Depth-adjustable triangular final singling seeder for peanuts

Abstract

The invention relates to the technical field of peanut seeding, in particular to a depth-adjustable triangular final singling peanut seeding machine, and aims to dynamically generate peanut seeding points based on the root positions of corn plants through an image processing assembly, construct a corn-peanut symbiotic triangular layout, optimize photo-thermal resource distribution and improve the seeding efficiency. The depth-adjustable seeding mechanism is used for adjusting the peanut seeding depth, so that the space utilization rate and the emergence rate of interplanted crops are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of peanut seeding, and particularly relates to a peanut triangular seedling - fixing seeding machine with adjustable depth. Background Art

[0002] In the traditional planting mode, the triangular seedling - fixing technology has been widely applied to main crops such as corn. By mechanical or manual means, adjacent plants are arranged in a triangular layout, which can effectively balance the competition for light and nutrients. However, for peanut seeding, since it needs to be directly buried in the soil layer and lacks the ability of autonomous positioning, it has long relied on the following technologies: Manual interplanting: According to experience, visually estimate the positions of corn plants and manually dig holes for seeding. The efficiency is low (the operation speed is <0.5 mu / hour), and it is difficult to ensure geometric accuracy; Mechanical seeding machines: Sow with a fixed row spacing, and the depth adjustment relies on mechanical limit devices (such as spring pressure rods or bolt adjustments). The adjustment range is narrow (usually only 20 - 50 mm), and it cannot be associated with the positions of interplanted crops; Local automation equipment: Some models try to introduce photoelectric sensors to detect the soil height, but are greatly interfered by the field environment, and the positioning error is >10 cm, which is difficult to meet the requirements of triangular seedling - fixing.

[0003] In the prior art, there is no coordination mechanism between peanut seeding and the positions of corn plants. When interplanting, it relies on manual experience, which easily leads to an imbalance in the spatial layout (such as over - density causing shading and over - sparseness reducing land utilization rate); moreover, the traditional mechanical adjustment mechanism responds slowly, requires manual operation when stopping the machine, and the soil reaction force easily causes depth drift (the fluctuation range reaches ±15 mm), affecting the uniformity of seedling emergence; and when interplanting corn and peanuts, the prior art can only achieve triangular seedling - fixing of corn, while the peanut planting lacks a coordination positioning mechanism, resulting in a separation of their spatial layouts, having certain defects. Therefore, it is necessary to develop a peanut triangular seedling - fixing seeding machine with adjustable depth. Summary of the Invention

[0004] Aiming at the above - mentioned defects and problems, the present invention provides a peanut triangular seedling - fixing seeding machine with adjustable depth. Its purpose is to determine the peanut triangular seedling - fixing seeding positions in the crop interplanting environment through an image - processing component, and use an adjustable - depth seeding mechanism to adjust the peanut seeding depth, improving the spatial utilization rate and seedling emergence rate of interplanted crops.

[0005] The solution adopted by the present invention to solve its technical problems is as follows: An adjustable-depth peanut triangular seedling-spacing planter, comprising a seeding frame and a V-shaped furrow opener disposed within the seeding frame, further comprising an image processing component and an adjustable-depth seeding mechanism. The image processing component is used to capture the position of the root of the plant on one side of the seeding frame and perform image processing to determine the peanut triangular seedling-spacing seeding position; the adjustable-depth seeding mechanism includes a fixed pipe, a sliding pipe, a seed discharging pipe and a constant-pressure air tank. The fixed pipe is fixedly installed at the rear side of the V-shaped furrow opener, the sliding pipe is sleeved within the fixed pipe, a fixed seed discharging hole and an air supply transverse slit are respectively arranged on both side walls of the fixed pipe, the seed discharging pipe is communicated with the fixed seed discharging hole, and the air supply transverse slit is communicated with the air outlet pipe of the constant-pressure air tank; sliding seed discharging holes and sliding transverse slits are respectively arranged on both side walls of the sliding pipe, and the sliding transverse slit is located above the sliding seed discharging hole; symmetric and self-sealing check valve flaps are arranged at the bottom inside the sliding pipe; a baffle is arranged at the top of the fixed pipe and a guiding hole is arranged at the center of the baffle, a guiding rod is connected to the center of the top of the sliding pipe, and the guiding rod is sleeved within the guiding hole; an electromagnet is installed above the baffle, a magnetic suction disc is fixedly arranged at the top end of the guiding rod, and a thrust spring is sleeved between the electromagnet and the magnetic suction disc; after the electromagnet is powered on, it can attract the magnetic suction disc to move downward and synchronously drive the sliding pipe to move downward; when the sliding pipe does not move downward, the sliding seed discharging hole corresponds to and communicates with the fixed seed discharging hole, and the sliding transverse slit is misaligned and blocked with the air supply transverse slit, and the peanuts will enter the sliding pipe from the fixed seed discharging hole; after the sliding pipe moves downward, the sliding seed discharging hole is misaligned and blocked with the fixed seed discharging hole, and the sliding transverse slit corresponds to and communicates with the air supply transverse slit, and air enters the sliding pipe to prompt the check valve flap to open, so that the peanuts fall and are sprayed into the soil layer at the rear side of the furrow opener. By adjusting the air pressure value in the constant-pressure air tank, the downward spraying speed of the peanuts can be changed, and the depth of the peanuts entering the soil layer can be adjusted.

