An unmanned south xinjiang yellow sand base morel seeding machine

Abstract

The application discloses an unmanned south Xinjiang yellow sand substrate morel seeding machine and relates to the technical field of sand substrate seeding, which comprises a mobile vehicle body, track-type walking mechanisms arranged on the two sides of the mobile vehicle body and used for adapting to the south Xinjiang yellow sand substrate terrain, wherein the track-type walking mechanisms comprise track driving wheels controlled by independent driving motors, the driving motors can be remotely controlled through a GNSS system, the constant speed of the driving motors is realized, the unmanned automatic cruising of the track-type walking mechanisms is realized, a seed distribution module is arranged on the middle part of the mobile vehicle body, a liftable lifting frame is arranged on the middle part of the mobile vehicle body, the seed distribution module is provided with a plurality of seed distribution seeding positions, an opening ditch module and a soil covering module are arranged on the lifting frame and correspond to the positions below the seed distribution module, a lifting driving mechanism for driving the synchronous lifting of the four corners of the lifting frame is arranged on the mobile vehicle body, the lifting driving mechanism drives the lifting of the lifting frame, the seeding depth is adjusted, the seeding machine utilizes the track walking design and combines the liftable opening ditch module and the soil covering module, can adapt to the south Xinjiang yellow sand substrate soil morel planting, the seeding depth can be accurately adjusted, and the seeding uniformity and consistency can be controlled.

Description

Technical Field

[0001] This invention relates to the field of yellow sand substrate sowing technology in oasis agriculture in the Taklamakan Desert, and more specifically to an unmanned yellow sand substrate morel mushroom sowing machine in southern Xinjiang. Background Technology

[0002] Morel mushrooms, with their rich, refreshing, and crisp flavor, are widely loved. They are also highly nutritious and represent one of the most economically valuable types of edible fungi in the industry. With the continuous improvement of living standards and the increasing popularity of health-conscious consumption among urban residents in my country, this rare fungus, with its high nutritional and medicinal value, will gain further market recognition, indicating enormous potential in the domestic consumer market. It has become one of the best-selling cultivated varieties of edible fungi in my country. In recent years, the scale of morel mushroom cultivation in my country has expanded year by year. In the field of agricultural technology, the automation and intelligent development of seeders has always been a research hotspot. Especially in seeding operations under specific terrain and substrate conditions, higher demands are placed on the adaptability and precision of seeders. The Taklamakan Desert in southern Xinjiang is known for its shifting sand particles, mainly composed of very fine sand, fine sand, and medium sand, exhibiting a nearly symmetrical or positively skewed distribution of yellow sand matrix terrain. This terrain poses a significant challenge to the movement and operational stability of seeders. The problems include non-standard operations in the cultivation of morel mushrooms on yellow sand substrate in southern Xinjiang, insufficient rural labor, large operating radius of greenhouses powered by small four-wheeled tractors, contamination of the spawn due to fuel-powered machinery and manual intervention, high labor costs, low production efficiency, low success rate of morel mushroom cultivation, and inability to guarantee yield and quality.

[0003] However, most existing unmanned seeders are designed for flat terrain and are poorly adapted to the unique terrain of the sandy substrate in southern Xinjiang. Therefore, developing an unmanned seeder that can adapt to the sandy substrate terrain of southern Xinjiang is of great significance for improving agricultural production efficiency and quality in the region. This invention addresses this need by proposing an unmanned morel mushroom seeder for the sandy substrate terrain of southern Xinjiang, aiming to solve the difficulties and problems of operation in greenhouses on this terrain and improve the accuracy and efficiency of seeding. Summary of the Invention

[0004] The purpose of this invention is to address the problem that existing morel mushroom planters are not suitable for planting in the fine sandy and unstable soil of southern Xinjiang. This planter utilizes a tracked design combined with liftable ditching and soil covering modules, making it suitable for planting in the yellow sandy soil of southern Xinjiang. At the same time, the planting depth can be precisely adjusted.

[0005] To achieve the above objectives, the present invention specifically adopts the following technical solution:

[0006] An unmanned morel mushroom planter based on yellow sand substrate in southern Xinjiang includes a mobile vehicle body.

[0007] The mobile vehicle is equipped with tracked walking mechanisms on both sides to adapt to the sandy substrate terrain of southern Xinjiang. The tracked walking mechanism includes tracked drive wheels controlled by independent drive motors. These drive motors can receive and analyze satellite signals through a GNSS system for remote beyond-line-of-sight control, achieving constant speed control of the drive motors. Utilizing RTK real-time dynamic measurement technology, the system consists of a base station receiver, a data link, and a rover receiver. RTK real-time differential positioning can achieve centimeter-level positioning accuracy within the greenhouse, thereby enabling unmanned automatic cruising of the tracked walking mechanism and greatly improving the operational efficiency of morel mushroom sowing in greenhouses in southern Xinjiang.

[0008] The mobile vehicle body is equipped with a seed metering module and a lifting frame that can be raised and lowered. The seed metering module is configured with multiple seed metering and sowing positions. The lifting frame is equipped with a trenching module and a soil covering module at the position below the seed metering module.

[0009] The trenching module includes a movable seed metering tube and a double-disc trencher. The trenching module is used to open trenches before sowing. The movable seed metering tube and the double-disc trencher are located directly below the seed metering and sowing position. The movable seed metering tube is coaxially arranged with the seed metering and sowing position.

