Intelligent millet harvesting and sowing integrated small agricultural machine

Abstract

This invention discloses a small-scale intelligent millet harvesting and sowing machine that solves the problems of low integration, insufficient targeting, complex operation, low efficiency, and poor terrain adaptability of existing millet harvesting machinery in hilly and mountainous areas. The invention includes an intelligent center and a vehicle body. A harvesting and material collection device, a transport and threshing device, a sowing device, and a fertilizing device are sequentially installed on the vehicle body. The inlet of the harvesting and material collection device corresponds to the inlet of the transport and threshing device. A non-destructive conveying device is connected to the outlet of the transport and threshing device, and the outlet of the non-destructive conveying device corresponds to a grain storage bin installed on the vehicle body. The grain storage bin is equipped with a grain mixing device. The sowing device is located between the harvesting and material collection device and the grain storage bin, and is equipped with a seed bin mixing device. This invention achieves unmanned and automated operation of the machinery, effectively ensuring the integration of field operations, and significantly reducing the input of human resources and the increased costs caused by frequent replacement of agricultural machinery.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent machinery harvesters, seeders, and fertilizer applicators, and in particular to a small-scale intelligent millet harvesting and sowing machine. Background Technology

[0002] Since the beginning of the 21st century, my country has placed increasing emphasis on agricultural production and mechanization, leading to rapid development in various aspects such as agricultural mechanization, automation, unmanned operation, and intelligentization. Traditional field operations can no longer meet the core demands of large-scale, highly integrated millet farming. Agricultural machinery is becoming increasingly mechanized and intelligent, with a growing trend towards unmanned operation. For millet farmers, achieving full mechanization from sowing to harvesting requires purchasing commercially available agricultural machinery such as seeders, harvesters, and fertilizer applicators. However, the vast majority of these machines are imported or are designed as combined implements rather than being specifically customized for millet cultivation.

[0003] Currently, the fertilizer applicator and seeder described in Chinese patent (CN201020116711.2) are complex in structure. This agricultural implement includes a traction beam, frame, fertilizer applicator, straw and weed clearing mechanism, seed metering mechanism, contouring mechanism, press wheel, contouring wheel, ground wheel, and transmission mechanism. It is not only costly, complex to operate, and expensive to maintain, but also requires a tractor for power traction or suspension operation. Furthermore, the mechanical operation of existing seeders on the market inevitably causes some wear and tear on the seeds, which, over time, can lead to significant losses for farmers. Chinese patent (CN201620004618.X) proposes a seeder that includes a seeding assembly, a fertilizing assembly, and a frame. The fertilizing assembly includes a fertilizing furrow opener. A transverse spiral auger is installed above the furrow opener, on or in front of the fertilizing furrow opener column. The spiral propulsion directions of the left spiral auger section on the left side of the fertilizing furrow opener column and the right spiral auger section on the right side are opposite. This seeder also needs to be connected to a tractor and may cause dust pollution at the work site.

[0004] The harvester described in Chinese Patent (CN201620381150.6) is an agricultural combine harvester comprising: a cutting platform for removing crops from the field; a treatment device for separating crop material from crop residue and discharging the crop residue; a conduit; a deflector; and a distributor. Its significant drawbacks are its large overall size and excessively long implements, leading to inconvenience in operation and transportation, affecting operating speed, and causing time and labor costs. Furthermore, it consumes a large amount of power, using gasoline or diesel as a power source, and its exhaust emissions will cause environmental pollution.

[0005] There are three main types of grain lifting devices currently available on the market: negative pressure, chain rake-type inclined conveyors, and screw conveyors. Negative pressure devices use a high-speed motor to create a negative pressure environment, which can quickly and accurately transfer grain from the auger device to the grain bin. However, they are bulky, expensive, have high maintenance costs, and are difficult to transport (Yi Wenjing. Research on the working conditions and structural motion parameters of the cyclone separation and cleaning system of a mini grain combine harvester [D]. Henan University of Science and Technology, 2012.). Chain rake-type inclined conveyors use a conveyor belt with baffles that lifts grain from a low position to a high position. However, their drawback is that some of the threshed grain falls into the gap between the conveyor belt and the fixing components. This not only reduces the machine's lifespan and increases the difficulty of subsequent maintenance, but also causes waste and loss of millet. Large gaps between the conveyor belt or rake teeth can lead to blockages or even slippage. The paper (Zhao Chen, Research on the Mechanism of Grain Yield Sensor Based on Spiral Lifting [D]. Heilongjiang Bayi Agricultural Reclamation University, 2017) mentions a transmission structure mainly composed of a spiral lifting auger, a DC lifting motor, a conveying chamber, a grain inlet, an outlet, and a base. An angle adjustment sliding device is installed on the base, which can be adjusted from a 45-degree angle to a vertical state, transporting the grain from a low position to a high position. The disadvantage is that the spiral conveying auger and the spiral conveying chamber are not integrated. This causes some millet grains to get stuck in the gaps during the upward transport after threshing. This not only damages the threshed millet, but also, over time, can stall the motor, causing damage to parts, and in severe cases, even leading to fires.

[0006] Therefore, during the busy farming season, the use of agricultural machinery with independent functions or machinery that is easily damaged and not durable will cause farmers to spend more money and significantly increase their costs, thereby increasing their economic burden, reducing their enthusiasm for millet production, and causing them to miss the best harvest time for millet, resulting in a decline in product quality.

[0007] For harvesters sold on the market, after the grain arrives at the grain silo via the conveyor, it tends to accumulate at a certain point or in a certain direction after falling through the conveyor. During grain storage, the respiration of the grain triggers heat release. Over time, this process and phenomenon can lead to a gradual increase in local temperature, affecting the quality and storage safety of the grain. Especially without proper ventilation, high temperatures can more easily cause grain spoilage. In addition, due to excessively long harvesting times or improper storage methods, the grain often piles up at the bottom, sticking together and causing great inconvenience for subsequent transportation and storage. Furthermore, regarding specific aspects, the paper (Li Ping. Strategies for Promoting the Development of Agricultural Machinery Equipment in Hilly and Mountainous Areas [J]. Agricultural Machinery, 2013) mentions that since a considerable proportion of millet is planted in hilly and mountainous areas, the millet harvesting machinery needs to overcome the terrain characteristics of hilly areas, such as small hills, small fields, and uneven terrain. However, in reality, almost no enterprises participate in the research and development of agricultural machinery for hilly and mountainous areas, especially customized machinery tailored to the characteristics of millet crops. This results in a mechanization rate of less than 15% for grain processing in hilly areas, far below the national average of 71%. Simultaneously, hilly areas in my country generally face the dual problems of "no machinery available" and "machinery difficult to use." Furthermore, the paper (Liu Qi. Hope for Agricultural Machinery in Hilly and Mountainous Areas [J]. Agricultural Machinery Market. 2023) indicates that many enterprises have a misconception in the development of millet agricultural machinery products for hilly and mountainous areas: they believe that hilly and mountainous areas need only small-scale machinery for the sake of small size. In fact, hilly and mountainous areas primarily require high-efficiency and low-cost agricultural machinery. Even small-sized machinery, while compact in size, must have sufficient power.

[0008] In summary, there is an urgent need for a new type of intelligent millet agricultural machinery that can improve the integration and efficiency of agricultural implements, save human resources, ensure high efficiency and durability, achieve unmanned operation, and integrate fertilization, sowing, harvesting, threshing, and storage. Summary of the Invention

[0009] To address the shortcomings in the aforementioned background technology, this invention proposes a small-scale intelligent millet harvesting and sowing machine that solves the problems of low integration, insufficient targeting, complex operation, low work efficiency, and poor terrain adaptability of existing millet harvesting machines in hilly and mountainous areas.