[0006] Advantages of the present invention: The present invention has a unique structure and ingenious design. Based on the dynamic position of the roots of corn plants, peanut sowing points are generated, and a symbiotic triangular layout of corn - peanut is constructed to optimize the allocation of light and heat resources. The image processing component can collect the root images of adjacent crop plants in real time, and establish a triangular positioning model through algorithms. Taking the crop plants as two vertices, the third vertex position for peanut sowing is dynamically determined, realizing space - adaptive sowing in the intercropping scenario. Through image processing and geometric modeling, it ensures that peanuts and crop plants form the best triangular layout, optimizes the competition for light and nutrients, and improves the intercropping efficiency; The nested cooperation of the sliding tube and the fixed tube is adopted. The electromagnetic body can attract the magnetic suction cup to drive the displacement of the sliding tube, making the sliding seed - sowing hole of the sliding tube misaligned with the fixed seed - sowing hole of the fixed tube, and making the sliding transverse seam of the sliding tube dock and communicate with the air - supply transverse seam of the fixed tube. Combining with pneumatic injection, the adjustment of the peanut sowing depth is realized. When the electromagnetic body is energized, it attracts the magnetic suction cup to drive the sliding tube to move down, and when powered off, it is reset by the thrust spring. The response speed is fast, suitable for high - frequency sowing, and by adjusting the pressure - supply air pump, the air pressure in the constant - pressure air tank can be changed, controlling the ejection speed of peanut seeds and indirectly adjusting the soil - entry depth of peanut seeds, avoiding the complication of mechanical structure; At the same time, it has a transverse - seam misaligned air - flow triggering mechanism. In the initial state, the sliding transverse seam is misaligned with the air - supply transverse seam of the fixed tube. After electromagnetic drive, the two seams are aligned, and the air flow is injected from the constant - pressure air tank through the air outlet pipe, pushing the one - way valve flap to open and ejecting peanut seeds. By controlling the on - off of the air - flow channel through mechanical displacement, the precise synchronization of the sowing action and the air - flow triggering is realized, avoiding misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 FIG. is a schematic diagram of the overall structure of the present invention.

[0008] Figure 2 FIG. is a partial view of the sowing rack.

[0009] Figure 3 FIG. is one of the schematic diagrams of the structure of the adjustable - depth sowing mechanism.

[0010] Figure 4 FIG. is one of the internal sectional views of the fixed tube.

[0011] Figure 5 FIG. is the second internal sectional view of the fixed tube.

[0012] Figure 6 FIG. is the exploded view of the structure of the adjustable - depth sowing mechanism Figure 1 .

[0013] Figure 7 FIG. is the exploded view of the structure of the adjustable - depth sowing mechanism Figure 2 .

[0014] Figure 8 FIG. is the schematic diagram of the structure of the grain - number adjustment component.

[0015] Figure 9 The first layout method of the furrow opener.

