing frame 1-6 by screws. The fertilizer and seed box support 1-5 is detachably fixed to the rear upper part of the unit fixing frame 1-6 by screws. The seed box 1-7 is detachably fixed to the front upper part of the fertilizer and seed box support 1-5 by screws. The pressing device 1-8 is detachably fixed to the rear lower part of the unit fixing frame 1-6 by screws. The topdressing box 1-9 is located at the rear side of the seed box 1-7 and is detachably fixed to the rear upper part of the fertilizer and seed box support 1-5 by screws.

[0090] As Figure 4 shown in the figure, the depth-limiting device 1-4 includes: a right depth-limiting wheel 1-4-2, a depth-limiting wheel support arm 1-4-3, and a left depth-limiting wheel 1-4-4.

[0091] The depth-limiting device 1-4 is detachably fixed to the middle lower part of the unit fixing frame 1-6 through the depth-limiting wheel support arm 1-4-3 by screws. The right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 are symmetrically arranged left and right and are respectively detachably fixed to the depth-limiting wheel support arm 1-4-3 by screws. The double disc blades 1-3 are detachably fixed in the middle of the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 by screws.

[0092] The multi-degree-of-freedom seeding unit profiling device for sloping cultivated land includes: a profiling adjustment mechanism 1-2, a right pressure sensor 1-4-1, a left pressure sensor 1-4-5, a controller 3, and an electro-hydraulic proportional directional valve 6.

[0093] As Figure 3 shown in the figure, the profiling adjustment mechanism 1-2 includes a connecting plate 1-2-1, a hydraulic cylinder support frame 1-2-2, a telescopic hydraulic cylinder 1-2-3, a front gear fixing frame 1-2-4, a steering gear 1-2-5, a rear gear fixing frame 1-2-6, a hydraulic motor 1-2-7, a hydraulic motor support frame 1-2-8, a driving gear 1-2-9, and a four-bar linkage mechanism 1-2-10.

[0094] The hydraulic cylinder support frame 1-2-2 is located behind the connecting plate 1-2-1 and is detachably fixed to the connecting plate 1-2-1 by screws. The front upper end of the telescopic hydraulic cylinder 1-2-3 is detachably and rotatably fixed to the rear end face of the hydraulic cylinder support frame 1-2-2 by a pin shaft. The rear lower end of the telescopic hydraulic cylinder 1-2-3 is detachably and rotatably fixed to the front end face of the front gear fixing frame 1-2-4 by a pin shaft. The front gear fixing frame 1-2-4 is detachably fixed to the connecting plate 1-2-1 by screws by means of a four-bar linkage 1-2-10. One end of the steering gear 1-2-5 is detachably fixed to the rear end face of the front gear fixing frame 1-2-4 by screws. The other end of the steering gear 1-2-5 is detachably and rotatably fixed to the rear gear fixing frame 1-2-6 by a bearing. The rear gear fixing frame 1-2-6 is detachably fixed to the front upper part of the single fixing frame 1-6 by screws. The hydraulic motor support frame 1-2-8 is detachably fixed to the side of the single fixing frame 1-6 by screws. The hydraulic motor 1-2-7 is detachably fixed to the hydraulic motor support frame 1-2-8 by screws. The drive gear 1-2-9 is fixed to the power output shaft of the hydraulic motor 1-2-7. The drive gear 1-2-9 meshes with the steering gear 1-2-5.

[0095] The drive gear 1-2-9 is fixed to the power output shaft of the hydraulic motor 1-2-7 and can rotate driven by the hydraulic motor 1-2-7. The drive gear 1-2-9 meshes with the steering gear 1-2-5, enabling gear transmission. The rear gear fixing frame 1-2-6 rotates clockwise or counterclockwise driven by the hydraulic motor 1-2-7. The front gear fixing frame 1-2-4 is fixedly connected to the steering gear 1-2-5. Therefore, the front gear fixing frame 1-2-4 and the gear 1-2-5 cannot rotate relative to each other. The rear gear fixing frame 1-2-6 is connected to the steering gear 1-2-5 by a bearing, and the rear gear fixing frame 1-2-6 can rotate relative to the steering gear 1-2-5.