[0010] The soil covering module includes a soil covering wheel and a soil leveling plate. The soil covering wheel is rotatably mounted on the lifting frame at the rear of the corresponding seeding position. One end of the soil leveling plate is hinged on the lifting frame at the rear of the soil covering wheel, and the other end of the soil leveling plate is freely attached to the ground. The rotation of the soil covering wheel realizes the soil covering after the morel mushrooms are sown, and the soil leveling plate compacts the soil after covering.

[0011] The mobile vehicle is equipped with a lifting drive mechanism for synchronously raising and lowering the four corners of the lifting frame. The lifting drive mechanism drives the lifting frame to rise and fall, adjusting the sowing depth.

[0012] To further optimize this invention, the following technical solutions may be preferred:

[0013] Preferably, the seed metering module includes a seed fertilizer box with an opening at the top and a seed metering area for morel mushrooms. A furrowing and seed metering mechanism with adjustable feeding spacing is provided in the seed metering area corresponding to the seeding position. The furrowing and seed metering mechanism includes a feeding pipe located at the bottom of the seed fertilizer box. A seed metering spiral assembly is coaxially rotatably arranged inside the feeding pipe. The feeding pipe is connected to the seed metering area. The seed metering spiral assembly is connected to a seeding drive device, which drives the seed metering spiral assembly to rotate and can adjust the rotation speed to control the seeding rate.

[0014] Preferably, the seed metering spiral assembly includes a seed metering shaft with spiral blades arranged around it. The spiral blades are spirally arranged downwards along the seed metering shaft, and the lowest point of the spiral blades exceeds the lowest point of the seed metering shaft. The morel mushroom material in the seed-fertilizer box enters the feeding pipe through the rotating spiral blades. The spiral blades include a seed delivery section, a seed placement section, and a seed spreading section. The seed placement section is located inside the seed-fertilizer box and within the feeding pipe. The seed delivery section is also located inside the seed-fertilizer box, and a stirring rod is radially arranged on the spiral blades of the seed delivery section. The seed placement section is located inside the feeding pipe and is configured with shafted spiral blades. The seed spreading section is located below the seed placement section and is configured with shaftless spiral blades to spread the morel mushroom seeds and provide uniform sowing.

[0015] Preferably, the seed metering and sowing positions and furrowing modules are arranged in two rows and staggered. The sowing drive device includes a drive shaft rotatably mounted on the top of the seed and fertilizer box. Two hexagonal drive shafts are arranged in parallel. A driven drive sprocket is provided at the end of the drive shaft. A drive chain is provided between the driven drive sprockets. A servo drive motor is provided on the seed and fertilizer box at the position corresponding to the drive chain. An active drive sprocket that meshes with the drive chain is provided on the servo drive motor. The upper end of the seed metering shaft extends to the drive shaft. A bevel gear drive steering head is provided on the drive shaft at the position corresponding to the seed metering shaft. The bevel gear drive steering head converts the horizontal rotation of the drive shaft into the vertical rotation of the seed metering shaft.

[0016] Preferably, an inverted V-shaped plate is fixedly connected to the lower middle part of the seed fertilizer box. The front and rear sides of the lower end of the seed fertilizer box are inclined towards the center side of the seed fertilizer box, and the inclination angle is the same as half of the included angle of the V-shaped plate. The lower end of the seed fertilizer box and the lower end of the V-shaped plate are flush, and a morel mushroom accommodating and planting area is formed between the lower end of the seed fertilizer box and the lower end of the V-shaped plate.

[0017] Preferably, the lifting drive mechanism includes lifting screws that are rotatably disposed at the four corners of the lifting frame. The moving vehicle body is provided with a lifting drive servo motor. The lifting drive servo motor is connected to a multi-axis transmission assembly through a reducer. The multi-axis transmission assembly includes multiple transmission rods connected end to end, which are distributed in a U-shape. A screw nut is provided on each transmission rod corresponding to the position of the lifting screw, and the screw nut is threadedly engaged with the lifting screw.

[0018] Preferably, the bottom of the movable seed metering tube is provided with a beveled section, and a telescopic sealing sleeve is provided between the movable seed metering tube and the feeding tube, with the feeding tube coaxially embedded inside the movable seed metering tube.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] This invention features a tracked walking mechanism that increases the contact area with the sandy soil, enhances driving friction, and reduces the machine's sinking depth due to gravity, ensuring stable sowing depth. Equipped with an independent drive motor and remote control via a GNSS system, the seeder can easily adapt to the sandy substrate terrain of southern Xinjiang, achieving unmanned automatic navigation, path planning, obstacle avoidance, video transmission, and voice communication. This not only significantly improves the seeder's operational stability and reliability in complex terrain but also substantially reduces manpower and lowers operating costs.

[0021] 2. This invention incorporates a seed metering module, a lifting frame, a ditching module, and a soil covering module on a mobile vehicle, automating and integrating the seeding, ditching, and soil covering processes. This design not only improves the accuracy and efficiency of seeding but also ensures the stability of seeding quality. In particular, the combined use of the ditching and soil covering modules ensures that the seeds receive sufficient soil coverage and compaction after sowing, which is beneficial for mycelial growth.

[0022] 3. The present invention also realizes the synchronous lifting of the lifting frame through the lifting drive mechanism, so as to adjust the sowing depth according to different sowing needs. The lifting frame can adjust the furrow opener to control the sowing depth and the height of the covering device according to the terrain changes. On the one hand, it can realize sowing and lowering, stopping and raising (at the same time, the shaft screw drive motor stops to stop sowing); on the other hand, the positioning depth of the furrow opener and the covering device can be adjusted according to the planting depth. This design makes the seeder more flexible and adaptable to the sowing needs of morel mushrooms in different soil environments.