[0016] In the figure: 1 - vehicle body, 2 - seeding frame, 3 - furrow opener, 4 - image processing component, 41 - camera, 5 - adjustable depth seeding mechanism, 51 - fixed pipe, 52 - fixed seeding hole, 53 - air supply transverse slit, 54 - seeding pipe, 55 - air outlet pipe, 56 - constant pressure air tank, 61 - sliding pipe, 62 - sliding seeding hole, 63 - sliding transverse slit, 64 - one-way valve flap, 71 - baffle plate, 73 - guide rod, 74 - electromagnet, 75 - magnetic chuck, 76 - thrust spring, 8 - upper inner ring retaining platform, 9 - lower inner ring retaining platform, 10 - gate sleeve, 11 - gate plate, 12 - adjusting screw, 13 - peanut seeds. Specific implementation mode

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Embodiment 1. In the prior art, there is no coordination mechanism between peanut seeding and the position of corn plants. When intercropping, it relies on manual experience, which easily leads to an unbalanced spatial layout (such as overcrowding causing shading and over - sparseness reducing land utilization rate); moreover, the traditional mechanical adjustment mechanism has a slow response, requires manual operation during shutdown, and the soil reaction force easily causes depth drift (the fluctuation range reaches ±15 mm), affecting the uniformity of seedling emergence; and when intercropping corn and peanuts, the prior art can only achieve triangular seedling spacing for corn, while peanut planting lacks a coordination positioning mechanism, resulting in a separated spatial layout between the two.

[0019] To address the above problems, the adjustable - depth peanut triangular seedling - spacing seeding machine provided in this embodiment is a mechanized seeding technology for the ridge - intercropping composite planting scenario. Its core is to dynamically sense the plant position of the intercropped crop (such as corn), determine the peanut seeding points based on the triangular geometric model, and combine with a pneumatic mechanism to achieve precise adjustment of the seeding depth, aiming to solve the problems of unreasonable spatial layout and poor seeding - depth adaptability when intercropping peanuts with the main crop (such as corn), optimize the micro - environment for crop growth, and improve the intercropping benefit.

[0020] As Figure 1-2 shown, it includes a seeding frame 2, the seeding frame 2 is installed at the rear side of the vehicle body 1, furrow openers 3 are evenly arranged in the seeding frame 2, and it further includes an image processing component 4 and an adjustable - depth seeding mechanism 5. The image processing component 4 includes a camera 41, as Figure 2As shown in the figure, the camera 41 is installed on the side of the seeding frame 2. The camera 41 can be set on the same horizontal line as the furrow opener 3, and the camera 41 is signal-connected to the controller. Based on the peanut planter interplanting peanuts in the ridges between adjacent corn plants, the camera 41 is used to capture the root images of the corn plants on one side of the seeding frame 2 in real time, identify the specific positions of the roots of the corn plants by using computer vision technology, and adopt an image processing algorithm based on triangular geometric relationships. By calculating the geometric relationships of the roots of adjacent corn plants through the algorithm, and determining the triangular vertices in its coordinate system, the appropriate positions for peanut seeding are calculated.

[0021] After determining the coordinates of the roots of the corn plants, taking the roots of two adjacent corn plants as two vertices of a triangle, calculating the third vertex of the triangle with the peanut seeding acupoint, determining the peanut seeding positions, realizing triangular seeding positioning, and transmitting this information signal to the controller for subsequent seeding operations.

