High-precision single-seed sowing equipment for wheat breeding

Abstract

The invention relates to the technical field of wheat single-grain sowing equipment, and discloses high-precision single-grain sowing equipment for wheat breeding, which comprises a storage mechanism fixedly connected to the upper surface of the rear side of a mounting platform, a screening mechanism fixedly connected to the interior of the storage mechanism, and an auxiliary conveying mechanism, the auxiliary conveying mechanisms are arranged on the left side and the right side of the storage mechanism, the seeding mechanical arm mechanism is fixedly connected to the upper surface of the front side of the mounting platform, and the seeding mechanism is fixedly connected to the tail end of the front side of the seeding mechanical arm mechanism; the auxiliary positioning mechanism is fixedly connected to the upper surface of the front side of the mounting platform and the rear side of the seeding mechanism. The screening mechanism is arranged, strict screening is conducted through the seed inspection device in the screening mechanism before seed sowing, unqualified seeds are prevented from entering the sowing process, the probability of breeding failure is effectively reduced, and the utilization rate of seed resources is increased.

Description

Technical Field

[0001] The invention relates to the technical field of wheat single-grain sowing equipment, in particular to high-precision single-grain sowing equipment for wheat breeding. Background Art

[0002] With the development of agricultural science and technology, the requirements for wheat breeding are gradually increasing to meet the needs of high yield, high quality and strong resistance. In the modern breeding process, the sowing quality of wheat seeds is directly related to the final breeding effect. Therefore, high-precision single-seed sowing technology has become an important research direction. High-precision sowing can not only ensure that each seed is in the ideal position and obtains the right amount of water and nutrient support, but also reduce the waste of seed resources, improve breeding efficiency, and bring greater benefits to agricultural production. Therefore, the application demand of single-seed sowing technology in modern agriculture is growing.

[0003] In the prior art, ordinary high-precision single-grain sowing equipment is generally only responsible for throwing single-grain wheat seeds out of the equipment, and will not screen the seeds. Therefore, unqualified wheat seeds may be sown together during sowing, which will cause the sown seeds to fail to grow normally and lead to breeding failure, thereby affecting the breeding efficiency of wheat seeds. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a high-precision single-grain sowing device for wheat breeding, which solves the problem that ordinary high-precision single-grain sowing devices in the prior art cannot screen wheat seeds.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A high-precision single-grain sowing device for wheat breeding, comprising:

[0006] A storage mechanism, which is fixedly connected to the upper surface of the rear side of the mounting platform, and is used to store the wheat seeds to be sown and to sequentially deliver them to the screening mechanism in a single-grain conveying manner for screening;

[0007] A screening mechanism, which is fixedly connected to the interior of the storage mechanism and functions to inspect and screen the single-grain wheat seeds delivered by the storage mechanism, and decide whether to sow the seeds according to the inspection results;

[0008] Auxiliary conveying mechanism, the auxiliary conveying mechanism is arranged on the left and right sides of the storage mechanism, and its function is to output the single-grain wheat seeds screened by the screening mechanism according to the screening results, and the qualified wheat seeds will be transported to the sowing mechanical arm mechanism and the sowing mechanism through the auxiliary conveying mechanism for sowing, and the unqualified wheat seeds will be discharged from the screening mechanism and collected by the auxiliary conveying mechanism;

[0009] A sowing mechanical arm mechanism, which is fixedly connected to the front upper surface of the mounting platform, and is used to drive the sowing mechanism to move, so that the sowing mechanism can move to a designated sowing position for sowing operation under the control of the control mechanism, and the sowing mechanical arm mechanism can also use an internal preset transport pipeline to connect the auxiliary transport mechanism, the irrigation and fertilization mechanism and the sowing mechanism;

[0010] A sowing mechanism, which is fixedly connected to the front end of the sowing mechanical arm mechanism, and is used to sow the received single-grain wheat seeds into the culture soil according to a preset program. At the same time, the sowing mechanism can also receive the irrigation liquid output by the irrigation and fertilization mechanism and sow it synchronously to the wheat sowing position;

[0011] An auxiliary positioning mechanism, which is fixedly connected to the front upper surface of the mounting platform and the rear side of the sowing mechanism, and is used to detect the specific position of the sowing mechanism and assist the control mechanism in controlling the sowing mechanical arm mechanism to drive the sowing mechanism to move to the designated position for precise sowing;

[0012] The fertilization and irrigation mechanism is fixedly connected to the upper surface of the middle part of the mounting platform, and its function is to store irrigation liquid for fertilization, and to deliver a certain amount of fertilization liquid to the sowing mechanism according to a preset program to accurately fertilize the wheat seeds;

[0013] A walking mechanism, which is fixedly connected to the lower surface of the mounting platform, and whose function is to drive the entire device to move in the sowing environment, and to provide power to the entire device through its internal power components;

[0014] The control mechanism is fixedly connected to the rear side of the walking mechanism, and its function is to automatically control the entire device and assist the device in performing automated sowing operations through communication with the outside world.

[0015] Preferably, the storage mechanism includes a storage tank fixing frame and a seed storage tank, the lower side of the storage tank fixing frame is fixedly connected to the upper surface of the rear side of the mounting platform, the lower surface of the seed storage tank is fixedly connected to the upper side of the storage tank fixing frame, the lower output end of the seed storage tank is fixedly connected to a first single-grain output device, the lower output end of the first single-grain output device is fixedly connected to the interior of the screening mechanism, and the interior of the storage tank fixing frame is fixedly connected to an internal fixing plate.

[0016] Preferably, the screening mechanism includes a mounting tank body and a screening cylinder body, the outer surface of the mounting tank body is fixedly connected to the middle part of the internal fixed plate, the outer surface of the screening cylinder body is fixedly connected to the inner surface of the mounting tank body, a screening block is provided inside the screening cylinder body, the middle part of the screening block is fixedly connected to a transmission rod, the transmission rod passes through the middle parts of the mounting tank body and the screening cylinder body and is rotatably connected thereto, a screening drive motor is fixedly connected to the lower side of the mounting tank body, the power output end of the screening drive motor is fixedly connected to the lower end of the transmission rod, a seed inspection device is fixedly connected to the lower surface of the rear side of the screening cylinder body, the lower surfaces of the left and right sides of the screening cylinder body are fixedly connected to lateral output pipes, and the upper rear surface of the screening cylinder body is fixedly connected to the lower output end of the first single-grain output device.