[0096] The right pressure sensor 1-4-1 is detachably fixed by screws at the installation position of the right depth wheel 1-4-2 and the depth wheel support arm 1-4-3. The left pressure sensor 1-4-5 is detachably fixed by screws at the installation position of the left depth wheel 1-4-4 and the depth wheel support arm 1-4-3.

[0097] The controller 3 is detachably fixed to the fertilizer box 4 by screws.

[0098] The electromagnetic proportional directional control valve 6 is detachably fixed to the towing frame 5 by screws.

[0099] As Figure 5 and Figure 6As shown, the telescopic hydraulic cylinder 1-2-3 is connected to the electro-hydraulic proportional directional valve 6 through a hydraulic oil pipe. The A port 1-2-3-1 of the telescopic hydraulic cylinder is connected to the B port 6-2 of the electro-hydraulic proportional directional valve through a hydraulic oil pipe; the B port 1-2-3-2 of the telescopic hydraulic cylinder is connected to the A port 6-1 of the electro-hydraulic proportional directional valve through a hydraulic oil pipe.

[0100] The hydraulic motor 1-2-7 is connected to the electro-hydraulic proportional directional valve 6 through a hydraulic oil pipe. The A port 1-2-7-1 of the hydraulic motor is connected to the C port 6-3 of the electro-hydraulic proportional directional valve through a hydraulic oil pipe; the B port 1-2-7-2 of the hydraulic motor is connected to the D port 6-4 of the electro-hydraulic proportional directional valve through a hydraulic oil pipe.

[0101] The electro-hydraulic proportional directional valve 6 is communicatively connected to the controller 3. The controller 3 controls the operation of the telescopic hydraulic cylinder 1-2-3 and the hydraulic motor 1-2-7 by controlling the electro-hydraulic proportional directional valve 6.

[0102] As Figure 1 and Figure 4 shown, the right pressure sensor 1-4-1 is communicatively connected to the controller 3; the left pressure sensor 1-4-5 is communicatively connected to the controller 3.

[0103] As Figure 7 、 Figure 8 and Figure 9 shown, the multi-degree-of-freedom seeding monomer profiling method of the present invention using the above-mentioned multi-degree-of-freedom seeding monomer profiling device for sloping cultivated land includes the following steps:

[0104] S1. The traction seeder starts to work, and the controller 3 continuously obtains the pressure values of the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5.

[0105] S2. The controller 3 calculates based on the obtained pressure values of the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5 to determine whether the telescopic hydraulic cylinder 1-2-3 and the hydraulic motor 1-2-7 need to work:

[0106] If P < T1, the controller 3 controls the hydraulic oil to flow from the B port 6-2 of the electro-hydraulic proportional directional valve to the A port 1-2-3-1 of the telescopic hydraulic cylinder and from the B port 1-2-3-2 of the telescopic hydraulic cylinder to the A port 6-1 of the electro-hydraulic proportional directional valve through the electro-hydraulic proportional directional valve 6, and the extended distance l of the telescopic hydraulic cylinder 1-2-3 n1 , where T1 is the pressure threshold for determining whether the telescopic hydraulic cylinder 1-2-3 extends, with the unit of N; 1 n1is the unit distance of each expansion and contraction of the telescopic hydraulic cylinder 1-2-3, with the unit of mm. P is the average value of the pressure measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N, and P is determined by Formula 1.

[0107] When P < T1, the average pressure received by the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 is small, and it is determined that the contact between the depth-limiting wheels on both sides and the ground is insufficient, affecting the seeding effect. At this time, extend the telescopic hydraulic cylinder 1-2-3 to press the entire seeding unit downward, so that the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 are in reasonable contact with the ground.