[0023] 4. This invention incorporates a seed-fertilizer box within the seed metering module, equipped with an adjustable seed metering spacing ditching mechanism. This allows for precise seed dispensing of morel mushroom seeds. The seed-fertilizer box design ensures orderly seed storage within the seed metering area, while the ditching mechanism adjusts the dispensing spacing according to sowing needs, ensuring each sowing position receives an appropriate amount of seeds. This design not only improves sowing accuracy and uniformity but also effectively avoids seed waste. Furthermore, the coordinated use of the seed metering spiral assembly and the sowing drive device within the ditching mechanism makes the seed metering process more efficient and controllable. The seed metering spiral assembly rotates to transport seeds from the seed-fertilizer box into the dispensing pipe, while the sowing drive device adjusts the rotation speed of the spiral assembly, thereby controlling the dispensing speed and adjusting the seeding rate. This design makes the sowing process more flexible and adaptable to different sowing needs. In addition, the special design of the spiral blades further enhances the seed metering effect. The stirring rod on the seed delivery section effectively stirs the seeds within the seed-fertilizer box, preventing clumping or blockage and ensuring smooth seed entry into the dispensing pipe. The seeding section is responsible for further discharging the seeds into the feeding pipe, while the shaftless spiral blades of the sowing section further evenly distribute the morel mushroom seeds from the feeding pipe, achieving precise sowing and spreading the seeds in strips to achieve an effect similar to broadcasting. Furthermore, since the seeds are fermented granules made from wheat, rice husks, etc., the spiral blades ensure efficient seed distribution.

[0024] 5. The staggered arrangement of the two rows of seed metering mechanism in this invention significantly improves sowing efficiency and increases row sowing density. This layout allows sowing operations to be carried out simultaneously, reducing waiting time and thus accelerating the overall sowing progress. Simultaneously, the staggered arrangement helps to evenly distribute seeds, avoiding localized over-density or under-density, thus improving sowing uniformity. Secondly, the unique design of the sowing drive device makes the rotation of the seed metering shaft more stable and reliable. Through the coordinated use of the transmission shaft, driven sprocket, drive chain, and servo drive motor, precise control of the seed metering shaft is achieved. The bevel gear steering head cleverly transforms horizontal rotation into vertical rotation, adapting to the spatial layout requirements of the seeder while ensuring the smoothness and accuracy of rotation.

[0025] 6. Furthermore, the design combining the lower end of the seed-fertilizer box with the V-shaped plate optimizes seed loading and unloading processes, as morel mushroom seeds are fermented and similar to organic fertilizer, possessing frictional properties and a natural angle of repose. The inverted V-shaped plate allows seeds to naturally converge towards the seed-discharging shaft, improving seed utilization and seed-fertilizer box space utilization. Simultaneously, the flush design of the lower ends of the seed-fertilizer box and the V-shaped plate ensures smooth seed entry into the seed-discharging area, preventing blockages. Finally, the innovative design of the lifting drive mechanism makes height adjustment of the seeder more convenient and precise. Through the coordinated use of the lifting screw, lifting drive servo motor, and multi-axis transmission components, precise control of the lifting frame is achieved. The seed-fertilizer box is fixed to the tracked base frame; only the furrowing, covering, and leveling modules are raised and lowered. This design not only improves the seeder's sowing depth accuracy and increases overall machine rigidity and stability, enabling it to adapt to different terrains and operational needs, but also reduces operational difficulty and improves operational efficiency. Attached Figure Description

[0026] Figure 1 Schematic diagram of the three-dimensional structure of a morel mushroom planter Figure 1 ;

[0027] Figure 2 Schematic diagram of the three-dimensional structure of a morel mushroom planter Figure 2 ;

[0028] Figure 3 A top view of a morel mushroom planter;

[0029] Figure 4 This is a three-dimensional schematic diagram of the connection structure between the seed and fertilizer box and the ditching and seed dispensing mechanism in this invention;

[0030] Figure 5 This is a cross-sectional schematic diagram of the seed-fertilizer box of the present invention;

[0031] Figure 6 This is a side view of the seed-fertilizer box of the present invention;

[0032] Figure 7 This is a side view of the connection structure at the seeding component in this invention;

[0033] Figure 8 For the present invention Figure 7 A cross-sectional view of the central connecting structure;

[0034] Figure 9 For the present invention Figure 7 A three-dimensional bottom view of the central connecting structure;

[0035] Figure 10 For the present invention Figure 9 A cross-sectional view of the central connecting structure;

[0036] Figure 11 For the present invention Figure 8 Enlarged view of point A in the middle;

[0037] Figure 12 This is a schematic diagram of the seeding axis.

[0038] Reference numerals: 1. Moving vehicle body; 2. Tracked walking mechanism; 3. Tracked drive wheel; 4. Double disc furrow opener; 5. Seed and fertilizer box; 6. Sowing drive device; 7. Hexagonal drive shaft; 8. Bevel gear steering head; 9. Seed metering shaft; 10. Locking clamp; 11. V-shaped plate; 12. Slot; 13. Base plate; 14. Discharge port; 15. Outer plate; 16. Right-angled trapezoidal through slot; 17. Limiting plate; 18. Arc-shaped guide plate; 19. Inner plate; 20. Fan-shaped slot; 21. Arc-shaped slot; 22. Transmission plate; 23. Transmission rod; 25. Discharge pipe; 26. External threaded sleeve; 27. Arc-shaped threaded plate; 28. Internal threaded ring; 29. 30. Support rod; 31. Dividing block; 32. Square base block; 33. Slide groove; 34. Connecting plate; 35. Drive assembly; 36. Side plate; 37. Vertical guide rail; 38. Rectangular plate; 39. Insert rod; 40. Square through groove; 41. Sliding plate; 42. Movable seed metering pipe; 43. Side plate; 44. C-shaped block; 45. Tightening bolt; 46. Lower pressure plate; 47. Soil covering wheel; 48. Soil leveling plate; 49. Lifting frame; 50. Lifting drive mechanism; 51. Lifting screw; 52. Multi-axis transmission assembly; 53. Transmission rod; 54. Mixing rod; 55. Spiral blade; 541. Seed delivery section; 542. Seed placement section; 543. Sowing section. Detailed Implementation

[0039] 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.