[0010] The technical solution of this invention is implemented as follows: A small-scale intelligent millet harvesting and sowing machine includes an intelligent center and a vehicle body, and further includes a harvesting and material gathering device, a transport and threshing device, a sowing device, and a fertilizing device installed sequentially on the vehicle body. The inlet of the harvesting and material gathering device corresponds to the inlet of the transport and threshing device, and a non-destructive conveying device is connected to the outlet of the transport and threshing device. The outlet of the non-destructive conveying device corresponds to the grain storage bin installed on the vehicle body, and the grain storage bin is equipped with a grain bin stirring device. The sowing device is located between the harvesting and material gathering device and the grain storage bin, and the sowing device is equipped with a seed bin stirring device.

[0011] Furthermore, the harvesting and material collection device includes a harvester frame and an auger mechanism. A linkage mechanism is connected to the harvester frame and hinged to the vehicle body through the linkage mechanism. Two symmetrically arranged harvesting mechanisms are connected to the harvester frame. The two harvesting mechanisms correspond to the auger mechanism. The auger mechanism is connected to the frame and corresponds to the feeding platform located on the front side of the vehicle body.

[0012] Furthermore, the harvesting mechanism includes a drive chain group, a driving chain group, and two symmetrically arranged spiral rollers. The drive chain group and the driving chain group are two symmetrically arranged triangular structures. Spiral blades are connected to the sprockets on the driving chain group near the drive chain group. The spiral rollers are rotatably mounted on the harvester frame and correspond to the drive chain group and the driving chain group. The auger mechanism includes a gathering shaft. Several gathering plates for gathering ears of grain are connected to the middle of the gathering shaft. Spiral blades corresponding to the drive chain group and the driving chain group are connected to both ends of the gathering shaft.

[0013] Furthermore, the transport threshing device includes a conveyor belt group corresponding to the harvesting and material collection device. The conveying end of the conveyor belt group is equipped with a threshing drum. A rotating shaft is connected to the threshing drum. A threshing shell corresponding to the threshing drum is rotatably connected to the rotating shaft. The two ends of the rotating shaft are rotatably connected to the vehicle body. A threshing bin is connected to the lower part of the threshing drum.

[0014] Furthermore, the non-destructive conveying device includes an externally enclosed Archimedes rod, which is mounted on the vehicle body. The lower part of the externally enclosed Archimedes rod is located inside the threshing bin, and the upper part of the externally enclosed Archimedes rod is provided with a guide and conveying component corresponding to the grain storage bin.

[0015] Furthermore, the grain storage mixing device includes a mixing frame and a planetary gear system. A motor that drives the planetary gear system is installed on the mixing frame. Two parallel mixing shafts are connected to the planetary gear system. An agitator is connected to the mixing shafts. Positioning components are also connected to the two mixing shafts. Two symmetrically arranged gearboxes are also connected to the mixing frame. The gearboxes mesh with racks installed on the grain storage silo.

[0016] Furthermore, each of the seed bin stirring devices includes a stirring frame 2 and a planetary gear system 2. A motor 2 that drives the planetary gear system is installed on the stirring frame 2. Two parallel stirring shafts 2 are connected to the planetary gear system 2. A stirring plate 2 is connected to the stirring shafts 2. Positioning components 2 are also connected to the two stirring shafts 2.

[0017] Furthermore, the sowing device includes a seed bin, a track frame, and a sowing bin slidably mounted on the track frame. Both sides of the seed bin are equipped with gates, which correspond to the tracks mounted on the vehicle body. The discharge port of the track corresponds to the sowing bin in the sowing state. An auxiliary feeding component is provided on the discharge port of the sowing bin. The lower part of the sowing bin is equipped with a soil covering wheel and a deep loosening plow. A threaded sleeve that cooperates with a lead screw rotatably mounted on the track frame is connected to the sowing bin. A drive component is connected to the upper part of the lead screw.

[0018] Furthermore, the auxiliary feeding component includes a toggle shaft, the upper part of which is rotatably connected to a motor connected to the seeding bin, and the lower part of which is connected to several vertically arranged toggle plates.

[0019] Furthermore, the fertilization device includes a fertilizer bin, a discharge cylinder for assisting in the discharge is connected to the fertilizer bin, and a fertilization platform mounted on the vehicle body is provided below the discharge port of the fertilizer bin. Two symmetrically arranged fertilization shafts are rotatably connected to the fertilization platform, and several cantilever arms for assisting in spreading fertilizer are connected to the fertilization shafts.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. This invention integrates a harvesting and feeding device, a transport and threshing device, a sowing device, and a fertilizing device on the vehicle body, realizing the integration of different functions into one unit. It also achieves unmanned and automated operation of the machinery, effectively ensuring the integration of field operations and significantly reducing the input of human resources and the increased costs caused by frequent replacement of agricultural machinery. The non-destructive conveying device works in conjunction with the transport and threshing device to thresh the millet ears and transport the millet to the storage silo, facilitating the collection and storage of millet. This makes harvesting millet in hilly and mountainous areas easier and effectively solves the dual problems of "no available machinery" and "difficult-to-use organic machinery" commonly found in hilly areas. The storage silo is equipped with a grain mixing device to prevent heat generated during millet storage from affecting the collection of millet. The sowing device is equipped with a seed silo mixing device to assist in seed falling during sowing, improving sowing efficiency.

[0022] 2. The harvesting and gathering device uses the cooperation of an active chain group and a drive chain group to gather the millet, and then uses the rotating blades installed on the drive chain group to harvest the millet ears. Two spiral rollers work together to transport the harvested millet, and the millet ears are transported under the action of the auger mechanism. The harvesting efficiency is high and the gathering effect is good.

[0023] 3. The conveyor belt assembly of the threshing device is used to transport the ears of grain cut by the harvesting and feeding device. The threshing drum works in conjunction with the threshing shell to thresh the ears of grain, so that the grains fall into the threshing bin and are transported by the non-destructive conveying device.

[0024] 4. The non-destructive conveying device, as a grain lifting device, uses a closed Archimedes rod in conjunction with a guide conveyor to deliver millet into the storage silo. The non-destructive conveying device using the Archimedes rod has its internal spiral conveyor and spiral conveying cavity completely integrated, ensuring that the millet is smoothly conveyed from low to high to the silo after threshing, completely avoiding millet grains getting stuck in the gaps between the two. The loss rate during grain transportation is close to 0%, while maximizing the optimization of its volume ratio. Furthermore, the height of grain lifting can be changed by altering the angle between the closed Archimedes rod and the horizontal ground, offering high flexibility.

[0025] 5. Grain mixing device to prevent millet from piling up and spoiling in the grain silo. The planetary gear system and gear rack work together to mix and turn the millet in the silo in all directions, solving the problem of grain piling up at the bottom due to excessive harvesting time or improper storage methods. At the same time, it avoids the problem of grain sticking together, which brings great inconvenience to subsequent transportation and storage.

[0026] 6. The seed bin stirring device can solve the problem that during the process of transferring millet seeds from the seed bin to the two side sowing bins, the millet seeds at the bottom often stick together due to their own gravity. This phenomenon is particularly prominent when the bin door is open, which can easily lead to blockage during the sowing process.