[0108] If P > T2, the controller 3 controls the hydraulic oil to flow from the A port 6-1 of the electromagnetic proportional directional valve 6 to the B port 1-2-3-2 of the telescopic hydraulic cylinder, and from the A port 1-2-3-1 of the telescopic hydraulic cylinder to the B port 6-2 of the electromagnetic proportional directional valve, and the telescopic hydraulic cylinder 1-2-3 retracts a distance of 1 n2 , where T2 is the pressure threshold for judging whether the telescopic hydraulic cylinder 1-2-3 retracts, with the unit of N; 1 n2 is the unit distance of each expansion and contraction of the telescopic hydraulic cylinder 1-2-3, with the unit of mm. P is the average value of the pressure measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N, and P is determined by Formula 1.

[0109] When P > T2, the average pressure received by the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 is large, and it is determined that at least one depth-limiting wheel has too much pressure on the soil, affecting the seeding effect. Control the telescopic hydraulic cylinder 1-2-3 to retract, so that the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 are in reasonable contact with the ground.

[0110] P = (P1 + P2) / 2 Formula 1

[0111] In Formula 1, P is the average value of the pressure measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N; P1 is the pressure value measured by the right pressure sensor 1-4-1, with the unit of N; P2 is the pressure value measured by the left pressure sensor 1-4-5, with the unit of N.

[0112] If |P d | < T3, the hydraulic motor 1-2-7 does not work, where T3 is the pressure threshold for judging whether the hydraulic motor 1-2-7 works, with the unit of N. |P d | is the absolute value of the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N. P d is determined by Formula 2.

[0113] |Pd When T3, the pressure difference between the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 is not large, indicating that the degrees of contact of the depth-limiting wheels on both sides with the ground are basically the same, and there is no need for the hydraulic motor 1-2-7 to work to make the seeding unit rotate and follow the contour.

[0114] If |P d | > T3, and P d > 0, the controller 3 controls the hydraulic oil to flow from the D port 6-4 of the electromagnetic proportional direction valve 6 to the B port 1-2-7-2 of the hydraulic motor through the electromagnetic proportional direction valve, and flows from the A port 1-2-7-1 of the hydraulic motor 1-2-7 to the C port 6-3 of the electromagnetic proportional direction valve through the hydraulic motor 1-2-7, and the hydraulic motor 1-2-7 rotates counterclockwise by α n , driving the single-unit fixed frame 1-6 to rotate counterclockwise to achieve the contour following of the seeding unit 1 with the ground. Among them, T3 is the pressure threshold for judging whether the hydraulic motor 1-2-7 works, and the unit is N. |P d | is the absolute value of the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, and the unit is N. P d It is determined by formula 2; α n is the unit angle of each rotation of the hydraulic motor 1-2-7. Taking the forward direction of the traction seeder as the positive direction, the unit is °.

[0115] |P d | > T3, the pressure difference between the right depth-limiting wheel 1-4-2 and the left depth-limiting wheel 1-4-4 is relatively large, and it is necessary for the hydraulic motor 1-2-7 to work to make the seeding unit rotate and follow the contour. P d > 0 indicates that the right depth-limiting wheel 1-4-2 has a greater pressure on the ground than the left depth-limiting wheel 1-4-4, affecting the seeding effect. It is necessary for the hydraulic motor 1-2-7 to rotate counterclockwise by α n so that the contact degree of the right depth-limiting wheel 1-4-2 with the ground is the same as that of the left depth-limiting wheel 1-4-4 with the ground.

[0116] If |P d | > T3, and P d < 0, the controller 3 controls the hydraulic oil to flow from the C port 6-3 of the electromagnetic proportional direction valve 6 to the A port 1-2-7-1 of the hydraulic motor through the electromagnetic proportional direction valve, and flows from the B port 1-2-7-2 of the hydraulic motor 1-2-7 to the D port 6-4 of the electromagnetic proportional direction valve through the hydraulic motor 1-2-7, and the hydraulic motor 1-2-7 rotates clockwise by α n , driving the single-unit fixed frame 1-6 to rotate clockwise to achieve the contour following of the seeding unit 1 with the ground. Among them, T3 is the pressure threshold for judging whether the hydraulic motor 1-2-7 works, and the unit is N. |P d | is the absolute value of the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, and the unit is N.d Determined by Equation 2; α n is the unit angle of each rotation of the hydraulic motor 1-2-7. With the forward direction of the traction seeder as the positive direction, the unit is °.