[0022] As Figures 3-7 shown in the figure, the adjustable-depth seeding mechanism 5 includes a fixed pipe 51, a fixed seed hole 52, an air supply transverse slit 53, a seed tube 54, an air outlet pipe 55, a constant-pressure air tank, a sliding pipe 61, a sliding seed hole 62, a sliding transverse slit 63, a one-way valve flap 64, a baffle 71, a guide rod 73, an electromagnet 74, a magnetic chuck 75, and a thrust spring 76. The fixed pipe 51 can be set as a square pipe structure. The fixed pipe 51 is fixedly installed inside the rear side of the V-shaped furrow opener 3 of the seeding frame 2. The fixed pipe 51 is made of 304 stainless steel (wall thickness 2 mm). A sliding pipe 61 is sleeved inside the fixed pipe 51. The sliding pipe 61 is a polytetrafluoroethylene-coated pipe (coefficient of friction ≤ 0.04). The sliding pipe 61 can slide relatively inside the fixed pipe 51. As Figure 4 shown in the figure, a fixed seed hole 52 and an air supply transverse slit 53 are respectively arranged on both sides of the fixed pipe 51. The fixed seed hole 52 is connected to the seed tube 54. The air supply transverse slit 53 is connected to the air outlet pipe 55 and communicated with the constant-pressure air tank for guiding the air flow. A gas flow valve is arranged on the air outlet pipe 55. The gas flow valve is signal-connected to the controller. The constant-pressure air tank 56 can provide a stable air pressure. The air supply air pump arranged on the vehicle body 1 can supply pressure to the constant-pressure air tank. And by adjusting the air supply air pump, the air pressure value of the constant-pressure air tank can be changed to conduct air flow-guided seeding for peanut seeds 13. The constant-pressure air tank 56 adjusts the air flow through the gas flow valve to ensure the stable initial velocity of seed ejection.

[0023] As Figure 5 shown in the figure, a sliding seed hole 62 and a sliding transverse slit 63 are respectively arranged on both sides of the sliding pipe 61. And the sliding transverse slit 63 is located above the sliding seed hole 62. A symmetric and self-sealing one-way valve flap 64 is arranged at the bottom inside the sliding pipe 61. After the peanut seeds 13 enter the sliding pipe 61, they will be supported by the one-way valve flap 64. The one-way valve flap 64 is made of silica gel nylon composite material, and its wear-resistant life > 100,000 times.

[0024] A baffle 71 is fixedly installed at the top of the fixed pipe 51, and a guiding hole is opened at the center of the top of the baffle 71. A guiding rod 73 is fixedly connected to the center of the top of the sliding pipe 61, and the guiding rod 73 is fitted and sleeved in the guiding hole of the baffle 71.

[0025] An electromagnet 74 is fixedly installed on the upper side of the baffle 71, and a magnetic chuck 75 is fixedly installed at the top of the guiding rod 73. A thrust spring 76 is sleeved between the electromagnet 74 and the magnetic chuck 75, and the thrust spring 76 is sleeved on the guiding rod 73. When the electromagnet 74 is powered on, it can attract the magnetic chuck 75 to move downward, and synchronously drive the sliding pipe 61 to move downward. After the electromagnet 74 is powered off, the thrust spring 76 can perform a reset operation on the sliding pipe 61.

[0026] In the initial state, the sliding lower seed hole 62 of the sliding pipe 61 corresponds to the fixed lower seed hole 52 of the fixed pipe 51, but the sliding transverse slit 63 of the sliding pipe 61 and the air supply transverse slit 53 of the fixed pipe 51 are in a misaligned state. The peanuts in the lower seed pipe 54 can sequentially pass through the fixed lower seed hole 52 and the sliding lower seed hole 62 and enter the sliding pipe 61, and fall onto the one-way valve flap 64. The camera 41 takes real-time pictures of the roots of the corn plants and performs image processing. Taking the roots of two adjacent corn plants as two vertices of a triangle, the peanut sowing position is determined as the third vertex of the triangle with the peanut sowing acupoint. When the distance between the fixed pipe 51 and the front and rear corn plants on the side is equal, the controller controls the electromagnet 74 to be powered on to attract the magnetic chuck 75. After the magnetic chuck 75 synchronously drives the sliding pipe 61 to move downward, the sliding lower seed hole 62 will be misaligned with the fixed lower seed hole 52, and the sliding transverse slit 63 will be docked with the air supply transverse slit 53. Airflow enters the sliding pipe 61 and prompts the one-way valve flap 64 at its bottom to open, so that the peanuts fall and are sprayed into the soil layer behind the furrow opener 3, realizing the triangular fixed-seedling sowing of peanuts.

[0027] By adjusting the air pressure value in the constant-pressure air tank 56 through the air supply air pump, the downward spraying speed of the peanuts can be adjusted, and then the depth of the peanuts entering the soil layer can be controlled, realizing the depth adjustment of peanut sowing.