[0017] Preferably, the auxiliary conveying mechanism includes a first pneumatic conveying device and a collecting box, the first pneumatic conveying device is arranged on the left side of the storage tank fixing frame and fixedly connected to the upper surface of the mounting platform, the upper input end of the first pneumatic conveying device is fixedly connected to the output end of the left lateral output pipe, the output end of the first pneumatic conveying device is fixedly connected to a seed conveying hose, the collecting box is arranged on the right side of the storage tank fixing frame and fixedly connected to the upper surface of the mounting platform, the upper side of the collecting box is fixedly connected to a second pneumatic conveying device, the left input end of the second pneumatic conveying device is fixedly connected to the output end of the right sowing visual identification device, and the output end of the second pneumatic conveying device is fixedly connected to the upper input end of the collecting box.

[0018] Preferably, the sowing robot arm mechanism includes a fixed base and a bottom rotating device, the lower side of the fixed base is fixedly connected to the front upper surface of the mounting platform, the lower side of the bottom rotating device is fixedly connected to the upper surface of the fixed base, the upper end of the bottom rotating device is fixedly connected to a planting robot arm, the rear side of the planting robot arm is fixedly connected to an input interface device, the left side of the input interface device is fixedly connected to the output end of the seed conveying hose corresponding to the input end, a seed output interface is provided on the left side of the front of the planting robot arm, and an irrigation output interface is provided on the front side of the front of the planting robot arm.

[0019] Preferably, the sowing mechanism includes a connecting and fixing frame and a second single-grain output device, the upper side of the connecting and fixing frame is fixedly connected to the front part of the planting mechanical arm, the second single-grain output device is fixedly connected to the inner surface of the connecting and fixing frame, the lower side of the connecting and fixing frame is fixedly connected to a hole-digging and sowing device, the front sides of the connecting and fixing frame and the hole-digging and sowing device are both fixedly connected to an irrigation pipe fixing block, the middle part of the irrigation pipe fixing block is fixedly connected to an irrigation output pipe, the upper input end of the irrigation output pipe is fixedly connected to the irrigation output interface, the right input end of the second single-grain output device is fixedly connected to a seed output hose, and the upper output end of the seed output hose is fixedly connected to the seed output interface.

[0020] Preferably, the auxiliary positioning mechanism includes a front fixing seat and an auxiliary sowing positioning device, the lower side of the front fixing seat is fixedly connected to the front upper surface of the mounting platform, the upper side of the front fixing seat is fixedly connected with an angle adjustment device, the upper side of the angle adjustment device is fixedly connected with a sowing visual identification device, and the front side of the auxiliary sowing positioning device is fixedly connected to the rear side of the connecting fixing frame.

[0021] Preferably, the irrigation and fertilization mechanism includes an irrigation support frame and a liquid storage tank body, the lower side of the irrigation support frame is fixedly connected to the middle upper surface of the mounting platform, the lower side of the liquid storage tank body is fixedly connected to the upper end of the irrigation support frame, an irrigation output pump is fixedly connected to the middle upper surface of the irrigation support frame, the upper input end of the irrigation output pump is fixedly connected to the middle of the liquid storage tank body, the output end of the irrigation output pump is fixedly connected to an irrigation delivery hose, and the output end of the irrigation delivery hose is fixedly connected to the corresponding input end on the right side of the input interface device.

[0022] Preferably, the walking mechanism includes a walking chassis and an obstacle detection device. The upper side of the walking chassis is fixedly connected to the lower side of the mounting platform. The left and right sides of the walking chassis are fixedly connected with side baffles. The upper surfaces of the side baffles are fixedly connected with multiple groups of obstacle detection devices. The rear side of the walking chassis is fixedly connected with a rear support plate.

[0023] Preferably, the control mechanism includes a control box, an automatic control device, and a communication device. The lower side of the control box is fixedly connected to the upper side of the rear support plate. The automatic control device is arranged on the left side inside the control box, and the communication device is arranged on the right side inside the control box. The right side of the communication device is fixedly connected to an external communication antenna, and the right end of the external communication antenna passes through the right side of the control box and is fixedly connected to the control box. The automatic control device is electrically connected to the first single-grain output device, the screening drive motor, the seed inspection device, the first pneumatic conveying device, the second pneumatic conveying device, the bottom rotating device, the planting robot arm, the second single-grain output device, the hole digging and sowing device, the angle adjustment device, the sowing visual recognition device, the auxiliary sowing positioning device, the irrigation output pump, the walking chassis, the obstacle detection device, and the communication device.

[0024] The present invention provides a high-precision single-grain sowing device for wheat breeding. It has the following beneficial effects:

[0025] 1. The present invention is provided with a screening mechanism, and a seed inspection device in the screening mechanism is used to perform strict screening before seed sowing to prevent unqualified seeds from entering the sowing process, thereby effectively reducing the probability of breeding failure and improving the utilization rate of seed resources.

[0026] 2. The present invention is provided with a sowing mechanical arm structure, and through the cooperation of the sowing mechanical arm structure with other mechanisms, the device can accurately control the specific working position of the hole-digging and sowing device, and then accurately locate the wheat planting position, avoiding the occurrence of unreasonable seed sowing spacing.

[0027] 3. The present invention is provided with an irrigation device, through which irrigation and fertilization can be performed synchronously in the planting holes. Each seed obtains an appropriate amount of water and nutrient supply after sowing, thereby ensuring that the seeds grow in a suitable environment and improving the germination rate and early growth quality of the wheat seeds.

[0028] 4. The present invention is provided with a control mechanism, and the device adopts an automatic control device to coordinate the operation of various components to realize the full process automation of single-grain output, screening, sowing, irrigation and positioning, reduce the need for manual operation, effectively reduce labor intensity and improve production efficiency, so that the equipment can complete efficient sowing operations with no or few people operating, thereby improving the scope of application of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front overall schematic diagram of the present invention;

[0030] Figure 2 It is an overall schematic diagram of the back side of the present invention;

[0031] Figure 3 It is a detailed schematic diagram of the storage mechanism of the present invention;

[0032] Figure 4 It is a detailed schematic diagram of the screening mechanism of the present invention;

[0033] Figure 5 It is a schematic diagram of the structural details of the sowing mechanical arm of the present invention;

[0034] Figure 6 It is a detailed schematic diagram of the sowing mechanism of the present invention;

[0035] Figure 7 It is a detailed schematic diagram of the irrigation and fertilization mechanism of the present invention;

[0036] Figure 8 It is a detailed schematic diagram of the walking mechanism of the present invention;

[0037] Fig. 9 Detailed schematic diagram of the control mechanism of the present invention.