[0117] |P d |> T3, the pressure difference between the right depth wheel 1-4-2 and the left depth wheel 1-4-4 is large. The hydraulic motor 1-2-7 needs to work to make the seeding unit rotate and follow the contour. P d < 0 indicates that the pressure measured by the left pressure sensor 1-4-5 is greater than that measured by the right pressure sensor 1-4-1, indicating that the pressure of the left depth wheel 1-4-4 on the ground is greater than that of the right depth wheel 1-4-2 on the ground, affecting the seeding effect. The hydraulic motor 1-2-7 needs to rotate clockwise by α n so that the contact degree of the right depth wheel 1-4-2 with the ground is the same as that of the left depth wheel 1-4-4 with the ground.

[0118] P d = P1 - P2 Equation 2

[0119] In Equation 2, P d is the pressure difference measured by the right pressure sensor 1-4-1 and the left pressure sensor 1-4-5, with the unit of N; P1 is the pressure value measured by the right pressure sensor 1-4-1, with the unit of N; P2 is the pressure value measured by the left pressure sensor 1-4-5, with the unit of N.

[0120] S3. The controller 3 obtains the navigation and positioning information in real time, generates the topographic map of the seeding belt according to the adjustment information of the seeding unit 1 this time, and provides information support for harvesting, tillage, and seeding.