[0040] Please see Figure 1-12An unmanned morel mushroom planter in the sandy substrate of southern Xinjiang includes a mobile vehicle body 1 with tracked walking mechanisms mounted on both sides to adapt to the sandy substrate terrain of southern Xinjiang. The tracked walking mechanism 2 includes tracked drive wheels 3 controlled by independent drive motors. Specifically, the tracked walking mechanism also includes driven track wheels and drive tracks, with the drive tracks wound around the drive and driven track wheels. The drive motor can be remotely controlled via a GNSS system. The above structure can refer to the corresponding structure in an electric morel mushroom planter disclosed in Chinese invention patent application number CN202222306528.4, achieving constant speed control of the drive motor and thus realizing unmanned automatic cruising of the tracked walking mechanism. Furthermore, a camera module can be configured to achieve image transmission and trajectory assistance. The system includes RTK navigation, lidar obstacle avoidance, and voice communication functions. The specific design can refer to the open-source control modules of existing DJI drones. In this embodiment, the drive tracks are dual 23cm wide tracks, dual 1.2kW motors drive the movement, and a PWM controller provides remote control. This is to adapt to the sandy terrain of southern Xinjiang. The southern Xinjiang desert is the world's second largest shifting sand desert, the Taklamakan Desert. The shifting sand grains in the Taklamakan Desert are mainly composed of extremely fine sand, fine sand, and medium sand, with a nearly symmetrical or positively skewed distribution. Using a tracked chassis with a lower ground pressure is more suitable for driving on sandy terrain. The tracked walking system has a low ground pressure, allowing it to operate in soft sand, reducing the possibility of slippage, sinking, or even being unable to move. It also increases the contact area with the sand and soil, increases driving friction, reduces the depth of sinking due to gravity, and ensures the stability of the sowing depth.

[0041] In order to realize the sowing function, a seed metering module and a lifting frame 49 that can be raised and lowered are installed on the middle of the mobile vehicle. The seed metering module is equipped with multiple seed metering and sowing positions, and a furrowing module and a soil covering module are installed on the lifting frame 49 corresponding to the position below the seed metering module.

[0042] The seeding module includes a seed-fertilizer box with an open top and a seeding area for morel mushrooms. Within this seeding area, a furrowing and seeding mechanism is installed at each seeding position, allowing for adjustable seeding spacing and speed. This mechanism includes a feed pipe installed at the bottom of the seed-fertilizer box, with a seeding spiral assembly coaxially mounted inside. The feed pipe is connected to the seeding area, and the seeding spiral assembly is connected to a seeding drive device. The seeding drive device rotates the seeding spiral assembly and can adjust its rotation speed. The seeding spiral assembly includes a seeding shaft 9 with spiral blades mounted around it. The spiral blades are arranged spirally downwards along the seeding axis, with the lowest point of the spiral blades exceeding the lowest point of the seeding axis. The morel mushroom material in the seed-fertilizer box enters the feeding pipe through the rotating spiral blades. The spiral blades 54 include a seed-feeding section 541, a seed-laying section 542, and a seed-scattering section 543. The seed-laying section 542 is located inside the feeding pipe and is configured with shafted spiral blades. The seed-feeding section is installed inside the seed-fertilizer box, and a stirring rod is also installed radially on the spiral blades of the seed-feeding section. The seed-scattering section 543 is located below the seed-laying section and is configured with shaftless spiral blades to scatter the morel mushroom seeds and provide uniform sowing.

[0043] The lower middle part of the seed fertilizer box is fixedly connected to an inverted V-shaped plate 11. The front and rear sides of the lower end of the seed fertilizer box are inclined towards the seed discharge axis of the seed fertilizer box, and the inclination angle is the same as half of the included angle of the V-shaped plate. The lower end of the seed fertilizer box and the lower end of the V-shaped plate are flush, and a seed discharge area for morel mushrooms is formed between the lower end of the seed fertilizer box and the lower end of the V-shaped plate. The V-shaped plate can promote the diversion of materials. The front and rear sides of the lower end of the seed fertilizer box are inclined towards the center of the seed fertilizer box, and the inclination angle is the same as half of the included angle of the V-shaped plate 11. That is, the lower end of the seed fertilizer box is an inverted "eight" shaped structure, which forms two sets of "eight" shaped structures with the V-shaped plate, namely the seed discharge area for morel mushrooms, so as to facilitate the discharge of materials and prevent the materials from accumulating at the bottom and making them difficult to clean.