[0027] 7. The seed bin in the sowing device stores seeds. The sowing bin moves up and down along the track frame, making it easy to adjust the sowing depth. It can also be stored away when not in use to avoid interfering with other operations. An auxiliary feeding component is installed inside the sowing bin to assist in seed feeding, preventing seeds from sticking together and ensuring that the millet seeds at the bottom remain loose, thus guaranteeing smooth sowing.

[0028] 8. The fertilization device is located at the rear of the vehicle body, which can fertilize at the same time as sowing or fertilize separately, with high efficiency and also ensures the working efficiency of the device. Attached Figure Description

[0029] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is the front view of the present invention.

[0031] Figure 2 This is a side view of the present invention.

[0032] Figure 3 This is a top view of the present invention.

[0033] Figure 4 This is a schematic diagram of the structure of the harvesting and gathering device of the present invention.

[0034] Figure 5 This is a schematic diagram illustrating the working principle of the harvesting mechanism of the present invention.

[0035] Figure 6 This is a motion diagram of the linkage mechanism of the present invention.

[0036] Figure 7 This is a schematic diagram of the auger mechanism of the present invention.

[0037] Figure 8 This is a schematic diagram of the structure of the transport and threshing device of the present invention.

[0038] Figure 9 This is a schematic diagram of the non-destructive conveying device of the present invention.

[0039] Figure 10 This is a schematic diagram of the structure of the grain storage mixing device of the present invention.

[0040] Figure 11 This is a schematic diagram of the sowing device of the present invention.

[0041] Figure 12 This is a schematic diagram of the auxiliary feeding component in the seeding bin of the present invention.

[0042] Figure 13 This is a schematic diagram of the fertilization device of the present invention.

[0043] In the diagram: 1 is the harvesting and material collection device; 2 is the vehicle body; 3 is the camera sensor device; 4 is the intelligent center; 5 is the seeding device; 6 is the non-destructive conveying device; 7 is the fertilizing device; 8 is the unloading and conveying device; 9 is the transport and threshing device; 10 is the grain storage silo; 11 is the grain silo mixing device; 12 is the seed silo mixing device; 13 is the auger mechanism; 14 is the harvester frame; 15 is the linkage mechanism; 16 is the drive chain assembly; 17 is the drive chain assembly; 18 is the rotating blade; 19 is the spiral roller shaft; 20 is the conveyor belt assembly; 21 is the threshing drum; 22 is the threshing shell; 23 is the rotating shaft; 24 is the support frame. 5 is the threshing bin, 26 is the guide conveyor, 27 is the externally enclosed Archimedes rod, 28 is the first stirring plate, 29 is the first mixing frame, 30 is the first motor, 31 is the rack and pinion, 32 is the gearbox, 33 is the first planetary gear train, 34 is the first positioning component, 35 is the first mixing shaft, 36 is the drive assembly, 37 is the seed bin, 38 is the track frame, 39 is the sowing bin, 40 is the gate, 41 is the track, 42 ​​is the auxiliary feeding assembly, 43 is the covering wheel, 44 is the deep loosening plow, 45 is the lead screw, 46 is the cantilever, 47 is the fertilizer bin, 48 is the discharge cylinder, 49 is the fertilizer application platform, and 50 is the fertilizer application shaft. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] For example Figures 1-3As shown in Example 1, a smart millet harvesting and sowing integrated small agricultural machine includes an intelligent center 4 and a vehicle body 2. The intelligent center 4 is connected to a camera sensor 3 and can achieve remote unmanned driving through image feedback from the camera sensor 3. The intelligent center 4 is also equipped with a Beidou GPS dual-mode navigation module and interconnected with a 5G network, so that low-error remote positioning and low-latency control of the agricultural machine can be achieved without leaving home, thereby improving the efficiency of various tasks. It also includes a harvesting and gathering device 1, a transport and threshing device 9, a seeding device 5, and a fertilizing device 7, which are installed sequentially on the vehicle body 2. The inlet of the harvesting and gathering device 1 corresponds to the inlet of the transport and threshing device 9. The outlet of the transport and threshing device 9 is connected to a non-destructive conveying device 6. The outlet of the non-destructive conveying device 6 corresponds to the storage silo 10 installed on the vehicle body 2. The inlet of the storage silo 10 is located at the top, and the outlet of the storage silo 10 is located on one side. A grain unloading conveying device 8 is installed on the outlet of the storage silo. The grain unloading conveying device 8 is preferably an existing unloading conveyor. A grain silo stirring device 11 is installed on the storage silo 10. The seeding device 5 is located between the harvesting and gathering device 1 and the storage silo 10. A seed silo stirring device 12 is installed on the seeding device 5. The vehicle body 2 is equipped with a harvesting and feeding device 1, a transport and threshing device 9, a sowing device 5, and a fertilizing device 7, integrating different functional devices into one unit. This achieves unmanned and automated operation of the machinery, effectively ensuring the integration of field operations and significantly reducing the input of human resources and the increased costs caused by frequent replacement of agricultural machinery. The non-destructive conveying device 6 works in conjunction with the transport and threshing device 9 to thresh the ears of grain and transport them to the grain storage silo 10, realizing the collection and storage of the grain. This facilitates the harvesting of grain in hilly and mountainous areas and effectively solves the dual problems of "no machinery available" and "difficulty in using organic machinery" that are common in hilly areas. The grain storage silo 10 is equipped with a grain storage stirring device 11 to prevent the heat generated during grain storage from affecting the collection of grain. The sowing device 5 is equipped with a seed storage stirring device 12, which can assist the seeds in falling during sowing and improve sowing efficiency.

[0046] Specifically, vehicle 2 adopts a wheel-track combination walking mode with solid front tires and special rear tracks. The advantages of the tracked walking mechanism are its large support area, low ground pressure and rolling resistance, and minimal ground subsidence during operation, which meets the operational characteristics and requirements of millet-growing hilly areas; it has good off-road mobility and strong passability, allowing it to travel in uneven hilly terrain; the track bearing surface has teeth, which prevents slippage, provides good traction and adhesion, and has a high energy conversion rate, which is conducive to exerting greater traction force. The tracked walking mechanism achieves turning by the speed difference between the left and right tracks, and the drive motor can control the tracks to achieve small-radius turns or U-turns by forward and reverse rotation. The tracked walking mechanism has a high power consumption ratio; the advantages of wheeled walking are low resistance, stable driving, convenient turning, and lower maintenance and replacement costs, and it is also suitable for millet cultivation in plains areas. Compared to all-wheel drive or all-track drive systems, front-wheel and rear-track systems combine the advantages of both. With the addition of four-wheel drive, it can be considered an excellent solution for millet farming in hilly and mountainous areas. It also solves the problem of farmers needing to invest manpower, resources, and costs in tractor traction equipment when achieving mechanized production. Furthermore, it effectively avoids serious accidents such as tire blowouts caused by quality issues, maintenance problems, or improper inflation.