[0028] Considering the complex and changeable field environment (such as light changes, crop occlusion, mud splashing, etc.), which may affect the accurate recognition of the corn roots by the camera 41, the sowing position may deviate from the triangular positioning point, affecting the intercropping effect. The camera 41 can adopt a high-frame-rate industrial camera (resolution 20 million pixels, frame rate 60 fps), and be equipped with a near-infrared fill light, and a lidar is installed on the top (scanning frequency 20 Hz) to construct a three-dimensional point cloud model for auxiliary positioning. At the same time, the YOLOv8 model is used to train the corn root recognition algorithm (the dataset contains 100,000 field images), and the recognition accuracy is ≥98%.

[0029] Furthermore, a grain number adjustment component is also provided, which can adjust the number of peanut seeds sown. For example, Figure 8 as shown, the grain number adjustment component includes a gate sleeve 10, a gate 11 and an adjustment screw 12. The gate sleeve 10 is arranged on the seed tube 54 near the fixed sowing hole 52. The gate sleeve 10 is fixedly connected to the seed tube 54. The gate 11 is slidably sleeved in the gate sleeve 10, and the gate 11 can enter the sowing hole to block the fixed sowing hole 52. The adjustment screw 12 is threadedly sleeved in the gate sleeve 10, and the inner end of the adjustment screw 12 is rotatably sleeved on the gate 11. By manually screwing the adjustment screw 12, the gate 11 can be moved, so as to adjust the width of the fixed sowing hole 52 and adjust the number of peanut grains entering the fixed tube 51.

[0030] Furthermore, a dynamic depth adjustment unit can also be provided to dynamically adjust the peanut sowing depth. For example, a pressure sensor is arranged on the front side of the furrow opener 3. When the furrow opener 3 enters the deep soil layer, the pressure received by the furrow opener 3 will increase. When the pressure sensor monitors that the pressure received by the furrow opener 3 increases, it will send a signal to the controller, and the controller controls the gas flow valve to reduce the flux, reducing the depth of the peanut seeds 13 entering the soil layer; similarly, when the furrow opener 3 enters the shallow soil layer, the pressure received by the furrow opener 3 will decrease. When the pressure sensor monitors that the pressure received by the furrow opener 3 decreases, it will send a signal to the controller, and the controller controls the gas flow valve to increase the flux, increasing the depth of the peanut seeds 13 entering the soil layer, having a flexible dynamic depth adjustment function.

[0031] The furrow openers 3 can be arranged side by side on the sowing frame 2. By using the image processing component 4 to determine the roots of two adjacent corn plants as the two vertices of a triangle, the third vertex of the triangle, that is, the position of the first peanut sowing acupoint at the outer end of the sowing frame 2, can be calculated. The sliding tubes on the sowing frame 2 are arranged side by side. Then, the peanut seeds 13 sown at this time are all arranged side by side in a straight line. Through the triangular positioning of the position of the first peanut sowing acupoint at the outer end of the sowing frame 2, the triangular sowing positioning of the peanut seeds can be realized; or the furrow openers 3 can also adopt the layout method as Figure 9 shown, the furrow openers 3 are arranged in a triangular shape and are staggered from each other. When the position of the first peanut sowing acupoint is determined, when sowing the peanut seeds 13, the peanut seeds 13 can be automatically distributed in a triangular shape.

[0032] Embodiment 2: A peanut triangular seedling planting machine with adjustable depth in this embodiment is described with the differences from those in Embodiment 1 as the center.