[0038] Among them, 1. installation platform; 2. storage mechanism; 201. storage tank fixing frame; 202. seed storage tank; 203. first single seed output device; 204. internal fixing plate; 3. screening mechanism; 301. installation tank body; 302. screening cylinder body; 303. screening block; 304. screening drive motor; 305. transmission rod; 306. seed inspection device; 307. lateral output pipe; 4. auxiliary conveying mechanism; 401. first pneumatic conveying device; 402. seed conveying hose; 403. second pneumatic conveying device; 404. collection box; 5. sowing mechanical arm mechanism; 501. fixed base; 502. bottom rotating device; 503. planting mechanical arm; 504. input interface device; 505. seed output interface; 506. irrigation output interface; 6. sowing mechanism; 601, connecting fixing frame; 602, second single seed output device; 603, hole digging and sowing device; 604, irrigation pipe fixing block; 605, irrigation output pipe; 606, seed output hose; 7, auxiliary positioning mechanism; 701, front side fixing seat; 702, angle adjustment device; 703, sowing visual recognition device; 704, auxiliary sowing positioning device; 8, irrigation and fertilization mechanism; 801, irrigation support frame; 802, liquid storage tank body; 803, irrigation output pump; 804, irrigation delivery hose; 9, walking mechanism; 901, walking chassis; 902, side baffle; 903, obstacle detection device; 904, rear support plate; 10, control mechanism; 1001, control box; 1002, automatic control device; 1003, communication device; 1004, external communication antenna. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Please see attached Figure 1 - Attachment Figure 3 The embodiment of the present invention provides a high-precision single-grain sowing device for wheat breeding, comprising:

[0041] The storage mechanism 2 is fixedly connected to the upper rear surface of the mounting platform 1, and its function is to store the wheat seeds to be sown, and to send them into the screening mechanism 3 for screening in a single-grain conveying manner in sequence. The storage mechanism 2 includes a storage tank fixing frame 201 and a seed storage tank 202. The lower side of the storage tank fixing frame 201 is fixedly connected to the upper rear surface of the mounting platform 1, and the lower surface of the seed storage tank 202 is fixedly connected to the upper side of the storage tank fixing frame 201. The lower output end of the seed storage tank 202 is fixedly connected to a first single-grain output device 203, and the lower output end of the first single-grain output device 203 is fixedly connected to the interior of the screening mechanism 3, and the interior of the storage tank fixing frame 201 is fixedly connected to an internal fixing plate 204.

[0042] Specifically, the seed storage tank 202 is located above the storage tank fixing frame 201, and serves as the initial storage unit for seeds. Its main function is to accommodate large quantities of wheat seeds. When the sowing operation begins, the seeds are stably discharged from the bottom of the storage tank 202 through the first single-grain output device 203 in a single-grain arrangement. The first single-grain output device 203 is connected to the lower end of the seed storage tank 202 and is used to control the output of single-grain wheat seeds. Its function is to synchronize the coordination of its own components to output one wheat seed to the screening mechanism 3 each time, thereby avoiding the discharge of multiple seeds at the same time and ensuring the accuracy of wheat seed screening and detection. The single-grain output device 203 can use a micro-mechanical switch or a pneumatic device to ensure that the seeds fall into the subsequent screening mechanism 3 one by one. The internal fixing plate 204 is located inside the storage tank fixing frame 201, and mainly plays the role of supporting and fixing the screening mechanism 3.

[0043] Please see attached Figure 4The screening mechanism 3 is fixedly connected to the inside of the storage mechanism 2, and its function is to inspect and screen the single-grain wheat seeds delivered by the storage mechanism 2, and decide whether to sow the seeds according to the inspection results. The screening mechanism 3 includes a mounting tank 301 and a screening cylinder 302. The outer surface of the mounting tank 301 is fixedly connected to the middle of the internal fixing plate 204, and the outer surface of the screening cylinder 302 is fixedly connected to the inner surface of the mounting tank 301. A screening block 303 is arranged inside the screening cylinder 302, and a transmission rod 3 is fixedly connected to the middle of the screening block 303. 05, the transmission rod 305 passes through the middle of the installation tank body 301 and the screening cylinder body 302 and is rotatably connected thereto, the lower side of the installation tank body 301 is fixedly connected with a screening drive motor 304, the power output end of the screening drive motor 304 is fixedly connected to the lower end of the transmission rod 305, the rear lower surface of the screening cylinder body 302 is fixedly connected with a seed inspection device 306, the left and right lower surfaces of the screening cylinder body 302 are fixedly connected with lateral output pipes 307, and the rear upper surface of the screening cylinder body 302 is fixedly connected to the lower output end of the first single-grain output device 203.

[0044] Specifically, the mounting tank body 301 is the main frame structure of the screening mechanism 3, and its function is to fix and support other components of the screening mechanism 3. The mounting tank body 301 is connected to the internal fixing plate 204 in the storage mechanism through its outer surface, so that the entire screening mechanism 3 is stably fixed inside the storage tank fixing frame 201.

[0045] The screening cylinder 302 is a component for actually screening seeds, and its outer surface is fixedly connected to the inner surface of the mounting tank 301. A screening block 303 is installed inside the screening cylinder. The screening block 303 is a circular push block with a fan-shaped notch, and its upper and lower sides are in close contact with the inner surface of the screening cylinder 302. It is used to push the wheat seeds inside the screening cylinder 302 into different lateral output pipes 307 after the screening results are obtained.

[0046] The middle of the screening block 303 is fixedly connected to the transmission rod 305, and the transmission rod 305 penetrates the middle of the mounting tank 301 and the screening cylinder 302 and is rotatably connected thereto. The transmission rod 305 rotates under the drive of the screening drive motor 304, driving the screening block 303 to rotate inside the screening cylinder 302. The screening drive motor 304 is installed on the lower side of the mounting tank 301, and its main function is to provide power to the transmission rod 305, thereby driving the screening block 303 to rotate.

[0047] The seed inspection device 306 is installed on the rear lower surface of the screening cylinder 302. The seed inspection device 306 uses an optical sensor and image processing technology to quickly detect the size, shape, roundness, integrity and surface color of wheat seeds. The lower surfaces on the left and right sides of the screening cylinder 302 are each connected to a lateral output pipe 307 for transporting the qualified and unqualified seeds after screening to the corresponding transport paths.