Claims

1. A multi-degree-of-freedom seeding monomer profiling device for sloping cultivated land, which is arranged on a traction seeder; The traction seeder includes a seeding monomer (1), a cross beam (2), a fertilizer box (4) and a traction frame (5); the traction frame (5) is located at the front of the traction seeder; the fertilizer box (4) is located above the traction frame (5) and is detachably fixed to the traction frame (5) by screws; the cross beam (2) is horizontally arranged in the middle of the traction seeder and is detachably fixed to the traction frame (5) by screws; The seeding unit (1) includes: a seedbed cleaning mechanism (1-1), a double disc knife (1-3), a depth-limiting device (1-4), a seed and fertilizer box support (1-5), a monomer fixing frame (1-6), a seed box (1-7), a pressing device (1-8) and a top dressing box (1-9); The seeding monomer (1) is detachably fixed to the cross beam (2) by a connecting plate (1-2-1) using "U" shaped screws; The seedbed cleaning mechanism (1-1) is detachably fixed to the front lower part of the monomer fixing frame (1-6) by screws; the seed and fertilizer box support (1-5) is detachably fixed to the rear upper part of the monomer fixing frame (1-6) by screws; the seed box (1-7) is detachably fixed to the front upper part of the seed and fertilizer box support (1-5) by screws; the pressing device (1-8) is detachably fixed to the rear lower part of the monomer fixing frame (1-6) by screws; the top dressing box (1-9) is located at the rear side of the seed box (1-7) and is detachably fixed to the rear upper part of the seed and fertilizer box support (1-5) by screws; The depth-limiting device (1-4) includes: a right depth-limiting wheel (1-4-2), a depth-limiting wheel support arm (1-4-3) and a left depth-limiting wheel (1-4-4); The depth-limiting device (1-4) is detachably fixed to the middle lower part of the monomer fixing frame (1-6) by a depth-limiting wheel support arm (1-4-3) using screws; the right depth-limiting wheel (1-4-2) and the left depth-limiting wheel (1-4-4) are symmetrically arranged left and right and are respectively detachably fixed to the depth-limiting wheel support arm (1-4-3) by screws; the double disc knife (1-3) is detachably fixed in the middle of the right depth-limiting wheel (1-4-2) and the left depth-limiting wheel (1-4-4); It is characterized in that: The multi-degree-of-freedom seeding monomer profiling device for sloping cultivated land includes: a profiling adjustment mechanism (1-2), a right pressure sensor (1-4-1), a left pressure sensor (1-4-5), a controller (3) and an electro-hydraulic proportional directional valve (6); The profiling adjustment mechanism (1-2) includes a connecting plate (1-2-1), a hydraulic cylinder support frame (1-2-2), a telescopic hydraulic cylinder (1-2-3), a front gear fixing frame (1-2-4), a steering gear (1-2-5), a rear gear fixing frame (1-2-6), a hydraulic motor (1-2-7), a hydraulic motor support frame (1-2-8), a driving gear (1-2-9) and a four-bar mechanism (1-2-10); The hydraulic cylinder support frame (1-2-2) is located behind the connecting plate (1-2-1) and is detachably fixed to the connecting plate (1-2-1) by screws; the front upper end of the telescopic hydraulic cylinder (1-2-3) is detachably and rotatably fixed to the rear end face of the hydraulic cylinder support frame (1-2-2) by a pin shaft, and the rear lower end of the telescopic hydraulic cylinder (1-2-3) is detachably and rotatably fixed to the front end face of the front gear fixing frame (1-2-4) by a pin shaft; the front gear fixing frame (1-2-4) is detachably fixed to the connecting plate (1-2-1) by screws by means of a four-bar linkage mechanism (1-2-10); one end of the steering gear (1-2-5) is detachably fixed to the rear end face of the front gear fixing frame (1-2-4) by screws, and the other end of the steering gear (1-2-5) is detachably fixed to the rear gear fixing frame (1-2-6) by rotation through a bearing; the rear gear fixing frame (1-2-6) is detachably fixed to the front upper part of the single fixing frame (1-6) by screws; the hydraulic motor support (1-2-8) is detachably fixed to the side of the single fixing frame (1-6) by screws; the hydraulic motor (1-2-7) is detachably fixed to the hydraulic motor support (1-2-8) by screws; the driving gear (1-2-9) is fixed to the power output shaft of the hydraulic motor (1-2-7); the driving gear (1-2-9) meshes with the steering gear (1-2-5); The driving gear (1-2-9) is fixed to the power output shaft of the hydraulic motor (1-2-7) and can rotate driven by the hydraulic motor (1-2-7); the driving gear (1-2-9) meshes with the steering gear (1-2-5) and can perform gear transmission; the rear fixing frame of the driving gear (1-2-6) rotates clockwise or counterclockwise driven by the hydraulic motor (1-2-7); the front gear fixing frame (1-2-4) is fixedly connected to the steering gear (1-2-5), so the front gear fixing frame (1-2-4) and the gear (1-2-5) cannot rotate relative to each other; the rear gear fixing frame (1-2-6) is connected to the steering gear (1-2-5) through a bearing, and the rear gear fixing frame (1-2-6) can rotate relative to the steering gear (1-2-5); The right pressure sensor (1-4-1) is detachably fixed to the installation position of the right depth wheel (1-4-2) and the depth wheel support arm (1-4-3) by screws; the left pressure sensor (1-4-5) is detachably fixed to the installation position of the left depth wheel (1-4-4) and the depth wheel support arm (1-4-3) by screws; The controller (3) is detachably fixed to the fertilizer box (4) by screws; The electromagnetic proportional directional valve (6) is detachably fixed to the towing frame (5) by screws; The telescopic hydraulic cylinder (1-2-3) is connected to the electro-hydraulic proportional directional valve (6) through a hydraulic oil pipe; the port A of the telescopic hydraulic cylinder (1-2-3-1) is connected to the port B of the electro-hydraulic proportional directional valve (6-2) through a hydraulic oil pipe; the port B of the telescopic hydraulic cylinder (1-2-3-2) is connected to the port A of the electro-hydraulic proportional directional valve (6-1) through a hydraulic oil pipe; The hydraulic motor (1-2-7) is connected to the electro-hydraulic proportional directional valve (6) through a hydraulic oil pipe; the port A of the hydraulic motor (1-2-7-1) is connected to the port C of the electro-hydraulic proportional directional valve (6-3) through a hydraulic oil pipe; the port B of the hydraulic motor (1-2-7-2) is connected to the port D of the electro-hydraulic proportional directional valve (6-4) through a hydraulic oil pipe; The electro-hydraulic proportional directional valve (6) is communicatively connected to the controller (3); the controller (3) controls the telescopic hydraulic cylinder (1-2-3) and the hydraulic motor (1-2-7) to work by controlling the electro-hydraulic proportional directional valve (6); The right pressure sensor (1-4-1) is communicatively connected to the controller (3); the left pressure sensor (1-4-5) is communicatively connected to the controller (3).