[0044] The ditching and seeding mechanism consists of two rows arranged in an alternating pattern. The two rows of ditching and seeding mechanisms are located at the lower part of the two seeding areas. The seeding drive device includes a hexagonal drive shaft 7 rotatably mounted on the top of the seed and fertilizer box. A driven drive sprocket is mounted at the end of the hexagonal drive shaft 7. A drive chain is installed between the driven drive sprockets. A servo drive motor is mounted on the seed and fertilizer box at the position corresponding to the drive chain. An active drive sprocket that meshes with the drive chain is mounted on the servo drive motor. The upper end of the seeding shaft extends to the hexagonal drive shaft. A bevel gear steering head 8 is mounted on the hexagonal drive shaft at the position corresponding to the seeding shaft. The bevel gear steering head converts the horizontal rotation of the hexagonal drive shaft into the vertical rotation of the seeding shaft. The specific model can be set by the user according to their needs. The output shaft of the bevel gear steering head is detachably connected to the upper end of the hexagonal drive shaft. In addition, the horizontal position of the bevel gear steering head can be adjusted. After being adjusted to a certain position, it can be locked on the drive shaft by a locking clamp to prevent the bevel gear steering head from axially moving during the rotation of the hexagonal drive shaft.

[0045] The seed and fertilizer box 5 above the installation space is rotatably connected to a hexagonal drive shaft 7. The hexagonal drive shaft 7 is equipped with a bevel gear steering head 8 with adjustable spacing. The bevel gear steering head 8 is selected from a corresponding reducer that can transmit horizontal rotation to vertical rotation. The specific model can be set by the user according to the requirements. After the bevel gear steering head 8 is adjusted to a certain position, it can be locked on the hexagonal drive shaft 7 by a locking clamp 10 to prevent the bevel gear steering head 8 from moving during the rotation of the hexagonal drive shaft 7. The output end of the bevel gear steering head 8 is fixedly connected to a seed dispensing shaft. A seed driving device 6 is fixedly connected to one side of the seed and fertilizer box 5. The seed driving device 6 is selected from a motor with adjustable speed to control the feeding speed. The output shaft of the seed driving device 6 is fixedly connected to the end of the hexagonal drive shaft 7.

[0046] The trenching module includes a movable seed metering pipe 41 and a double-disc trencher 4. The trenching module is used to open trenches before feeding and sowing. The movable seed metering pipe and the double-disc trencher are installed directly below the seed metering and sowing position. The bottom of the movable seed metering pipe is equipped with a slanted section. A telescopic sealing sleeve is installed between the movable seed metering pipe and the feeding pipe. The feeding pipe is coaxially embedded in the movable seed metering pipe.

[0047] The soil covering module includes a soil covering wheel 46 and a soil leveling plate 47. The soil covering wheel is rotatably installed on the lifting frame at the rear of the corresponding seeding position. One end of the soil leveling plate is hinged and installed on the lifting frame at the rear of the corresponding soil covering wheel. The other end of the soil leveling plate is freely attached to the ground. The rotation of the soil covering wheel realizes the soil covering after the morel mushrooms are sown, and the soil leveling plate is used to compact the soil after covering.

[0048] As a preferred embodiment, a bend can be designed at the end of the movable seeding pipe to prevent seed spillage.

[0049] To ensure the stability of the lifting frame 48, a lifting drive mechanism 49 is installed on the mobile vehicle to drive the synchronous lifting of the four corners of the lifting frame. The lifting drive mechanism drives the lifting frame to rise and fall, adjusting the sowing depth. The lifting drive mechanism includes lifting screws 50 that rotate downwards and are installed at the four corners of the lifting frame. A lifting drive servo motor is installed on the mobile vehicle. The lifting drive servo motor is connected to a multi-axis transmission assembly 51 through a reducer. The multi-axis transmission assembly includes multiple transmission rods 52 connected end to end, forming a U-shape. Screw nuts are installed on the transmission rods corresponding to the lifting screw positions. The screw nuts are threadedly engaged with the lifting screws. The lifting screws are trapezoidal screws with a self-locking function. The furrow opener can be adjusted to control the sowing depth and the height of the covering device according to changes in terrain. On the one hand, it can achieve simultaneous sowing and lowering, and simultaneous stopping and raising (while the shaft screw drive motor stops to stop sowing); on the other hand, it can adjust the positioning depth of the furrow opener and the covering device according to the planting depth.

[0050] In addition, to allow for adjustment of the furrow spacing, the following design improvements were made to the furrowing and seeding mechanism, specifically, as follows: Figure 5-9 As shown, the trenching and seeding mechanism includes multiple seeding components that are adjusted as the seeding shaft 9 moves, a first auxiliary component for filling the space between two adjacent seeding components, and a second auxiliary component for filling the space between the seeding components and the seed-fertilizer box 5. The first and second auxiliary components can be matched with seeding components at different positions. Through the cooperation between the first auxiliary component and the base plate 13, the position of the feed pipe 25 can be adjusted while preventing material from flowing out from the bottom of the seed-fertilizer box 5. At the same time, with the adjustable bevel gear steering head 8, the trenching spacing can be adjusted.

[0051] Specifically, such as Figure 7-11 As shown, the seed metering assembly includes a base plate 13 with a discharge port 14, a discharge pipe 25 fixedly connected to the lower end of the base plate 13 and coinciding with the axis of the discharge port 14, and a fixing assembly for temporarily fixing the base plate 13 to the lower end of the V-shaped plate 11 and the seed-fertilizer box 5. The diameter of the discharge port 14 matches the spiral blades on the seed metering shaft 9, so that the outer edge of the spiral blades of the seed metering shaft 9 can fit against the inner side of the discharge pipe 25, thereby preventing the material from flowing out from the gap between the spiral blades of the seed metering shaft 9 and the discharge pipe 25.