[0047] This device addresses the problems of low integration, insufficient specialization, complex operation, low efficiency, and poor terrain adaptability in existing millet farming machinery. Compared to most agricultural machinery on the market that uses gasoline or diesel as a power source, causing environmental pollution through exhaust emissions, this device utilizes electric drive, making it more environmentally friendly and reliable. It integrates harvesting and sowing, combining operations that previously required two or more different implements into one, thus improving integration and efficiency. Farmers no longer need to purchase multiple separate implements, reducing costs and economic burden. Secondly, this machine is customized for the characteristics of millet agriculture, ensuring that all functions fully meet the needs of millet crops. Through precise quantitative fertilization technology, non-abrasive sowing technology, and efficient harvesting technology, it achieves fully mechanized millet farming operations, improving operational efficiency and crop yield. The electric drive also allows for wireless charging, reducing reliance on traditional fuels and avoiding environmental pollution from exhaust emissions, making the machine more environmentally friendly and reliable during use. Finally, the vehicle body 2 preferably adopts a four-wheel drive system with front wheels and rear tracks, which can operate efficiently in plains and hilly areas where millet grows. It effectively solves the problem that farmers in hilly areas cannot use agricultural machinery in large quantities during the busy farming season due to the varied and complex terrain, thus delaying the best farming time and affecting the harvest. It has a highly adaptable design that can adapt to the terrain of hilly and some plain areas, providing a wider range of applications.

[0048] like Figures 4-7As shown in Embodiment 2, a small-scale intelligent millet harvesting and sowing integrated agricultural machine is described. The harvesting and feeding device 1 includes a harvester frame 14 and an auger mechanism 13. A linkage mechanism 15 is connected to the harvester frame 14 and hinged to the vehicle body 2 via the linkage mechanism 15. Two symmetrically arranged harvesting mechanisms are connected to the harvester frame 14, corresponding to the auger mechanism 13. The auger mechanism 13 is rotatably connected to the frame and corresponds to the feeding platform located at the front of the vehicle body 2. A motor is provided on the linkage mechanism 15 to control the forward and backward movement of the linkage. The motor drives the linkage mechanism 15 to raise or lower the harvester frame 14, thereby controlling the use of the harvester frame 14. A feeding plate is also provided at the front of the vehicle body 2. The harvesting mechanisms and the auger mechanism 13 work together to harvest the millet ears.

[0049] In this embodiment, the harvesting mechanism includes a drive chain assembly 16, a drive chain assembly 17, and two symmetrically arranged spiral roller shafts 19. The two spiral roller shafts 19 are arranged in parallel. The drive chain assembly 16 and the drive chain assembly 17 are two symmetrically arranged triangular structures, preferably obtuse-angled triangular structures. Both the drive chain assembly 16 and the drive chain assembly 17 include three sprockets and chains that cooperate with the sprockets. The two obtuse angles of the obtuse-angled triangular structures are close together, and the two sides opposite the obtuse angles are parallel, thus making the inlet and outlet of the drive chain assembly 17 and the drive chain assembly 16 V-shaped, which facilitates feeding and transport of the ears of grain. A rotating blade 18 is connected to the sprocket on the drive chain assembly 17 near the drive chain assembly 16. The rotating blade 18 can cut the grain gathered in the V-shape, resulting in good cutting efficiency. The spiral roller shafts 19 are rotatably mounted on the harvester frame 14 and correspond to the drive chain assembly 16 and the drive chain assembly 17. The distance between the two spiral roller shafts 19 is the same as the distance between the sprockets at the obtuse angles, which facilitates the transport of the cut ears of grain. The auger mechanism 13 includes a gathering shaft with several gathering plates connected to its center for gathering the ears of grain. Both ends of the gathering shaft are connected to spiral blades corresponding to the harvesting mechanism. The two spiral blades work together to gather the ears of grain to the center and then transport them backward under the action of the gathering plates. The harvesting and material collection device 1 uses the cooperation of an active chain group 16 and a drive chain group 17 to gather the grain, which in turn works with a rotating blade 18 mounted on the drive chain group 17 to harvest the ears of grain. Two spiral rollers 19 work together to transport the harvested grain and, under the action of the auger mechanism 13, to transport the ears of grain. This results in high harvesting efficiency and good gathering effect.

[0050] like Figure 8As shown in Embodiment 3, a small-scale intelligent millet harvesting and sowing integrated agricultural machine includes a transport and threshing device 9 comprising a conveyor belt assembly 20 corresponding to the harvesting and material collection device 1. The conveying end of the conveyor belt assembly 20 is equipped with a threshing drum 21, on which a rotating shaft 23 is connected. A threshing outer shell 22 corresponding to the threshing drum is rotatably connected to the rotating shaft 23. Both ends of the rotating shaft 23 are rotatably connected to a component fixed to the vehicle body 2. A threshing bin 25 is connected to the lower part of the threshing drum 21. The conveyor belt assembly of the transport and threshing device 9 is used to transport the millet ears cut by the harvesting and material collection device 1. The threshing drum 21 and the threshing outer shell 22 cooperate to thresh the millet ears, causing the millet to fall into the threshing bin 25 for easy transport by the non-destructive conveying device 6. The threshing bin 25 is equipped with a guide trough that cooperates with the threshing drum 21. The transport surface of the guide trough is inclined, and a screen is provided at the upper part of the guide trough. The discharge end of the screen is located on the other side of the guide trough. Under the action of the threshing drum 21 and the threshing shell 22, the millet falls off the millet ears, the screen will screen the millet, and the millet stalks will fall from the other end of the screen, resulting in a good threshing effect.

[0051] All other structures are the same as in Example 2.

[0052] like Figure 9 As shown in Embodiment 4, a small-scale intelligent millet harvesting and sowing integrated agricultural machine includes a non-destructive conveying device 6 comprising an externally enclosed Archimedes rod 27 mounted on the vehicle body 2. The lower part of the externally enclosed Archimedes rod 27 is located inside the threshing chamber 25, and the upper part of the externally enclosed Archimedes rod 27 is provided with a guide conveyor 26 corresponding to the grain storage silo 10. The guide conveyor 26 is an irregularly shaped curved pipe capable of guiding the flow direction of the millet. One end of the irregularly shaped curved pipe is connected to the externally enclosed Archimedes rod 27, and the diameter of the other end of the irregularly shaped curved pipe is smaller than that of the externally enclosed Archimedes rod 27. The discharge end of the irregularly shaped curved pipe is located inside the grain storage silo 10. The non-destructive conveying device 6, as a grain lifting device, uses the enclosed Archimedes rod in conjunction with the guide conveyor 26 to deliver the millet into the grain storage silo 10. The non-destructive conveying device 6 using the Archimedes rod has its internal spiral conveyor and spiral conveying cavity completely integrated, which can ensure that the millet is smoothly conveyed from low to high to the grain bin after threshing, and completely avoids the millet grains getting stuck in the gap between the two. The loss rate of transported grain is close to 0%, while maximizing the optimization of its volume ratio. Moreover, the height of grain lifting can be changed by changing the angle between the closed Archimedes rod and the horizontal ground, which is highly flexible.

[0053] All other structures are the same as in Example 3.

[0054] like Figure 10As shown in Embodiment 5, a small-scale intelligent millet harvesting and sowing integrated agricultural machine is described. The grain storage mixing device 11 includes a mixing frame 29 and a planetary gear system 33. Two internal gears mesh on the internal gear ring of the planetary gear system 33. A drive gear is provided in the middle of the two internal gears, and a drive shaft is connected to the drive gear. A motor 30 that drives the planetary gear system 33 is installed on the mixing frame 29. The end of the output shaft of the motor 30 is rotatably connected to the drive shaft through a bevel gear set. Two parallel mixing shafts 35 are connected to the planetary gear system 33. The mixing shafts 35 are connected to the two internal gears. An agitator plate 28 is connected to the mixing shafts 35. A positioning component 34 is also connected to the two mixing shafts 35. The positioning component 34 cooperates with the planetary gear system 33 to fix the mixing shafts 35 and ensure the stability of the mixing shafts 35 during mixing. Two symmetrically arranged gearboxes 32 are also connected to the mixing frame 29. Each gearbox 32 is connected to a stepper motor and meshes with a rack 31 installed on the grain storage silo 10. The grain silo mixing device 11 prevents the millet from piling up and spoiling inside the silo. The planetary gear train 33, in conjunction with the rack and pinion gears 31, can stir and agitate the millet in the silo from all directions, solving the problem of grain piling up at the bottom due to prolonged harvesting time or improper storage methods. It also prevents the grain from sticking together, which causes significant inconvenience for subsequent transportation and storage.