2. A multi-degree-of-freedom seeding monomer profiling method using the multi-degree-of-freedom seeding monomer profiling device for sloping cultivated land as described in claim 1, characterized in that: The method includes the following steps: S1. When the pull-type seeder starts to work, the controller (3) obtains the pressure values of the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5) in real time; S2. The controller (3) calculates according to the obtained pressure values of the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5) to determine whether the telescopic hydraulic cylinder (1-2-3) and the hydraulic motor (1-2-7) work: If P < T1, the controller (3) controls the hydraulic oil to flow from the B port (6-2) of the electromagnetic proportional directional valve to the port A (1-2-3-1) of the telescopic hydraulic cylinder through the electromagnetic proportional directional valve, and from the port B (1-2-3-2) of the telescopic hydraulic cylinder to the port A (6-1) of the electromagnetic proportional directional valve, and the telescopic hydraulic cylinder (1-2-3) extends a distance of 1 n1 ; Among them, T1 is the pressure threshold for judging whether the telescopic hydraulic cylinder (1-2-3) extends, with the unit of N; 1 n1 is the unit distance for each telescopic movement of the telescopic hydraulic cylinder (1-2-3), with the unit of mm; P is the average value of the pressure values measured by the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5), with the unit of N, and P is determined by Formula 1; When P < T1, the average pressure received by the right depth wheel (1-4-2) and the left depth wheel (1-4-4) is small, and it is determined that the contact between the depth wheels on both sides and the ground is insufficient, affecting the seeding effect; at this time, extend the telescopic hydraulic cylinder (1-2-3) to press the entire seeding unit downward so that the right depth wheel (1-4-2) and the left depth wheel (1-4-4) are in reasonable contact with the ground; If P > T2, the controller (3) controls the hydraulic oil to flow from the A port (6-1) of the electro-hydraulic proportional directional valve to the B port (1-2-3-2) of the telescopic hydraulic cylinder through the electro-hydraulic proportional directional valve (6), and to flow from the A port (1-2-3-1) of the telescopic hydraulic cylinder to the B port (6-2) of the electro-hydraulic proportional directional valve, and the telescopic hydraulic cylinder (1-2-3) retracts by a distance of 1 n2 ; Among them, T2 is the pressure threshold for judging whether the telescopic hydraulic cylinder (1-2-3) retracts, with the unit of N; 1 n2 is the unit distance of each telescopic movement of the telescopic hydraulic cylinder (1-2-3), with the unit of mm; P is the average value of the pressure values measured by the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5), with the unit of N, and P is determined by Formula 1; When P > T2, the average pressure received by the right depth wheel (1-4-2) and the left depth wheel (1-4-4) is large, and it is determined that the pressure of at least one depth wheel on the soil is too large, affecting the seeding effect; control the telescopic hydraulic cylinder (1-2-3) to retract so that the right depth wheel (1-4-2) and the left depth wheel (1-4-4) are in reasonable contact with the ground; P = (P1 + P2) / 2 Formula 1 In Formula 1, P is the average value of the pressure values measured by the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5), with the unit of N; P1 is the pressure value measured by the right pressure sensor (1-4-1), with the unit of N; P2 is the pressure value measured by the left pressure sensor (1-4-5), with the unit of N; If |P d | < T3, the hydraulic motor (1-2-7) does not operate; Among them, T3 is the pressure threshold for judging whether the hydraulic motor (1-2-7) is working, with the unit of N; |P d | is the absolute value of the pressure difference measured by the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5), with the unit of N; P d is determined by Formula 2; |P d |When at T3, the pressure difference between the right depth-limiting wheel (1-4-2) and the left depth-limiting wheel (1-4-4) is small, indicating that the degree of contact between the depth-limiting wheels on both sides and the ground is basically