[0033] In this embodiment, an upper inner ring retaining platform 8 and a lower inner ring retaining platform 9 are respectively fixed above and below the inside of the fixed pipe 51. In the initial state, the thrust spring 76 supports the sliding pipe 61. Through the limit constraint of the upper inner ring retaining platform 8 on the top of the sliding pipe 61, the sliding seed hole 62 can be accurately docked with the fixed seed hole 52. When the sliding pipe 61 moves downward, through the limit constraint of the lower ring retaining platform on the bottom of the sliding pipe 61, the sliding transverse seam 63 can be accurately docked with the air supply transverse seam 53. The above are only the preferred embodiments of the present invention and do not limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A peanut triangular seeding and seeding machine with adjustable depth, comprising a seeding frame and a V-shaped furrow opener arranged in the seeding frame, characterized in that: It also includes an image processing component and an adjustable depth sowing mechanism. The image processing component is used to capture the root position of the plant on one side of the sowing rack, and perform image processing to determine the triangular seeding position of the peanut seedlings; the adjustable depth sowing mechanism includes a fixed tube, a sliding tube, a seeding tube and a constant pressure gas tank. The fixed tube is fixedly installed in the rear structure of the V-shaped furrow opener, and the sliding tube is sleeved in the fixed tube. Fixed seeding holes and air supply transverse seams are respectively arranged on both side walls of the fixed tube. The seeding tube is connected to the fixed seeding hole, and the air supply transverse seam is connected to the outlet pipe of the constant pressure gas tank; sliding seeding holes and sliding transverse seams are respectively arranged on both side walls of the sliding tube, and the sliding transverse seams are located on the upper side of the sliding seeding holes; a symmetrical and self-sealing one-way valve flap is arranged at the bottom of the sliding tube; a baffle is arranged on the top of the fixed tube and a guide hole is arranged in the center of the baffle. A guide rod is connected, and the guide rod is sleeved in the guide hole; an electromagnet is installed on the upper side of the baffle, a magnetic suction cup is fixed on the top of the guide rod, and a thrust spring is sleeved between the electromagnet and the magnetic suction cup; after the electromagnet is energized, it can attract the magnetic suction cup to move downward and synchronously drive the sliding tube to move downward; when the sliding tube does not move downward, the sliding seeding hole is correspondingly connected to the fixed seeding hole, and the sliding transverse seam and the air supply transverse seam are offset and blocked, and the peanuts will enter the sliding tube from the fixed seeding hole; when the sliding tube moves downward, the sliding seeding hole is offset and blocked with the fixed seeding hole, and the sliding transverse seam is correspondingly connected to the air supply transverse seam, and the air flow enters the sliding tube to prompt the one-way valve flap to open, so that the peanuts fall and are sprayed into the soil layer behind the furrow opener, and the speed of the peanuts spraying downward can be changed by adjusting the air pressure value in the constant pressure gas tank, and the depth of the peanuts in the soil layer can be adjusted.

2. The peanut triangular seeding and seeding machine with adjustable depth according to claim 1, characterized in that: The image processing component includes a camera and a controller. The camera is fixedly installed on the side of the seeding rack, and the camera is connected to the controller signal. The camera captures the root image of the corn plant on one side of the seeding rack and performs image processing. The roots of adjacent corn plants are the two vertices of the triangle and the peanut seeding point is the third vertex of the triangle to determine the peanut seeding position.

3. The peanut triangular seeding and seeding machine with adjustable depth according to claim 1, characterized in that: It also includes an inner ring baffle assembly, which includes an upper inner ring baffle and a lower inner ring baffle arranged inside the fixed tube. The upper inner ring baffle can limit the top of the sliding tube so that the sliding seeding hole and the fixed seeding hole are connected correspondingly; the lower inner ring baffle can limit the bottom of the sliding tube so that the sliding transverse seam and the air supply transverse seam are connected correspondingly.

4. The peanut triangular seeding and seeding machine with adjustable depth according to claim 1, characterized in that: The pressure supply air pump supplies pressure to the constant pressure gas tank, and the air pressure value of the pressure supply gas tank can be changed by adjusting the pressure supply air pump.

5. The peanut triangular seeding and seeding machine with adjustable depth according to claim 1, characterized in that: It also includes a grain number adjustment component for adjusting the number of peanut seeds sown. The grain number adjustment component includes a gate sleeve installed on the seed tube. The adjustment screw can adjust the gate in the gate sleeve, and the width of the fixed seed hole is adjusted by moving the gate.

6. The peanut triangular seeding and seeding machine with adjustable depth according to claim 1, characterized in that: It also includes a dynamic depth adjustment unit, which includes a pressure sensor arranged on the front side of the furrow opener, and a gas flow valve is arranged on the outlet pipe of the constant pressure gas tank. The pressure sensor can monitor the pressure of the soil layer of the furrow opener, and dynamically adjust the flux of the gas flow valve according to the pressure of the furrow opener to adjust the depth of the soil layer in which the peanut seeds are absorbed.

Images