[0052] Specifically, such as Figure 7-11 As shown, the fixing assembly includes an outer plate 15 fixedly connected to the front and rear ends of the base plate 13 and attached to the outer side of the lower end of the seed and fertilizer box 5, a right-angled trapezoidal through groove 16 symmetrically opened on the front and rear sides of the base plate 13, an inner plate 19 rotatably connected in the right-angled trapezoidal through groove 16, and a drive module for driving the inner plate 19 to rotate. The outer plates 15 on both sides also form an "eight" shape structure so as to fit tightly to the outer side of the lower end of the seed and fertilizer box 5 and reduce the generation of gaps. The inner plate 19 can be rotated to fit to the inner side of the lower end of the seed and fertilizer box 5, and the side of the inner plate 19 facing the center of the seed and fertilizer box 5 fits to the inclined side of the right-angled trapezoidal through groove 16. When the inner plate 19 fits to the inner side of the lower end of the seed and fertilizer box 5, the two inner plates 19 can also form an "eight" shape structure. When the inner plate 19 fits to the right angle side of the right-angled trapezoidal through groove 16, the two inner plates 19 are parallel to each other. At this time, the base plate 13 can be moved downward and then removed from the installation space.

[0053] Specifically, in combination Figure 11As shown, a limiting plate 17 is fixedly connected to the bottom plate 13 at the upper right angle of the front end of the right-angled trapezoidal through groove 16. An arc-shaped guide plate 18 is fixedly connected to the side of the right-angled trapezoidal through groove 16 away from the axis of the seed and fertilizer box 5. An arc-shaped groove 21 that can rotate around the hinge point between the limiting plate 17 and the bottom plate 13 and a fan-shaped groove 20 that can slide along the arc-shaped guide plate 18 are provided on the inner plate 19. When the inner plate 19 rotates, the fan-shaped groove 20 can slide along the arc-shaped guide plate 18 and the arc-shaped groove 21 can slide along the limiting plate 17. The center of the arc-shaped guide plate 18 is located at the hinge point between the limiting plate 17 and the bottom plate 13. When the arc-shaped guide plate 18 rotates, it will rotate around the hinge point between the limiting plate 17 and the bottom plate 13. The cooperation of the limiting plate 17 and the guide plate 18 limits the rotation angle of the inner plate 19.

[0054] The drive module includes a transmission plate 22 rotatably connected to the end of the inner plate 19 below the base plate 13, and a transmission rod 23 rotatably connected to the end of the transmission plate 22 away from the inner plate 19. A U-shaped plate is fixedly connected to the lower end of the base plate 13. The transmission rod 23 is slidably connected to the upper end of the U-shaped plate in the front-back direction, which guides the transmission rod 23 and prevents it from moving up and down. An arc-shaped threaded plate 27 is fixedly connected to the lower end of the transmission rod 23, and an external threaded sleeve 26 is fixedly connected to the upper end of the feed tube 25. The external threaded sleeve 26 has a notch for inserting the arc-shaped threaded plate 27. When the arc-shaped threaded plate 27 is inserted into the notch, the threads on the outside of the external threaded sleeve 26 and the threads on the outside of the arc-shaped threaded plate 27 form a complete thread groove. The outer side of the external threaded sleeve 26 is threadedly connected to an internal threaded ring 28. By rotating the internal threaded ring 28, the internal threaded ring 28 can be rotated onto the arc-shaped threaded plate 27, so that the arc-shaped threaded plate 27 is temporarily fixed to the external threaded sleeve 26. At this time, the inner plate 19 also fits against the inner side of the lower end of the seed and fertilizer box 5.

[0055] In addition, the first auxiliary component includes a material distribution block 30, a square base block 31 fixedly connected to the lower end of the material distribution block 30, connecting plates 33 symmetrically slidably connected to the left and right sides of the square base block 31, and side plates 35 symmetrically inserted into the front and rear sides of the square base block 31. To ensure that no material remains between the material distribution block 30 and the seed fertilizer box 5, the front and rear sides of the material distribution block 30 are attached to the V-shaped plate 11 and the seed fertilizer box 5, thus avoiding gaps between the material distribution block 30 and the seed fertilizer box 5. When the side plates 35 are inserted into the square base block 31, the upper end of the side plates 35 is attached to the lower end of the seed fertilizer box 5, so that the material distribution block 30 can be processed. The bottom plate 13 is fixedly connected to the lower ends of the left and right sides of the base plate 13. The center line of the support rod 29 is flush with the two sides of the base plate 13. The connecting plate 33 can be inserted into the support rod 29 and is flush with the base plate 13. The left and right sides of the square base block 31 are symmetrically provided with sliding grooves 32. The connecting plate 33 is slidably connected in the sliding grooves 32. The connecting plate 33 is driven and locked by the drive assembly 34. The drive assembly 34 can be an electric drive assembly, such as an electric telescopic rod or a cylinder, or it can be a manual drive assembly, such as a lead screw with a two-way thread. By rotating the lead screw, the two connecting plates 33 are driven to move simultaneously.

[0056] Specifically, in combination Figure 1-4 As shown, slots 12 are symmetrically provided on the left and right sides of the seed and fertilizer box 5. The slots 12 are connected to the installation space. The second auxiliary component includes a side plate 42 that is inserted into the slot 12. The thickness of the side plate 42 is the same as the height of the slot 12 to prevent material from flowing out from the gap between the two. The side plate 42 located in the seed and fertilizer box 5 can be inserted into the nearby support rod 29 to support that end. Locking components for locking the side plate 42 are symmetrically provided on the left and right sides of the seed and fertilizer box 5. By locking the side plate 42, the side plate 42 can be prevented from moving back and forth. At the same time, it can further fill the installation space and prevent material from falling from the installation space.