[0048] When the first single-grain output device 203 outputs a single-grain wheat seed from the seed storage tank 202 to the interior of the screening cylinder 302, the wheat seed will fall to the upper detection position of the seed inspection device 306. The seed inspection device 306 will inspect the wheat seed under the control of the control mechanism 10. Through optical sensors and image processing technology, the external indicators of the wheat seeds, such as size, shape, roundness, integrity and surface color, can be quickly screened out, and the collected wheat seed information will be transmitted to the control mechanism 10. The control mechanism decides whether the seeds are suitable for sowing by analyzing the information. If the seeds are judged to be unqualified, the control mechanism 10 automatically operates the screening drive motor 304 to drive the screening block 303 to rotate right one circle, and pushes the seeds into the lateral output tube 307 on the right. If the seeds are judged to be qualified, the control mechanism 10 automatically operates the screening drive motor 304 to drive the screening block 303 to rotate left one circle, and pushes the seeds into the lateral output tube 307 on the left. Subsequently, qualified and unqualified wheat seeds are sent out of the screening mechanism 3 through the auxiliary conveying mechanism 4 on the corresponding side to complete the wheat seed screening process, and automatically carry out the next round of wheat seed bag screening.

[0049] Please see attached Figure 3 The auxiliary conveying mechanism 4 is arranged on the left and right sides of the storage mechanism 2, and its function is to output the single-grain wheat seeds screened by the screening mechanism 3 according to the screening results. The qualified wheat seeds will be transported to the sowing mechanical arm mechanism 5 and the sowing mechanism 6 through the auxiliary conveying mechanism 4 for sowing, and the unqualified wheat seeds will be discharged from the screening mechanism 3 and collected by the auxiliary conveying mechanism 4. The auxiliary conveying mechanism 4 includes a first pneumatic conveying device 401 and a collecting box 404. The first pneumatic conveying device 401 is arranged on the left side of the storage tank fixing frame 201 and is fixedly connected to the upper surface of the mounting platform 1. The first pneumatic conveying device 401 is arranged on the left side of the storage tank fixing frame 201 and is fixedly connected to the upper surface of the mounting platform 1. The upper input end of the device 401 is fixedly connected to the output end of the left lateral output pipe 307, the output end of the first pneumatic conveying device 401 is fixedly connected to the seed conveying hose 402, the collecting box 404 is arranged on the right side of the storage tank fixing frame 201 and is fixedly connected to the upper surface of the mounting platform 1, the upper side of the collecting box 404 is fixedly connected to the second pneumatic conveying device 403, the left input end of the second pneumatic conveying device 403 is fixedly connected to the output end of the right sowing visual identification device 703, and the output end of the second pneumatic conveying device 403 is fixedly connected to the upper input end of the collecting box 404.

[0050] Specifically, the main function of the first pneumatic conveying device 401 is to suck out and convey the qualified seeds screened by the screening mechanism 3 from the lateral output pipe 307 on the left side. The working principle of the first pneumatic conveying device 401 is to use the airflow generated by the pneumatic compression device to accurately deliver the single seed to the sowing mechanism 6 through the seed conveying hose 402. The seed conveying hose 402 is connected to the output end of the first pneumatic conveying device 401 and is responsible for conveying the qualified single seed to the sowing mechanical arm mechanism 5. This method can ensure that the seeds remain stable and undamaged during the transportation process. Thereby minimizing the physical damage of the seeds during transportation. The flexible design of the seed conveying hose 402 makes the conveying process more flexible, does not hinder the movement of the sowing mechanical arm mechanism 5, and ensures that each seed reaches the sowing position smoothly.

[0051] The second pneumatic conveying device 403 is arranged on the upper side of the collecting box 404 and is fixedly connected to the collecting box. Its main function is to collect screened but unqualified seeds. By being connected to the lateral output tube 307 on the right, the second pneumatic conveying device 403 sucks the unqualified seeds out of the lateral output tube 307 on the right and conveys them to the collecting box 404 for collection and storage, so as to be reused or discarded later.

[0052] Please see attached Figure 5 The sowing mechanical arm mechanism 5 is fixedly connected to the front upper surface of the mounting platform 1, and its function is to drive the sowing mechanism 6 to move, so that the sowing mechanism 6 can move to the designated sowing position under the control of the control mechanism 10 to perform sowing operations. At the same time, the sowing mechanical arm mechanism 5 can also use the internal preset transportation pipeline to connect the auxiliary transportation mechanism 4, the irrigation and fertilization mechanism 8 and the sowing mechanism 6. The sowing mechanical arm mechanism 5 includes a fixed base 501 and a bottom rotating device 502. The lower side of the fixed base 501 is fixedly connected to the front upper surface of the mounting platform 1, and the lower side of the bottom rotating device 502 is fixedly connected to the upper surface of the fixed base 501. The upper end of the bottom rotating device 502 is fixedly connected with a planting mechanical arm 503, and the rear side of the planting mechanical arm 503 is fixedly connected with an input interface device 504. The left side of the input interface device 504 is fixedly connected to the output end of the seed conveying hose 402. A seed output interface 505 is provided on the left side of the front of the planting mechanical arm 503, and an irrigation output interface 506 is provided on the front side of the front of the planting mechanical arm 503.

[0053] Specifically, the fixed base 501 is located on the front upper surface of the mounting platform 1, serving as the base of the sowing mechanical arm mechanism 5, and providing a stable mounting position for other parts. The bottom rotating device 502 is located on the fixed base 501, and its main function is to enable the planting mechanical arm 503 to rotate in the horizontal direction to reach any sowing position around the device. The bottom rotating device 502 is driven by a servo motor, and its rotation angle and speed are precisely controlled by the control mechanism 10, thereby ensuring that the sowing mechanical arm can be quickly and accurately positioned to the target position during the sowing process.

[0054] The planting robot arm 503 is installed at the upper end of the bottom rotating device 502 as the main execution component of the sowing operation. The planting robot arm 503 can move in the front and back, up and down directions based on the bottom rotating device, and has high flexibility to adapt to different sowing needs. The interior of the planting robot arm adopts a multi-joint design, and is driven by corresponding servo motors. It can move flexibly in multiple dimensions, thereby achieving accurate arrival at different sowing points.