[0055] In this embodiment, each seed bin stirring device 12 includes a stirring frame 2 and a planetary gear train 2. A motor 2 for driving the planetary gear train 2 is mounted on the stirring frame 2. Two parallel stirring shafts 2 are connected to the planetary gear train 2, and stirring plates 2 are connected to the stirring shafts 2. Positioning components 2 are also connected to the two stirring shafts 2. The seed bin stirring device 12 solves the problem that during the process of transferring millet seeds from the seed bin 37 to the two side sowing bins 39, the millet seeds at the bottom often stick together due to their own gravity. This phenomenon is particularly prominent when the bin door is open, easily leading to blockages during the sowing process. The grain bin stirring device 11 has the same structure as the seed bin stirring device 12, the difference being that the seed bin stirring device 12 does not have a movable rack and gearbox.

[0056] All other structures are the same as in Example 4.

[0057] like Figure 11As shown in Embodiment 6, a small-scale intelligent millet harvesting and sowing machine is disclosed. The sowing device 5 includes a seed bin 37, a track frame 38, and a sowing bin 39 slidably mounted on the track frame 38. Gates 40 are provided on both sides of the seed bin 37, corresponding to tracks 41 mounted on the vehicle body 2. The discharge port of the track 41 corresponds to the sowing bin 39 in the sowing state. An auxiliary feeding component 42 is provided on the discharge port of the sowing bin 39. A soil-covering wheel 43 and a deep-loosening plow 44 are provided at the lower part of the sowing bin 39. A threaded sleeve is connected to the sowing bin 39, cooperating with a lead screw 45 rotatably mounted on the track frame 38. A drive component 36 is connected to the upper part of the lead screw 45. The seed bin 37 stores seeds, and the sowing bin 39 moves up and down along the track frame 38, facilitating adjustment of the sowing depth. The sowing bin 39 can also be stored away when not in use to avoid interfering with other operations.

[0058] In this embodiment, the auxiliary feeding component 42 includes a toggle shaft. The upper part of the toggle shaft is rotatably connected to a motor connected to the seeding chamber 39, and the lower part of the toggle shaft is connected to several vertically arranged toggle plates. The auxiliary feeding component 42 is provided inside the seeding chamber 39 to assist in seed feeding, prevent seed sticking, and ensure that the millet seeds at the bottom remain loose, thereby ensuring smooth sowing.

[0059] All other structures are the same as in Example 5.

[0060] like Figure 12 As shown in Embodiment 7, a small-scale intelligent millet harvesting and sowing machine is provided. The fertilization device 7 includes a fertilizer bin 47, on which a discharge cylinder 48 for assisting in the discharge is connected. Below the discharge port of the fertilizer bin 47 is a fertilization platform 49 mounted on the vehicle body 2. Two symmetrically arranged fertilization shafts 50 are rotatably connected to the fertilization platform 49. Several cantilever arms 46 for assisting in spreading fertilizer are connected to the fertilization shafts 50. The cantilever arms 46 are arc-shaped rods. The bottom of the arc-shaped rods contacts the fertilization platform 49 and, driven by the fertilization shafts 50, spreads the fertilizer on the fertilization platform 49, ensuring uniform fertilization. The fertilization shafts 50 are connected to a motor through a transmission chain and sprocket. The fertilization device 7 is located at the rear of the vehicle body 2, enabling fertilization during sowing or fertilization separately, resulting in high efficiency and ensuring the working efficiency of the device.

[0061] All other structures are the same as in Example 6.

[0062] like Figures 1-12As shown in Example 8, an intelligent millet harvester and planter includes a harvesting and feeding device, which consists of an auger mechanism and a dual-channel small header mechanism, installed at the front of the vehicle body. A transport and threshing device, consisting of a threshing drum and a threshing shell, is located at the lower part of the vehicle body. An Archimedes-style non-destructive conveying device is installed behind the transport and threshing device. The non-destructive conveying device transfers the threshed millet to a grain bin installed at the rear of the upper part of the vehicle body, and the grain bin is equipped with a grain bin stirring device. A grain unloading output device is then installed on one side of the grain bin. The fertilization device is located at the rear of the machine and consists of a fertilizer bin, piston, air pump, motor, sprocket, and rotating arm. The planting device consists of a seed bin and a seeding bin. The seed bin is located in the middle of the vehicle body and is also equipped with a seed bin stirring device. The seeding bins are installed on both sides of the vehicle body and move up and down via a screw pair. A camera sensor is installed at the upper part of the machine, enabling real-time monitoring and control, precise navigation, obstacle detection, crop identification, data collection and analysis, and human-machine interaction. Meanwhile, the unmanned agricultural machinery is equipped with an intelligent center consisting of a miniature integrated control board, which can control the speed and direction of the various motors in the machinery, thereby enabling the operation of each mechanism. This device aims to solve the problems of complex, labor-intensive, and time-consuming planting processes for some small farmers, as well as the problems of large size and difficult operation of existing mechanized agricultural machinery on the market, and the fact that commercially available agricultural machinery does not integrate multiple functions such as sowing, fertilizing, harvesting, threshing, and grain storage into one machine. Therefore, significant investment is required in purchasing and maintenance, which may be impractical for some farmers and agricultural enterprises with limited resources. This agricultural machinery integrates the functions of multiple agricultural equipment into one unit, significantly reducing cost and size while greatly improving efficiency and integration, and on this basis, achieving intelligence and unmanned operation.

[0063] In this embodiment, the harvesting and feeding device adopts a dual-channel design. Each channel is equipped with a set of rotating blades and two sets of conveyor chains. The drive sprocket is directly connected to the motor, driving the chains to transport the millet into the harvesting area of ​​the rotating blades in a certain direction. Then, a pair of relatively rotating, meshing spiral rollers driven by bevel gears work in conjunction with the rotating blades to squeeze, tear, and shear the straw, completing the straw crushing. The design of the front conical section effectively avoids blockage during the plant guidance process and has better adaptability to the plant posture. The millet ears are then fed into the auger mechanism through the spiral part of the rollers. At the same time, through two sets of spiral feeding mechanisms and linkage mechanisms, the spiral feeding mechanism can realize the rotation and lifting of the header mechanism to meet different working needs. The advantages are simple structure and strong load-bearing capacity. When harvesting is in progress, the header rotates to the lowest point. When the harvesting is completed, the header can be rotated to the highest point for easy movement on the road. In the harvesting operation, in order to feed the harvested ears of grain from the dual-channel harvest into the conveying device, we designed the following auger mechanism (see simplified working principle diagram) based on the principle of the screw conveyor. This mechanism is used to collect the harvested ears of grain through the spiral parts on both sides and gather them into the rotating baffle part. The middle baffle sends the ears of grain to the transport and threshing device for further processing in a certain rotation direction.