[0057] Specifically, in combination Figure 5 As shown, the locking assembly includes C-shaped blocks 43 symmetrically fixedly connected to the seed and fertilizer boxes 5 on both sides of the side plate 42, a top bolt 44 threadedly connected to the upper end of the C-shaped blocks 43, and a lower pressure plate 45 rotatably connected to the lower end of the top bolt 44. The two C-shaped blocks 43 are opposite each other, forming a space for the side plate 42 to slide, and the lower ends of the two C-shaped blocks 43 can also support the side plate 42. By rotating the top bolt 44, the lower pressure plate 45 is driven to press down on the side plate 42.

[0058] The feed pipe 25 is slidably connected to a movable seed metering pipe 41 along the vertical direction. The lower end of the movable seed metering pipe 41 is a sharp end, which facilitates operation in a greenhouse with sandy substrate soil. Compared with traditional soil, sandy substrate soil does not contain soil clods or other structures. The upper end of the movable seed metering pipe 41 is fixedly connected to a sliding plate 40. The lower end of the seed and fertilizer box 5 is symmetrically fixedly connected to a vertical guide rail 36. A rectangular plate 37 is slidably connected to the vertical guide rail 36 along the vertical direction. To facilitate the movement of the rectangular plate 37, both ends of the rectangular plate 37 extend beyond the vertical guide rail. The rail 36 is spaced at a certain distance for easy hand operation. A square through groove 39 is provided in the middle of the rectangular plate 37. The sliding plate 40 is slidably connected in the square through groove 39. The rectangular plate 37 is temporarily fixed to the vertical guide rail 36 by the plug-in rod 38. The vertical guide rail 36 is provided with plug-in slots for the plug-in rod 38 to be inserted. There are two plug-in slots. One is used to fix the rectangular plate 37 when it is lifted up, so that the movable seed metering tube 41 is away from the bottom of the soil. The other is used to fix the rectangular plate 37 to the vertical guide rail 36 when the movable seed metering tube 41 is inserted into the soil.

[0059] When it is necessary to adjust the furrow spacing: the positions of the bevel gear steering head 8 and the base plate 13 need to be adjusted simultaneously. When adjusting the position of the base plate 13, first move the position of the base plate 13 along the lower end of the seed and fertilizer box 5. After moving to a certain position, pull the arc-shaped threaded plate 27 towards the center of the base plate 13, so that the arc-shaped threaded plate 27 drives the transmission rod 23 to slide along the bottom of the base plate 13. The transmission rod 23 will pull the transmission plate 22 to move, so that the inner plate 19 fits against the inner side of the seed and fertilizer box 5. At this time, pull the arc-shaped threaded plate 27 into the notch, and then rotate the inner threaded ring 28 to rotate the inner threaded ring 28 onto the arc-shaped threaded plate 27 to complete the fixing of the arc-shaped threaded plate 27. The transmission rod 23 can then fit tightly against the inner side of the seed and fertilizer box 5.

[0060] After bonding is completed, the material distribution block 30 is inserted between two adjacent seeding components. Then, the drive module is controlled to drive the connecting plate 33 to the two adjacent seeding component support rods 29. Then, the side plate 35 is inserted into the front and rear sides of the square base block 31 to fix the position of the square base block 31, thereby fixing the material distribution block 30.

[0061] Then, insert the side plates 42 at both ends of the seed and fertilizer box 5 into the nearest support rod 29 respectively. After the movement is completed, rotate the top bolt 44 so that the lower pressure plate 45 presses down on the side plate 42 to lock the side plate 42.

[0062] When adjusting the position of the bevel gear steering head 8, simply move the bevel gear steering head 8 laterally along the drive shaft 7 until it is moved to the position corresponding to the feed port 14, and then tighten the locking clamp 10 to lock the position of the bevel gear steering head 8.

[0063] When using this device: First, adjust the position of the rectangular plate 37 along the vertical guide rail 36 so that the lower end of the movable seeding pipe 41 can be inserted into the sandy substrate soil to achieve the effect of opening furrows and discharging materials at the same time. Then, pour the morel mushrooms into the seed fertilizer box 5. With the movement of the track wheel 2 and the start of the drive motor 6, the soil is opened and the materials are discharged. At the same time, with the setting of the ground wheel assembly 3, the furrows are re-covered.