[0055] The input interface device 504 is installed on the rear side of the planting robot arm 503. Its main function is to connect with the seed delivery hose 402 and the irrigation delivery hose 804, so as to receive qualified seeds and fertilizer liquid transmitted by the auxiliary delivery mechanism 4. The input interface device 504 is used to ensure that qualified seeds and fertilizer liquid can smoothly enter the internal pipeline of the planting robot arm, and finally the sowing and fertilizing operations are carried out by the sowing mechanism 6. The seed output interface 505 and the irrigation output interface 506 are located on the front left side and the front front side of the planting robot arm 503, and are responsible for discharging the qualified seeds transmitted by the delivery mechanism 4 and the irrigation liquid provided by the irrigation and fertilization mechanism 8, and connecting the pipeline to transport them to the sowing mechanism 6.

[0056] Please see attached Figure 6The sowing mechanism 6 is fixedly connected to the front end of the sowing mechanical arm mechanism 5, and its function is to sow the received single-grain wheat seeds into the culture soil according to a preset program. At the same time, the sowing mechanism 6 can also receive the irrigation liquid output by the irrigation and fertilization mechanism 8 and sow it synchronously to the wheat sowing position. The sowing mechanism 6 includes a connecting frame 601 and a second single-grain output device 602. The upper side of the connecting frame 601 is fixedly connected to the front of the planting mechanical arm 503, and the second single-grain output device 602 is fixedly connected to the inner surface of the connecting frame 601. A hole digging and sowing device 603 is fixedly connected to the lower side of the connecting and fixing frame 601, and an irrigation pipe fixing block 604 is fixedly connected to the front sides of the connecting and fixing frame 601 and the hole digging and sowing device 603. An irrigation output pipe 605 is fixedly connected to the middle part of the irrigation pipe fixing block 604, and the upper input end of the irrigation output pipe 605 is fixedly connected to the irrigation output interface 506. The right input end of the second single-grain output device 602 is fixedly connected to the seed output hose 606, and the upper output end of the seed output hose 606 is fixedly connected to the seed output interface 505.

[0057] Specifically, the connecting and fixing frame 601 is located at the upper part of the sowing mechanism, and its function is to fix the entire sowing mechanism 6 to the front end of the planting mechanical arm 503. The connecting and fixing frame 601 ensures that the entire sowing mechanism 6 always maintains a rigid connection with the planting mechanical arm 503 during the movement of the planting mechanical arm 503, thereby preventing the shaking caused by the movement of the mechanical arm from affecting the sowing accuracy. The second single-grain output device 602 is installed inside the connecting and fixing frame 601, and its main function is to receive the wheat seeds input by the first single-grain output device 203 through the seed delivery hose 606, and output them one by one to the hole-digging sowing device 603.

[0058] The hole-digging and sowing device 603 is fixedly connected to the lower side of the connecting and fixing frame 601 and is located at the very end of the sowing mechanism. Its function is to dig appropriate planting holes for each seed at the sowing position under the control of the control mechanism 10 and the drive of the planting robot arm 503, and accurately implant the wheat seeds into the holes. The hole-digging and sowing device 603 uses a mechanical opening and closing method to dig the soil and form holes in the cultivation soil, and during the opening and closing process, the seeds fall into the holes, ensuring that the seeds can be placed at a suitable depth in the cultivation soil, thereby improving the germination rate and growth quality of the wheat seeds.

[0059] The main function of the irrigation pipe fixing block 604 is to fix the irrigation output pipe 605 and enhance its stability. The irrigation output pipe 605 is fixedly connected to the irrigation output interface 506 through the upper input end, and is used to receive the irrigation liquid provided by the irrigation and fertilization mechanism 8, and transport the irrigation liquid to the planting position of the wheat seeds, so as to achieve synchronous seed sowing and irrigation. This synchronous irrigation method helps to ensure that each seed obtains the right amount of water and fertilizer immediately after sowing, thereby improving the survival rate and early growth quality of the wheat seeds. The function of the seed output hose 606 is to transport the transmitted qualified single seed to the inside of the second single seed output device 602.

[0060] Please see attached Figure 2 The auxiliary positioning mechanism 7 is fixedly connected to the front upper surface of the mounting platform 1 and the rear side of the sowing mechanism 6. Its function is to detect the specific position of the sowing mechanism 6 and assist the control mechanism 10 to control the sowing mechanical arm mechanism 5 to drive the sowing mechanism 6 to move to the designated position for precise sowing. The auxiliary positioning mechanism 7 includes a front side fixed seat 701 and an auxiliary sowing positioning device 704. The lower side of the front side fixed seat 701 is fixedly connected to the front upper surface of the mounting platform 1, and the upper side of the front side fixed seat 701 is fixedly connected with an angle adjustment device 702. The upper side of the angle adjustment device 702 is fixedly connected with a sowing visual recognition device 703. The front side of the auxiliary sowing positioning device 704 is fixedly connected to the rear side of the connecting fixed frame 601.

[0061] Specifically, the front fixed seat 701 is located on the front upper surface of the mounting platform 1, and its main function is to provide a stable basic support point for the auxiliary positioning mechanism, and to provide support for the installation of the angle adjustment device 702 and the sowing visual recognition device 703. The angle adjustment device 702 is located above the front fixed seat 701, and its main function is to adjust the working angle of the sowing visual recognition device 703 under the operation of the control mechanism 10, so as to obtain the best viewing angle to detect the environmental information of the sowing position and cooperate with the auxiliary sowing positioning device 704 to locate the working position of the hole digging sowing device 603.

[0062] The sowing visual recognition device 703 is located on the upper side of the angle adjustment device 702 and is a key component in the auxiliary positioning mechanism. Its main function is to obtain image information of the sowing area in real time, and to identify the position of the sowing mechanical arm and the target sowing position through visual processing algorithms. In this process, the auxiliary sowing positioning device 704 can actively cooperate with the sowing visual recognition device 703 to perform more accurate positioning operations. Through data connection with the control mechanism 10, the sowing visual recognition device 703 can analyze the current sowing position in real time and determine whether it is consistent with the set target position. If there is a deviation, the control mechanism 10 will issue a command to adjust the position of the mechanical arm until the optimal sowing position is reached. The auxiliary sowing positioning device 704 is located on the rear side of the connecting bracket 601. Its main function is to detect and feedback the current position of the hole digging sowing device 603 to ensure that each sowing can be carried out at a precise position.