the same, and there is no need for the hydraulic motor (1-2-7) to work to make the seeding unit rotate for profiling; If |P d | > T3 and P d > 0, the controller (3) controls the hydraulic oil to flow from the D port (6-4) of the electromagnetic proportional direction valve to the B port (1-2-7-2) of the hydraulic motor through the electromagnetic proportional direction valve, and flows from the A port (1-2-7-1) of the hydraulic motor to the C port (6-3) of the electromagnetic proportional direction valve through the hydraulic motor (1-2-7). The hydraulic motor (1-2-7) rotates counterclockwise by α n , driving the single-plant fixing frame (1-6) to rotate counterclockwise to achieve the ground profiling of the seeding single unit (1). Among them, T3 is the pressure threshold for judging whether the hydraulic motor (1-2-7) is working, with the unit of N; |P d | is the absolute value of the pressure difference measured by the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5), with the unit of N; P d is determined by Formula 2; α n is the unit angle of each rotation of the hydraulic motor (1-2-7). Taking the forward direction of the pull-type seeder as the positive direction, the unit is °; |P d |When at T3, the pressure difference between the right depth-limiting wheel (1-4-2) and the left depth-limiting wheel (1-4-4) is large, and the hydraulic motor (1-2-7) needs to work to make the seeding unit rotate for profiling, P d >0, indicating that the right depth-limiting wheel (1-4-2) has a greater ground pressure than the left depth-limiting wheel (1-4-4), which affects the seeding effect; the hydraulic motor (1-2-7) needs to rotate counterclockwise by α n so that the right depth-limiting wheel (1-4-4) has the same degree of contact with the ground; If |P d | > T3 and P d <0, the controller (3) controls the hydraulic oil to flow from the C port (6-3) of the electro-hydraulic proportional directional valve to the A port (1-2-7-1) of the hydraulic motor through the electro-hydraulic proportional directional valve, and flows from the B port (1-2-7-2) of the hydraulic motor to the D port (6-4) of the electro-hydraulic proportional directional valve through the hydraulic motor (1-2-7), and the hydraulic motor (1-2-7) rotates clockwise by α n , driving the single-body fixing frame (1-6) to rotate clockwise to realize the ground profiling of the seeding single body (1); Among them, T3 is the pressure threshold for judging whether the hydraulic motor (1-2-7) is working, with the unit of N; |P d | is the absolute value of the pressure difference measured by the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5), with the unit of N; P d is determined by Formula 2; α n is the unit angle of each rotation of the hydraulic motor (1-2-7). Taking the forward direction of the pull-type seeder as the positive direction, the unit is °; |P d |When at T3, the pressure difference between the right depth-limiting wheel (1-4-2) and the left depth-limiting wheel (1-4-4) is large, and the hydraulic motor (1-2-7) needs to work to make the seeding unit rotate for profiling, P d <0, indicating that the pressure measured by the left pressure sensor (1-4-5) is greater than that measured by the right pressure sensor (1-4-1), which means that the pressure of the left depth-limiting wheel (1-4-4) on the ground is greater than that of the right depth-limiting wheel (1-4-2), affecting the seeding effect; the hydraulic motor (1-2-7) needs to rotate clockwise by α n , so that the contact degree of the right depth-limiting wheel (1-4-2) with the ground is the same as that of the left depth-limiting wheel (1-4-4) with the ground; P d = P1 - P2 Formula 2 In Formula 2, P d is the pressure difference measured by the right pressure sensor (1-4-1) and the left pressure sensor (1-4-5), with the unit of N; P1 is the pressure value measured by the right pressure sensor (1-4-1), with the unit of N; P2 is the pressure value measured by the left pressure sensor (1-4-5), with the unit of N; S3. The controller (3) obtains the navigation and positioning information in real time, and generates a topographic map of the seeding belt according to the adjustment information of the seeding unit (1) this time, providing information support for harvesting, tillage, and seeding.

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