[0064] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An unmanned morel mushroom planter based on yellow sand substrate in southern Xinjiang, comprising a mobile vehicle body, characterized in that: The mobile vehicle is equipped with tracked walking mechanisms on both sides to adapt to the sandy substrate terrain of southern Xinjiang. The tracked walking mechanism includes tracked drive wheels controlled by independent drive motors. The drive motors can be remotely controlled via GNSS system and RTK real-time dynamic measurement technology to achieve constant speed control of the drive motors, thereby realizing unmanned automatic cruising of the tracked walking mechanism. The mobile vehicle body is equipped with a seed metering module and a lifting frame that can be raised and lowered. The seed metering module is configured with multiple seed metering and sowing positions. The lifting frame is equipped with a trenching module and a soil covering module at the position below the seed metering module. The trenching module includes a movable seed metering tube and a double-disc trencher. The trenching module is used to open trenches before sowing. The movable seed metering tube and the double-disc trencher are located directly below the seed metering and sowing position. The movable seed metering tube is coaxially arranged with the seed metering and sowing position. The soil covering module includes a soil covering wheel and a soil leveling plate. The soil covering wheel is rotatably mounted on the lifting frame at the rear of the corresponding seeding position. One end of the soil leveling plate is hinged on the lifting frame at the rear of the soil covering wheel, and the other end of the soil leveling plate is freely attached to the ground. The rotation of the soil covering wheel realizes the soil covering after the morel mushrooms are sown, and the soil leveling plate compacts the soil after covering. The mobile vehicle is equipped with a lifting drive mechanism for driving the lifting frame to rise and fall synchronously at its four corners. The lifting drive mechanism drives the lifting frame to rise and fall, adjusting the sowing depth. The seed metering module also includes a base plate with a discharge port, a discharge pipe fixedly connected to the lower end of the base plate and coinciding with the axis of the discharge port, and a fixing component for temporarily fixing the base plate to the V-shaped plate and the lower end of the seed and fertilizer box. The diameter of the discharge port matches the spiral blades on the seed metering shaft, so that the outer edge of the spiral blades of the seed metering shaft can fit against the inner side of the discharge pipe, thereby preventing the material from flowing out from the gap between the spiral blades of the seed metering shaft and the discharge pipe. The fixing assembly includes an outer plate fixedly connected to the front and rear ends of the base plate and attached to the outer side of the lower end of the seed and fertilizer box, a right-angled trapezoidal through groove symmetrically opened on the front and rear sides of the base plate, an inner plate rotatably connected in the right-angled trapezoidal through groove, and a drive module for driving the inner plate to rotate. The outer plates on both sides also form an "eight" shape to ensure a tight fit with the outer side of the lower end of the seed and fertilizer box and reduce gaps. The inner plate can be rotated to fit the inner side of the lower end of the seed and fertilizer box, and the side of the inner plate facing the center of the seed and fertilizer box fits the inclined side of the right-angled trapezoidal through groove. When the inner plate fits the inner side of the lower end of the seed and fertilizer box, the two inner plates can also form an "eight" shape. When the inner plate fits the right angle side of the right-angled trapezoidal through groove, the two inner plates are parallel to each other. At this time, the base plate can be moved downward and removed from the installation space.

2. The unmanned morel mushroom planter in the yellow sand substrate of southern Xinjiang according to claim 1, characterized in that: The seeding module includes a seed-fertilizer box with an opening at the top and a seeding area for morel mushrooms. Within the seeding area, a furrowing and seeding mechanism with adjustable feeding spacing is provided for each seeding position. The furrowing and seeding mechanism includes a feeding pipe located at the bottom of the seed-fertilizer box. A seeding spiral assembly is coaxially rotatable within the feeding pipe. The feeding pipe is connected to the seeding area. The seeding spiral assembly is connected to a seeding drive device, which drives the seeding spiral assembly to rotate and can adjust the rotation speed to control the seeding rate.

3. The unmanned morel mushroom planter in the yellow sand substrate of southern Xinjiang according to claim 2, characterized in that: The seed metering spiral assembly includes a seed metering shaft with spiral blades arranged around it. The spiral blades are spirally arranged downwards along the seed metering shaft, and the lowest point of the spiral blades exceeds the lowest point of the seed metering shaft. The morel mushroom material in the seed-fertilizer box enters the feeding pipe through the rotating spiral blades. The spiral blades include a seed delivery section, a seed placement section, and a seed spreading section. The seed placement section is located inside the seed-fertilizer box and within the feeding pipe. The seed delivery section is also located inside the seed-fertilizer box, and a stirring rod is radially arranged on the spiral blades of the seed delivery section. The seed placement section is located inside the feeding pipe and is configured with shafted spiral blades. The seed spreading section is located below the seed placement section and is configured with shaftless spiral blades to spread the morel mushroom seeds and provide uniform sowing.

4. The unmanned morel mushroom planter in the yellow sand substrate of southern Xinjiang according to claim 3, characterized in that: The seeding and sowing positions and furrowing modules are arranged in two rows and staggered. The sowing drive device includes a drive shaft rotatably mounted on the top of the seed and fertilizer box. There are two parallel hexagonal drive shafts. A driven drive sprocket is provided at the end of the drive shaft. A drive chain is provided between the driven drive sprockets. A drive motor is provided on the seed and fertilizer box at the position corresponding to the drive chain. An active drive sprocket that meshes with the drive chain is provided on the drive motor. The upper end of the seed metering shaft extends to the drive shaft. A bevel gear drive steering head is provided on the drive shaft at the position corresponding to the seed metering shaft. The bevel gear drive steering head converts the horizontal rotation of the drive shaft into the vertical rotation of the seed metering shaft.

5. The unmanned morel mushroom planter in the yellow sand substrate of southern Xinjiang according to claim 1, characterized in that: An inverted V-shaped plate is fixedly connected to the lower middle part of the seed fertilizer box. The front and rear sides of the lower end of the seed fertilizer box are inclined towards the center side of the seed fertilizer box, and the inclination angle is the same as half of the included angle of the V-shaped plate. The lower end of the seed fertilizer box and the lower end of the V-shaped plate are flush, and a morel mushroom accommodating and planting area is formed between the lower end of the seed fertilizer box and the lower end of the V-shaped plate.

6. The unmanned morel mushroom planter in the yellow sand substrate of southern Xinjiang according to claim 1, characterized in that: The lifting drive mechanism includes lifting screws that rotate downwards and are located at the four corners of the lifting frame. The moving vehicle body is equipped with a lifting drive servo motor. The lifting drive servo motor is connected to a multi-axis transmission assembly through a reducer. The multi-axis transmission assembly includes multiple transmission rods connected end to end, which are distributed in a U-shape. A screw nut is provided on each transmission rod corresponding to the position of the lifting screw, and the screw nut is threadedly engaged with the lifting screw.

7. The unmanned morel mushroom planter in the yellow sand substrate of southern Xinjiang according to claim 1, characterized in that: The bottom of the movable seed metering tube is provided with a beveled section, and a telescopic sealing sleeve is provided between the movable seed metering tube and the feeding tube. The feeding tube is coaxially embedded in the movable seed metering tube.

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