[0063] Please see attached Figure 7 The irrigation and fertilization mechanism 8 is fixedly connected to the middle upper surface of the installation platform 1. Its function is to store irrigation liquid for fertilization and transport a certain amount of fertilization liquid to the sowing mechanism 6 according to a preset program to accurately fertilize the wheat seeds. The irrigation and fertilization mechanism 8 includes an irrigation support frame 801 and a liquid storage tank body 802. The lower side of the irrigation support frame 801 is fixedly connected to the middle upper surface of the installation platform 1, and the lower side of the liquid storage tank body 802 is fixedly connected to the upper end of the irrigation support frame 801. An irrigation output pump 803 is fixedly connected to the middle upper surface of the irrigation support frame 801. The upper input end of the irrigation output pump 803 is fixedly connected to the middle of the liquid storage tank body 802. The output end of the irrigation output pump 803 is fixedly connected to an irrigation delivery hose 804. The output end of the irrigation delivery hose 804 is fixedly connected to the corresponding input end on the right side of the input interface device 504.

[0064] Specifically, the irrigation support frame 801 is installed on the middle upper surface of the installation platform 1, and its main function is to support other components of the entire irrigation and fertilization mechanism, so that components such as the liquid storage tank body 802 and the irrigation output pump 803 can be stably installed on the device. The liquid storage tank body 802 is fixedly connected to the upper end of the irrigation support frame 801, and is used to store irrigation liquid. The liquid contains water and various nutrient fertilizers, and is selected according to actual use needs, so as to provide appropriate moisture and nutrients to the seeds immediately after sowing.

[0065] The irrigation output pump 803 is arranged on the middle upper surface of the irrigation support frame 801. Its main function is to extract the liquid in the liquid storage tank 802 and transport it to the sowing mechanical arm mechanism 5 through a pipeline. The operation of the irrigation output pump is controlled by the control mechanism 10. By adjusting the output pressure and flow of the pump, quantitative and accurate irrigation and fertilization can be achieved. During the sowing process, the irrigation output pump ensures that the amount of liquid irrigated each time meets the needs of the seeds to prevent excess or deficiency. One end of the irrigation delivery hose 804 is fixedly connected to the output end of the irrigation output pump 803, and the other end is connected to the corresponding input end on the right side of the input interface device 504, which is used to transport the liquid extracted by the irrigation output pump 803 to the sowing mechanical arm mechanism 5.

[0066] Please see attached Figure 8 The walking mechanism 9 is fixedly connected to the lower surface of the installation platform 1. Its function is to drive the entire device to move in the sowing environment and provide power to the entire device through its own internal power components. The walking mechanism 9 includes a walking chassis 901 and an obstacle detection device 903. The upper side of the walking chassis 901 is fixedly connected to the lower side of the installation platform 1. The left and right sides of the walking chassis 901 are fixedly connected with side baffles 902. The upper surface of the side baffles 902 is fixedly connected with multiple groups of obstacle detection devices 903. The rear side of the walking chassis 901 is fixedly connected with a rear support plate 904.

[0067] Specifically, the walking chassis 901 is fixedly connected to the lower side of the installation platform 1, and is the basic component of the entire walking mechanism. Its function is to bear the weight of the equipment and drive the device to move as a whole. The walking chassis 901 can realize the free movement of the equipment in the field environment, and enhance the scope of application of the device. The side baffles 902 are fixed on the left and right sides of the walking chassis 901. Their main function is to provide an installation position for the obstacle detection device 903, and to protect the walking chassis from external impact and intrusion of debris, thereby improving the overall durability of the device.

[0068] The obstacle detection device 903 is fixed on the upper surface of the side baffle 902 and is composed of multiple sets of sensors, which are used to detect obstacles in the direction of travel in real time to ensure that the device does not collide with obstacles during movement by scanning the environment around the device in real time. When an obstacle is detected, the sensor transmits the information to the control mechanism 10, and the control mechanism issues corresponding instructions based on this information to adjust the direction of travel or stop the device to avoid the obstacle. The rear support plate 904 is fixedly connected to the rear side of the walking chassis 901, and its main function is to provide a stable installation position for the control mechanism 10.

[0069] Please see attached Fig. 9The control mechanism 10 is fixedly connected to the rear side of the walking mechanism 9, and its function is to automatically control the entire device and assist the device in performing automated sowing operations through communication with the outside world. The control mechanism 10 includes a control box 1001, an automatic control device 1002, and a communication device 1003. The lower side of the control box 1001 is fixedly connected to the upper side of the rear support plate 904. The automatic control device 1002 is arranged on the left side of the control box 1001, and the communication device 1003 is arranged on the right side of the control box 1001. The right side of the communication device 1003 is fixedly connected to an external communication antenna 1004. The external communication antenna 1004 The right end of the automatic control device 1002 passes through the right side of the control box 1001 and is fixedly connected to the control box 1001. The automatic control device 1002 is electrically connected to the first single-grain output device 203, the screening drive motor 304, the seed inspection device 306, the first pneumatic conveying device 401, the second pneumatic conveying device 403, the bottom rotating device 502, the planting robot arm 503, the second single-grain output device 602, the hole digging and sowing device 603, the angle adjustment device 702, the sowing visual recognition device 703, the auxiliary sowing positioning device 704, the irrigation output pump 803, the walking chassis 901, the obstacle detection device 903, and the communication device 1003.

[0070] Specifically, the control box 1001 is installed on the upper side of the rear support plate 904. Its main function is to provide physical protection and support for the internal components of the control mechanism. The control box 1001 has good protective performance and can effectively prevent dust, moisture and various impurities in the field environment from entering, thereby protecting the internal automatic control device 1002 and communication device 1003, ensuring that they can operate normally when working in the field.

[0071] The automatic control device 1002 is located on the left side inside the control box 1001. It is the core component for realizing automatic control of the device. Its main function is to control the various actuators of the equipment, including the first single-grain output device 203, the screening drive motor 304, the seed inspection device 306, the first pneumatic conveying device 401, the second pneumatic conveying device 403, the bottom rotating device 502, the planting robot arm 503, the second single-grain output device 602, the hole digging and sowing device 603, the angle adjustment device 702, the sowing visual recognition device 703, the auxiliary sowing positioning device 704, the irrigation output pump 803, the walking chassis 901 and the obstacle detection device 903.

[0072] The automatic control device 1002 centrally manages and coordinates these components through control algorithms. Through preset programs and real-time feedback, it can accurately control each step of sowing, such as single seed output, screening, and adjustment of the position of the robot arm during sowing. The operating instructions of each component are issued by the automatic control device, and dynamically adjusted according to real-time feedback to ensure high accuracy and efficiency of the entire sowing process.