[0064] In this embodiment, the threshing device is divided into a transport module and a threshing module. The transport module includes a drive motor, chain, sprocket, and conveyor belt. The conveyor belt responsible for transporting the crop uses chain drive, and the motor's power is transmitted to the conveyor wheel via the chain drive, driving the conveyor belt to move in a directional manner, thus transporting the grain to the next mechanism for further processing. The threshing module includes a threshing drum, a threshing shell, a support, and a rotating shaft, and is equipped with miniature bearings. The high-speed roller threshing mechanism is responsible for processing the grain conveyed by the harvesting transport mechanism, separating the millet grains from the ears of grain, and separating as many of the threshed millet grains as possible from other threshed materials (straw, husks, other mixtures). Throughout the threshing process, clean threshing with minimal breakage or hull damage is required. Furthermore, as many millet grains as possible should be sieved through the lower screen, while other threshed materials are ejected from the rear discharge port. The high-speed roller threshing mechanism consists of a motor, chain drive, threshing drum, threshing shell, support, rotating shaft, and miniature bearings. Chain drive transmits power from the motor to the rotating shaft, which in turn drives a fixed threshing drum. Through friction and compression against the threshing shell, the millet grains are detached from the ears of grain, separating the threshed material at a designated location. To reduce friction, miniature bearings are used between the detachment mechanism housing, support frame, and rotating shaft, improving the mechanism's stability and lifespan.

[0065] In this embodiment, the Archimedes-style non-destructive conveying device is used to transport threshed millet grains to the grain silo. The Archimedes rod, in conjunction with the guiding conveyor, has its outlet aligned with the grain silo. The grain is ultimately conveyed into the grain silo. An electric motor drives the Archimedes rod to rotate around its own axis via a bevel gear. Each rotation of the Archimedes rod advances the millet grains in the sealed chamber by one screw pitch. As the screw continues to rotate, the millet grains are spirally pressed from one sealed chamber to another, finally being extruded from the Archimedes rod. The designed Archimedes rod is a novel type of machinery for conveying grain grains, possessing advantages such as simple structure, safe and reliable operation, convenient use and maintenance, continuous and uniform grain output, and stable pressure. After testing, it was found that the smaller the angle, the higher the transmission efficiency, but the larger the space occupied. For example, considering the spatial relationship between the grain silo and the threshing device, and based on multiple simulation comparison experiments of transmission efficiency at angles of 30°, 35°, 40°, 45°, 50°, 55°, and 60°, and finally considering the assembly processability of the whole vehicle, the tilt angle of 60° was selected.

[0066] In this embodiment, the grain storage mixing device mainly consists of a planetary gear system, a motor, a rack and pinion gearbox, a rack, and a bevel gear transmission. The motor drives the bevel gear to drive the planetary mixing mechanism, and the rack and pinion gearbox cooperates with the micro motor to enable the entire mixing device to move in the rack direction, that is, to move repeatedly in the grain storage silo, thus greatly improving the mixing efficiency.

[0067] In this embodiment, the seed bin stirring device is basically the same as the grain bin stirring device. The only difference is that the seed bin stirring device does not have a moving stirring mechanism. Considering that the volume of the seed bin is relatively small compared to the grain bin, there is no need to set up a moving mechanism.

[0068] In this embodiment, the fertilization device mainly consists of a fertilizer bin, a cylinder, a motor, a sprocket, and a rotating arm. After the millet seeds are deeply plowed, the fertilization mechanism evenly disperses the fertilizer in the field. After the motor starts, it drives the rotating arm to rotate via chain drive. Once the rotation is stable, the cylinder is driven by an air pump, which pushes the internal piston. Then, the fertilizer bin door opens, and granular fertilizer is released from the bin opening. It is then pushed evenly across the field by the rotating arm. When the fertilization is completed, the air pump stops working, the piston is automatically reset by a built-in spring, the fertilizer bin closes, the motor stops working, and the rotating arm stops.

[0069] In this embodiment, the sowing device can achieve double-row millet planting. The device consists of a seed bin, a sowing bin, a motor, a chain drive, a nut and screw drive, a gate, a track, a seed bin mixing device, a sowing bin mixing device, a deep tillage plow, and a covering wheel. It is worth noting that the sowing bin mixing device has a completely different structure from the seed bin mixing device and is installed directly above the sowing track inside the sowing bin. It mainly consists of a DC micro motor, a reduction gearbox, and toothed mixing blades. The reduction gearbox is connected to the mixing rod via a coupling, causing the toothed mixing blades to rotate on a fixed axis within the sowing bin. When sowing begins, to prevent seed clumping, the seed bin stirring device starts working to ensure the seeds are loose. The motor on the seed bin starts, and the screw nut connected to it rotates to raise the gate. Seeds enter the sowing bin from the seed bin along the track. When enough millet seeds are added to the sowing bin, the seed bin motor reverses and the gate closes. The sowing bin lifting motor starts, and the chain drive drives the screw nut downward. When the designated suitable depth is reached, the lifting motor stops. To prevent seeds from clogging the sowing track, the sowing bin stirring device starts working. Seeds fall from the designated track, i.e., the track on the back of the subsoiler, into the furrows opened by the subsoiler. The covering wheel that accompanies the vehicle forward will bury the millet seeds. When sowing is completed, the stirring device stops working, and the lifting motor reverses to raise the sowing bin. The sowing depth should be appropriate. For example, because millet seeds are too small, it is difficult for them to germinate and they are poor at emerging from the soil. Therefore, the thickness of the soil covering after sowing should not exceed 2 cm. If the soil covering is too thick, the seeds will not be able to emerge from the soil after germination and will be smothered. Sowing can be done a little deeper, generally 5 to 6 cm is appropriate.

[0070] Example 9 describes a small, intelligent millet harvesting and sowing machine with a maximum speed of 40 km / h on national standard highways. To reduce grain loss and increase the harvest rate during harvesting, the machine's harvesting speed is set to 0.5 m / s, achieving a harvesting efficiency of 0.5 mu / h. Based on the current millet yield of 300-400 kg / mu, the machine can harvest up to 200 kg of millet per hour. Simultaneously, the machine applies fertilizer to the field at a speed of 1 m / s. Each mu requires 50 kg of fertilizer, which can be applied in one hour. To adapt to different soil types, temperatures, humidity levels, and sowing depths, the lifting distance of the sowing bin is adjustable, with a maximum distance h = 0.5 m.

[0071] Unless otherwise specified, the equipment components involved in the above embodiments are all conventional equipment components.

[0072] During the harvesting input stage, when the unmanned agricultural machine (UAV) moves to the designated harvesting area and accurately identifies the harvesting start point via the camera module, the cutting platform automatically adjusts to its lowest point to ensure optimal contact with the ground. Then, the rotating blades, harvesting conveyor chain, and auger mechanism are activated, operating in an orderly manner according to the preset working direction. This automated process significantly improves harvesting efficiency and accuracy. The UAV harvests at a speed of 0.5 meters per second, ensuring continuous and efficient operation. The crop is smoothly fed into the baffles on the harvesting conveyor chain and then into the harvesting range of the rotating blades. Under the action of the rotating blades, the millet ears are accurately cut and conveyed to both sides of the auger mechanism via a well-designed spiral roller. This process ensures the integrity of the millet ears and harvesting efficiency. The intermediate baffles play a crucial role, conveying the millet ears from the auger mechanism to the chain-driven harvesting conveyor mechanism, allowing the millet ears to be smoothly collected and transported to subsequent processing stages. This design not only improves harvesting efficiency but also preserves the quality and integrity of the crops to the greatest extent, ensuring the smooth progress of agricultural operations.