[0073] The communication device 1003 is located on the right side of the control box 1001. Its main function is to realize the communication between the device and the outside, so that the operating status of the device and the information during the sowing process can be transmitted to the remote terminal in real time, and receive external information such as satellite positioning signals in real time to assist the device in performing automated operations. The communication device is connected to an external communication antenna 1004, which runs through the right side of the control box 1001 to ensure the stability of signal transmission. Through the communication device, the operator can monitor the real-time operation of the device on the remote terminal and adjust the operating procedures of the device according to the sowing conditions. The communication device can also receive remote instructions, so that the entire device has a certain remote control capability, so that the device can complete efficient sowing operations without or with few people operating.

[0074] Working principle: The high-precision single-grain sowing equipment for wheat breeding is first started by the control mechanism and controls the walking mechanism to move the equipment to the designated sowing area. With the assistance of the obstacle detection device, the walking chassis of the walking mechanism monitors obstacles in the forward direction in real time to ensure that the equipment safely reaches the sowing position and stops stably.

[0075] When the equipment starts the sowing process, the seed storage tank of the storage mechanism outputs wheat seeds one by one through the first single-grain output device, and the single-grain seeds are stably transmitted to the screening mechanism through the transmission structure. After the screening cylinder in the screening mechanism receives the seeds, the seed inspection device immediately uses optical sensors and image processing technology to detect the external characteristics of the seeds such as size, shape, integrity and color, and sends the detection information to the control mechanism. The control mechanism analyzes the test results to determine whether the seeds are qualified. If the seeds are qualified, the screening drive motor is controlled to rotate the screening dial to push the seeds into the left output tube; if the seeds are unqualified, they are pushed into the right output tube.

[0076] The screened qualified seeds are transported to the sowing mechanical arm mechanism by the first pneumatic conveying device through the seed conveying hose. The sowing mechanical arm moves under the precise command of the control mechanism through the bottom rotating device to ensure that the sowing mechanism reaches the preset sowing point. The sowing visual recognition device assists in detecting the environmental information of the sowing area, and the auxiliary positioning mechanism further ensures the accuracy of the sowing position.

[0077] After the robot arm is positioned, the sowing mechanism sends qualified seeds to the hole-digging sowing device through the second single-seed output device, which digs holes of appropriate depth in the soil and places the seeds in them. At the same time, the irrigation and fertilization mechanism delivers a preset amount of irrigation liquid to the irrigation output pipe through the irrigation output pump, and simultaneously injects the liquid into the sowing position through the irrigation interface of the sowing mechanism to provide the seeds with necessary moisture and nutrients.

[0078] After the equipment automatically completes seed sowing, irrigation and fertilization, the control mechanism instructs the robotic arm to move to the next sowing point and repeat the above process. After sowing, all unqualified seeds are sent to the collection box for centralized storage by the second pneumatic conveying device. During the whole process, the equipment maintains connection with the outside world through the communication device, remotely monitors the equipment status and receives operation adjustment instructions to ensure that the sowing process is efficient, accurate and easy to manage.

[0079] This automated sowing equipment significantly improves the sowing accuracy of wheat seeds, ensuring that each seed is evenly sown into the soil and supported by irrigation, enhancing the seed germination rate and early growth quality, while reducing manual operations and enabling efficient single-seed sowing and breeding operations for wheat seeds.

[0080] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision single-grain sowing device for wheat breeding, characterized in that: include: A storage mechanism (2), the storage mechanism (2) being fixedly connected to the upper surface of the rear side of the mounting platform (1), and having a function of storing wheat seeds to be sown and conveying them sequentially to the screening mechanism (3) in a single-grain conveying manner for screening; A screening mechanism (3), the screening mechanism (3) is fixedly connected to the interior of the storage mechanism (2), and its function is to inspect and screen the single-grain wheat seeds delivered by the storage mechanism (2), and to determine whether the seeds should be sown according to the inspection results; An auxiliary conveying mechanism (4), the auxiliary conveying mechanism (4) being arranged on the left and right sides of the storage mechanism (2), and having a function of outputting the single-grain wheat seeds screened by the screening mechanism (3) according to the screening results; qualified wheat seeds are transported to the sowing mechanical arm mechanism (5) and the sowing mechanism (6) through the auxiliary conveying mechanism (4) for sowing; unqualified wheat seeds are discharged from the screening mechanism (3) and collected by the auxiliary conveying mechanism (4); A sowing mechanical arm mechanism (5), wherein the sowing mechanical arm mechanism (5) is fixedly connected to the front upper surface of the mounting platform (1), and its function is to drive the sowing mechanism (6) to move, so that the sowing mechanism (6) can move to a designated sowing position for sowing operation under the control of the control mechanism (10), and at the same time, the sowing mechanical arm mechanism (5) can also use an internal preset transport pipeline to connect the auxiliary transport mechanism (4), the irrigation and fertilization mechanism (8) and the sowing mechanism (6); A sowing mechanism (6), wherein the sowing mechanism (6) is fixedly connected to the front end of the sowing mechanical arm mechanism (5), and its function is to sow the received single-grain wheat seeds into the culture soil according to a preset program. At the same time, the sowing mechanism (6) can also receive the irrigation liquid output by the irrigation and fertilization mechanism (8) and sow it synchronously to the wheat sowing position; An auxiliary positioning mechanism (7), the auxiliary positioning mechanism (7) is fixedly connected to the front upper surface of the mounting platform (1) and the rear side of the sowing mechanism (6), and its function is to detect the specific position of the sowing mechanism (6) and assist the control mechanism (10) in controlling the sowing mechanical arm mechanism (5) to drive the sowing mechanism (6) to move to a designated position for precise sowing; An irrigation and fertilization mechanism (8), the irrigation and fertilization mechanism (8) is fixedly connected to the middle upper surface of the mounting platform (1), and its function is to store irrigation liquid for fertilization, and to deliver a fixed amount of fertilization liquid to the sowing mechanism (6) according to a preset program to accurately fertilize the wheat seeds; A walking mechanism (9), wherein the walking mechanism (9) is fixedly connected to the lower surface of the mounting platform (1), and its function is to drive the entire device to move in the sowing environment, and to provide power to the entire device through its internal power components; The control mechanism (10) is fixedly connected to the rear side of the walking mechanism (9), and its function is to automatically control the entire device and assist the device in performing automated sowing operations through communication with the outside world.

2. A high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The storage mechanism (2) comprises a storage tank fixing frame (201) and a seed storage tank (202); the lower side of the storage tank fixing frame (201) is fixedly connected to the upper surface of the rear side of the mounting platform (1); the lower surface of the seed storage tank (202) is fixedly connected to the upper side of the storage tank fixing frame (201); the lower output end of the seed storage tank (202) is fixedly connected to a first single-grain output device (203); the lower output end of the first single-grain output device (203) is fixedly connected to the inside of the screening mechanism (3); and the inside of the storage tank fixing frame (201) is fixedly connected to an internal fixing plate (204).

3. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The screening mechanism (3) comprises a mounting tank (301) and a screening cylinder (302); the outer surface of the mounting tank (301) is fixedly connected to the middle of the internal fixing plate (204); the outer surface of the screening cylinder (302) is fixedly connected to the inner surface of the mounting tank (301); a screening block (303) is arranged inside the screening cylinder (302); a transmission rod (305) is fixedly connected to the middle of the screening block (303); the transmission rod (305) passes through the middle of the mounting tank (301) and the screening cylinder (302). The mounting tank (301) is fixedly connected to a screening drive motor (304) at its lower side, and the power output end of the screening drive motor (304) is fixedly connected to the lower end of a transmission rod (305). The rear lower surface of the screening cylinder (302) is fixedly connected to a seed inspection device (306). The left and right lower surfaces of the screening cylinder (302) are fixedly connected to lateral output pipes (307). The rear upper surface of the screening cylinder (302) is fixedly connected to the lower output end of the first single-grain output device (203).

4. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The auxiliary conveying mechanism (4) comprises a first pneumatic conveying device (401) and a collecting box (404); the first pneumatic conveying device (401) is arranged on the left side of the storage tank fixing frame (201) and is fixedly connected to the upper surface of the mounting platform (1); the upper input end of the first pneumatic conveying device (401) is fixedly connected to the output end of the left lateral output pipe (307); the output end of the first pneumatic conveying device (401) is fixedly connected to a seed conveying hose (402); the collecting box (404) is arranged on the right side of the storage tank fixing frame (201) and is fixedly connected to the upper surface of the mounting platform (1); the upper side of the collecting box (404) is fixedly connected to a second pneumatic conveying device (403); the left input end of the second pneumatic conveying device (403) is fixedly connected to the output end of the right sowing visual identification device (703); the output end of the second pneumatic conveying device (403) is fixedly connected to the upper input end of the collecting box (404).

5. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The sowing mechanical arm mechanism (5) comprises a fixed base (501) and a bottom rotating device (502); the lower side of the fixed base (501) is fixedly connected to the upper surface of the front side of the mounting platform (1); the lower side of the bottom rotating device (502) is fixedly connected to the upper surface of the fixed base (501); the upper end of the bottom rotating device (502) is fixedly connected to a planting mechanical arm (503); the rear side of the planting mechanical arm (503) is fixedly connected to an input interface device (504); the left side of the input interface device (504) is fixedly connected to the output end of the seed conveying hose (402); the left side of the front of the planting mechanical arm (503) is provided with a seed output interface (505); and the front side of the front of the planting mechanical arm (503) is provided with an irrigation output interface (506).

6. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The sowing mechanism (6) comprises a connecting and fixing frame (601) and a second single-grain output device (602). The upper side of the connecting and fixing frame (601) is fixedly connected to the front part of the planting mechanical arm (503). The second single-grain output device (602) is fixedly connected to the inner surface of the connecting and fixing frame (601). The lower side of the connecting and fixing frame (601) is fixedly connected to a hole digging and sowing device (603). The front sides of the connecting and fixing frame (601) and the hole digging and sowing device (603) are both fixedly connected to an irrigation pipe fixing block (604). The middle part of the irrigation pipe fixing block (604) is fixedly connected to an irrigation output pipe (605). The upper input end of the irrigation output pipe (605) is fixedly connected to an irrigation output interface (506). The right input end of the second single-grain output device (602) is fixedly connected to a seed output hose (606). The upper output end of the seed output hose (606) is fixedly connected to the seed output interface (505).

7. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The auxiliary positioning mechanism (7) comprises a front fixing seat (701) and an auxiliary sowing positioning device (704); the lower side of the front fixing seat (701) is fixedly connected to the front upper surface of the mounting platform (1); the upper side of the front fixing seat (701) is fixedly connected to an angle adjustment device (702); the upper side of the angle adjustment device (702) is fixedly connected to a sowing visual recognition device (703); and the front side of the auxiliary sowing positioning device (704) is fixedly connected to the rear side of the connecting fixing frame (601).

8. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The irrigation and fertilization mechanism (8) comprises an irrigation support frame (801) and a liquid storage tank body (802); the lower side of the irrigation support frame (801) is fixedly connected to the middle upper surface of the mounting platform (1); the lower side of the liquid storage tank body (802) is fixedly connected to the upper end of the irrigation support frame (801); an irrigation output pump (803) is fixedly connected to the middle upper surface of the irrigation support frame (801); the upper input end of the irrigation output pump (803) is fixedly connected to the middle of the liquid storage tank body (802); the output end of the irrigation output pump (803) is fixedly connected to an irrigation delivery hose (804); and the output end of the irrigation delivery hose (804) is fixedly connected to the corresponding input end on the right side of the input interface device (504).

9. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The walking mechanism (9) comprises a walking chassis (901) and an obstacle detection device (903); the upper side of the walking chassis (901) is fixedly connected to the lower side of the mounting platform (1); the left and right sides of the walking chassis (901) are fixedly connected to side baffles (902); the upper surfaces of the side baffles (902) are fixedly connected to multiple groups of obstacle detection devices (903); and the rear side of the walking chassis (901) is fixedly connected to a rear support plate (904).

10. The high-precision single-grain sowing equipment for wheat breeding according to claim 1, characterized in that: The control mechanism (10) comprises a control box (1001), an automatic control device (1002), and a communication device (1003); the lower side of the control box (1001) is fixedly connected to the upper side of the rear support plate (904); the automatic control device (1002) is arranged on the left side inside the control box (1001); the communication device (1003) is arranged on the right side inside the control box (1001); the right side of the communication device (1003) is fixedly connected to an external communication antenna (1004); the right end of the external communication antenna (1004) passes through the right side of the control box (1001) and is fixedly connected to the control box (1001). The automatic control device (1002) is electrically connected to the first single-grain output device (203), the screening drive motor (304), the seed inspection device (306), the first pneumatic conveying device (401), the second pneumatic conveying device (403), the bottom rotating device (502), the planting mechanical arm (503), the second single-grain output device (602), the hole digging and sowing device (603), the angle adjustment device (702), the sowing visual recognition device (703), the auxiliary sowing positioning device (704), the irrigation output pump (803), the walking chassis (901), the obstacle detection device (903), and the communication device (1003).

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