[0073] During the threshing process, the harvesting and collecting device and the threshing rollers are activated, working together to ensure the smooth transport and threshing of the millet ears. The harvesting and collecting device is responsible for conveying the millet ears from the auger mechanism to the threshing mechanism, ensuring a continuous operation. A motor directly drives the rollers to rotate at high speed via chain drive, with the rollers rotating in the same direction as the conveyor belt. This design increases both stability and efficiency. During this process, through contact between the rollers and the millet ears, friction and the squeezing force of the threshing shell effectively separate the millet kernels from the ears, ensuring efficient threshing while minimizing damage to the millet kernels. Subsequently, a precisely designed screen plays a crucial role, screening the millet kernels and separating impurities and unwanted parts such as stalks, thus ensuring the purity and quality of the millet kernels. The screened millet kernels fall onto the threshed conveyor belt and are smoothly fed into the collecting box. This process not only efficiently completes the harvesting and threshing work, but also preserves the integrity and nutritional components of the millet grains to the greatest extent, providing a reliable raw material guarantee for subsequent processing and sales.

[0074] During the grain conveying process, an Archimedes-style non-destructive conveyor system is activated. Primarily composed of an Archimedes rod, this system rotates clockwise, smoothly transporting the grain stored in the collection box to the grain silo. In this process, the grain enters a spiral path, the spiral structure providing a continuous upward thrust that gradually lifts it to the top. This design ensures the grain is smoothly conveyed along the spiral path to the desired location without additional human intervention. After harvesting, the Archimedes rod continues to rotate until all the grain is completely extruded. At this point, the spiral stops rotating, and the conveying process ends. This automated design not only improves production efficiency but also reduces the workload of workers. Ultimately, the grain can be safely stored in the grain silo or subjected to further processing. Through this process, grain transportation and storage are completed efficiently and reliably, ensuring the quality and safety of the grain.

[0075] During the grain unloading process, when the small agricultural machinery reaches the designated unloading position, the infrared detection device on the machinery automatically identifies the unloading position marker. Then, the intelligent control center activates the servo motor to open the unloading bin door. Throughout this process, a stirring device installed in the grain bin continuously operates to prevent grain from sticking together.

[0076] During the sowing and fertilization process, before the machine begins planting millet, a sufficient amount of millet seeds should be added to the seed bin. Then, the motor of the seed bin's wheel-mounted agitator starts, loosening the millet seeds to prevent clumping and hindering sowing. Once the machine reaches the designated location, the seed bin gate motor starts, opening the gate and allowing the millet seeds to fall along the track into the sowing bin. A camera sensor continuously monitors the seed quantity in the sowing bin. When sufficient seeds are present, the gate motor reverses, closing the gate. At the start of sowing, the vehicle adjusts the sowing depth based on environmental conditions, soil conditions, and weather to ensure optimal germination. The seed bin lifting motor starts, using chain drive to transmit power to the nut, which in turn raises and lowers the seed bin via a screw mechanism. Once the seed bin reaches the appropriate height, the subsoiler plow inserts into the soil, and simultaneously, the seed bin's wheel-mounted agitator starts, loosening the millet seeds and ensuring they fall smoothly. As the vehicle moves forward, the soil is furrowed by the front of the deep tillage plow. Millet seeds fall from the seeding bin along the track at the rear of the plow into the soil. Then, the covering wheel covers the furrows with soil, burying the millet to the appropriate depth. Simultaneously, the fertilization unit at the rear of the vehicle operates. As the vehicle moves forward, the air pump and motor start simultaneously, the piston on the fertilizer bin rises, the fertilizer bin door opens, and fertilizer falls onto a platform with a rotating arm. The rotating arm, driven by a motor and chain drive, spreads the fertilizer to the rear of the vehicle. After fertilization, irrigation or waiting for rainfall can be done. When the millet seeds in the seeding bin are exhausted or sowing stops, the vehicle stops moving forward, the motor of the seeding bin's mixing device stops, the seeding bin's lifting motor reverses, the seeding bin rises, and seeds are replenished or operation ceases. A piston spring at the rear of the vehicle returns the piston to its original position, closing the fertilizer bin.

[0077] A smart millet harvester and planter employs a front-wheel, rear-track drive system, adaptable to hilly terrain and precise millet planting and harvesting requirements. The wheel-track combination features adaptive chassis lifting and leveling, solving problems such as poor adaptability to slopes, low anti-tipping performance, poor obstacle-crossing ability, and insufficient smoothness of operation. Its core principle utilizes a parallel four-bar linkage to automatically adjust the height difference of the air suspension on the left and right drive wheels, maintaining the drive tracks and machine body's orientation and posture, thus achieving adaptive walking and meeting the requirements for hilly terrain operation. The harvesting and material collection device consists of an auger mechanism and a dual-channel small header mechanism, installed at the front of the vehicle. The lower part of the vehicle is equipped with a transport and threshing device, including a threshing drum and a threshing shell. Behind the transport and threshing device, an Archimedes-style non-destructive conveyor is installed to transfer the threshed millet to a grain bin on the upper rear side of the vehicle. A grain unloading output device is installed on one side of the grain bin. The fertilization device, located at the rear of the agricultural machine, consists of a fertilizer bin, piston, air pump, motor, sprocket, and rotating arm. The seeding device includes a seed bin and a seeding bin; the seed bin is located in the middle of the machine, while the seeding bins are mounted on either side and move up and down via a screw assembly. The upper part of the machine is equipped with a camera sensor system, enabling real-time monitoring and control, precise navigation, obstacle detection, crop identification, data collection and analysis, and human-machine interaction. The unmanned agricultural machine is equipped with an intelligent center, consisting of a miniature integrated control board, which controls the speed and direction of each motor, enabling the operation of each mechanism. This machine is designed to solve the complex, labor-intensive, and time-consuming problems encountered by small-scale farmers in planting, as well as the problems of large size and difficult operation of existing mechanized agricultural machinery. Commercially available agricultural machinery cannot integrate multiple functions into one unit, resulting in high purchase and maintenance costs, which may be impractical for farmers and agricultural enterprises with limited resources. This machine integrates multiple equipment functions, significantly reducing costs and size, improving efficiency and integration, and achieving intelligence and unmanned operation. The product boasts a compact and well-integrated structure, facilitating disassembly and maintenance and optimizing the user experience for farmers. It innovatively employs an Archimedes-style non-destructive conveying device, achieving efficient lifting of millet while minimizing the device's size, breaking the limitations of traditional agricultural machinery.

[0078] For harvesting and storing grain in silos, this agricultural machinery uses a vertical mixing device as an auxiliary system. This device employs a planetary rotation design, equipped with precisely designed blade shafts, enabling comprehensive mixing and agitation of the grain within the silo. Compared to traditional ventilation methods, this mixing device not only effectively reduces localized temperatures within the silo but also prevents grain from sticking together due to prolonged static storage. Through its lateral movement mechanism, the mixing device covers every corner of the silo, ensuring that every grain is thoroughly mixed and ventilated, preventing grain spoilage and yield reduction caused by excessive piling.

[0079] In terms of sowing, to address the issue of millet seeds sticking together at the bottom due to gravity during the transfer of seeds to the sowing bins on both sides, we installed a stirring device within the sowing replenishment bin. This device mitigates blockages that occur when the bin doors are open, ensuring the millet seeds at the bottom remain loose and facilitating smooth sowing. Similarly, the team also installed a stirring device within the sowing replenishment bin to ensure the millet seeds at the bottom remain loose, thus guaranteeing smooth sowing and reducing sticking and blockages during the sowing process. This device not only needs to effectively loosen the millet seeds at the bottom but also needs to maintain grain quality while avoiding unnecessary damage to the seeds. Therefore, the stirring device is designed with precise operational control in mind and adaptability to the characteristics of different grain types. Compared to storage bins, the stirring device in the sowing replenishment bin does not need to be moved, but its performance and efficiency are equally demanding. Through reasonable process design and advanced material selection, the stirring device ensures a stable and reliable function during the millet seed transfer process, making the sowing replenishment work smoother and more efficient. This mixing device, specially designed for sowing and replenishing grain warehouses, not only solves the bottleneck problem in the traditional sowing process, but also injects new technological vitality into the grain industry.

[0080] In summary, compared to agricultural machinery on the market that relies on manual labor and has limited functionality, this product can simultaneously perform multiple functions such as fertilization, sowing, harvesting, threshing, and storage, and features low-error positioning and low-latency remote control. The product's electronic control system integrates multiple functions, improving work efficiency.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart millet harvesting and sowing integrated small agricultural machine, comprising a smart center (4) and a vehicle body (2), characterized in that: It also includes a harvesting and gathering device (1), a transport and threshing device (9), a seeding device (5), and a fertilizing device (7) installed sequentially on the vehicle body (2). The inlet of the harvesting and gathering device (1) corresponds to the inlet of the transport and threshing device (9). The outlet of the transport and threshing device (9) is connected to a non-destructive conveying device (6). The outlet of the non-destructive conveying device (6) corresponds to the storage silo (10) installed on the vehicle body (2). The storage silo (10) is equipped with a silo stirring device (11). The seeding device (5) is located between the harvesting and gathering device (1) and the storage silo (10). The seeding device (5) is equipped with a seed silo stirring device (12). The non-destructive conveying device (6) includes an externally enclosed Archimedes rod (27). The externally enclosed Archimedes rod (27) is installed on the vehicle body (2). The lower part of the externally enclosed Archimedes rod (27) is set inside the threshing bin (25), and the upper part of the externally enclosed Archimedes rod (27) is provided with a guide transmission component (26) corresponding to the grain storage bin (10). The guide transmission component (26) is a shaped bend that can guide the flow direction of the millet. One end of the shaped bend is connected to the externally enclosed Archimedes rod (27), and the diameter of the other end of the shaped bend is smaller than that of the externally enclosed Archimedes rod (27). The discharge end of the shaped bend is set inside the grain storage bin (10). The non-destructive conveying device (6) is used as a grain lifting device. The externally enclosed Archimedes rod (27) and the guide transmission component (26) are used together to send the millet into the grain storage bin (10). 2.The intelligent millet harvesting and sowing integrated small agricultural machine according to claim 1, characterized in that: The harvesting and feeding device (1) includes a harvester frame (14) and an auger mechanism (13). A linkage mechanism (15) is connected to the harvester frame (14) and is hinged to the vehicle body (2) through the linkage mechanism (15). Two symmetrically arranged harvesting mechanisms are connected to the harvester frame (14). The two harvesting mechanisms correspond to the auger mechanism (13). The auger mechanism (13) is connected to the vehicle body (2) and corresponds to the feeding platform set on the front side of the vehicle body (2).

3. The intelligent millet harvesting and sowing integrated small agricultural machine according to claim 2, characterized in that: The harvesting mechanism includes an active chain group (16), a drive chain group (17), and two symmetrically arranged spiral rollers (19). The active chain group (16) and the drive chain group (17) are two symmetrically arranged triangular structures. A rotating blade (18) is connected to the sprocket on the drive chain group (17) near the active chain group (16). The spiral rollers (19) are rotatably mounted on the harvester frame (14) and correspond to the active chain group (16) and the drive chain group (17). The auger mechanism (13) includes a gathering shaft. Several gathering plates for gathering ears of grain are connected to the middle of the gathering shaft. Spiral blades corresponding to the active chain group (16) and the drive chain group (17) are connected to both ends of the gathering shaft.

4. The intelligent millet harvesting and sowing integrated small agricultural machine according to any one of claims 1 to 3, characterized in that: The transport threshing device (9) includes a conveyor belt group (20) corresponding to the harvesting and feeding device (1). The conveying end of the conveyor belt group (20) is provided with a threshing drum (21). A rotating shaft (23) is connected to the threshing drum (21). A threshing shell (22) corresponding to the threshing drum (21) is rotatably connected to the rotating shaft (23). Both ends of the rotating shaft (23) are rotatably connected to a bracket fixed on the vehicle body (2). A threshing bin (25) is connected to the lower part of the threshing drum (21).

5. The intelligent millet harvesting and sowing integrated small agricultural machine according to any one of claims 1 to 3, characterized in that: The grain storage mixing device (11) includes a mixing frame and a planetary gear system. A motor for driving the planetary gear system is installed on the mixing frame. Two parallel mixing shafts are connected to the planetary gear system. An agitator is connected to the mixing shafts. A positioning component is also connected to the two mixing shafts. Two symmetrically arranged gearboxes (32) are also connected to the mixing frame. The gearboxes (32) mesh with a rack (31) installed on the grain storage silo (10).

6. The intelligent millet harvesting and sowing integrated small agricultural machine according to claim 5, characterized in that: The seed bin stirring device (12) includes a stirring frame 2 and a planetary gear system 2. The stirring frame 2 is equipped with a motor 2 that drives the planetary gear system 2. The planetary gear system 2 is connected to two parallel stirring shafts 2. The stirring shafts 2 are connected to stirring plates 2. The two stirring shafts 2 are also connected to positioning components 2.

7. The intelligent millet harvesting and sowing integrated small agricultural machine according to any one of claims 1 to 3 and 6, characterized in that: The sowing device (5) includes a seed bin (37), a track frame (38), and a sowing bin (39) slidably mounted on the track frame (38). Both sides of the seed bin (37) are provided with gates (40), which correspond to the track (41) mounted on the vehicle body (2). The discharge port of the track (41) corresponds to the sowing bin (39) in the sowing state. An auxiliary feeding component (42) is provided on the discharge port of the sowing bin (39). The lower part of the sowing bin (39) is provided with a soil covering wheel (43) and a deep loosening plow (44). A threaded sleeve is connected to the sowing bin (39) and cooperates with the lead screw (45) rotatably mounted on the track frame (38). The upper part of the lead screw (45) is connected with a drive component (36).

8. The intelligent millet harvesting and sowing integrated small agricultural machine according to claim 7, characterized in that: The auxiliary feeding component (42) includes a toggle shaft. The upper part of the toggle shaft is rotatably connected to a motor connected to the seeding bin (39), and the lower part of the toggle shaft is connected to several vertically arranged toggle plates.

9. The intelligent millet harvesting and sowing integrated small agricultural machine according to any one of claims 1 to 3, 6, and 8, characterized in that: The fertilization device (7) includes a fertilizer bin (47), a discharge cylinder (48) for assisting in the discharge is connected to the fertilizer bin (47), a fertilization platform (49) installed on the vehicle body (2) is provided below the discharge port of the fertilizer bin (47), two symmetrically arranged fertilization shafts (50) are rotatably connected to the fertilization platform (49), and several cantilever arms (46) for assisting in spreading fertilizer are connected to the fertilization shafts (50).

Images