A rice-wheat rotation area rice stubble wheat double-compartment ditch covering and seeding machine

Abstract

The present application relates to a kind of rice stubble wheat complex open compartment ditch soil covering seeder in flood and drought rotation area, including frame, gearbox, fertilizer discharge mechanism, seed metering mechanism, rotary tiller group, open compartment ditch mechanism, shallow rotary knife group, soil flow guide mechanism, strip quantitative soil covering mechanism, compacting mechanism and transmission mechanism.Rotary tiller group carries out strip tillage operation to wheat seeding seedling strip, and open compartment ditch mechanism opens drainage compartment ditch and shapes ditch wall;Shallow rotary knife group carries out secondary broken soil block and cleaning straw to seeding seedling strip area, and soil flow guide mechanism uses flow guide cover shell to gather ditch soil to back, then by flow guide fan motor speed control's flow guide fan evenly throw to both sides of soil bearing plate;Variable pitch stirrups of strip quantitative soil covering mechanism efficiently concentrates ditch soil on soil bearing plate to middle part seeding strip, completes soil covering and ensures that soil covering is uniform, finally by compacting mechanism compacts soil.The whole process is completed once, compactly completes all processes of fertilization, rotary tillage, open compartment ditch and shallow rotary, seeding, ditch soil flow guide soil covering and compacting.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a combined open-ditch and soil-covering seeder for rice stubble and wheat in paddy-dry rotation areas. Background Technology

[0002] Rice-wheat stubble planting is mainly distributed in the Yangtze River Basin and southern Huanghuai region, with Anhui, Jiangsu, Hubei, and Henan as core production areas. It is an important method of wheat cultivation, and improving the quality of mechanized sowing of rice-wheat stubble is crucial for achieving efficient land resource utilization and ensuring grain yield. However, due to factors such as heavy clay soils and frequent waterlogging disasters in rice-dryland rotation areas, the application of mechanized sowing technology in these regions faces problems such as insufficient equipment adaptability, low operational efficiency, and unstable sowing quality, resulting in lower rice-wheat stubble yields.

[0003] Existing rice-wheat stubble planters in paddy-dryland rotation areas include: Chinese invention patent application (CN 115443766 A) entitled "An anti-tangle fertilizing planter for rice-wheat stubble in paddy fields," which features an anti-tangle mechanism on the bottom of the frame. Through the cooperation of the first and second cutting sections, the rotation of the wheels drives the reciprocating screw and cam motion to achieve reciprocating cutting of weeds, reducing interference with fertilization and sowing operations. Another example is Chinese invention patent application (CN 106817937 A) entitled "An anti-tangle no-till fertilizing planter for rice-wheat stubble in paddy fields," which can complete straw crushing, stubble removal, weed separation, ditching, fertilization, sowing, and compaction in one operation. The ditching spiral assembly uses spiral blades and arc-shaped blades to level the field and separate straw residues, and a conical ground wheel compacts the surface into a V-shape to aid drainage. Finally, there is Chinese invention patent application (CN 115443766 A) entitled "A combined operation machine for rotary tillage, stubble removal, fertilization, sowing, and ditching of rice-wheat stubble in wet fields." 111316775A) Design a rotary tillage device that combines a counter-rotating cutter shaft assembly with a forward-rotating small cutter shaft assembly. The device reduces the blockage of the seed drop tube by wet soil through an adjustable baffle, and achieves ditch opening operation through an independently attached selective ditching mechanism.

[0004] However, the above technologies still have the following shortcomings: some models do not integrate efficient ditching and drainage functions, resulting in water accumulation in paddy fields that cannot be drained in time, and seeds are prone to rotting due to waterlogging and lack of oxygen; although some models have ditching functions, the ditch depth is insufficient, the ditch shape is irregular, and the soil backfilling phenomenon is significant, which limits the ability to respond to drainage needs under complex soil moisture conditions in paddy fields, making it difficult to achieve a synergistic improvement in sowing quality and drainage efficiency. Summary of the Invention

[0005] To address the aforementioned technical problems, the purpose of this invention is to provide a combined furrow-opening and soil-covering seeder for rice-wheat stubble rotation areas. By integrating operational processes such as counter-rotating deep furrow opening, directional soil flow guidance, quantitative soil covering in strips, multi-sensor collaborative control, and strip pressing to prevent blockage, the seeder achieves improved sowing quality and drainage efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A rice-wheat double-furrow seeder with soil covering in a rice-dryland rotation area includes a frame 1, a gearbox 2, a fertilizer dispensing mechanism 3, a seed dispensing mechanism 4, a rotary tillage blade assembly 5, a compaction mechanism 10, and a transmission mechanism 11; the frame 1 includes a front crossbeam 101, a middle crossbeam 102, a rear crossbeam 103, side longitudinal beams 104, a middle longitudinal beam 105, a suspension assembly 106, a front cover plate 107, a rear cover plate 108, side plates 109, and a depth limiting plate 110.

[0008] The frame 1 is equipped with an IMU inertial measurement unit 111 for acquiring the position and vibration interference data of the machine during operation, and a three-dimensional lidar 113 for scanning the excavated trench and acquiring the cross-sectional information of the trench.

[0009] The gearbox 2 is fixedly connected between the front crossbeam 101 and the middle crossbeam 102 along the longitudinal axis of the machine and passes through the front cover plate 107; the lower front end of the gearbox 2 is provided with a front trenching shovel 201; the rear of the front trenching shovel 201 is provided with a soil moisture sensor 202 for obtaining soil moisture content information.

[0010] Two fertilizer discharge mechanisms 3 are installed on the front cover plate 107, located on the left and right sides of the gearbox 2; each fertilizer discharge mechanism 3 has three fertilizer discharge pipes at its lower end, and the bottom end of the fertilizer discharge pipes extends to the front end face of the front crossbeam 101; the seed discharge mechanism 4 is installed on the rear cover plate 108; two rotary tillage mechanisms are installed below the front cover plate 107, the inner ends of the rotary tillage shafts of the two rotary tillage blade mechanisms are connected to the lower power transmission shaft of the gearbox 2, and the outer ends of the rotary tillage shafts are installed on the two side plates 109; each rotary tillage shaft is equipped with six sets of rotary tillage blades 5, and two adjacent sets of rotary tillage blades 5 constitute a rotary tillage unit. After the rotary tillage operation of the rotary tillage mechanism, six wheat seedling strips are formed on the seedbed.

[0011] The rice-wheat stubble double-furrow seeder for water-dry rotation areas further includes a furrow opening mechanism 6, a shallow rotary blade group 7, a soil guiding mechanism 8, and a strip quantitative soil covering mechanism 9.

[0012] The soil guiding mechanism 8 is arranged between two central longitudinal beams 105, located behind the gearbox 2; the soil guiding mechanism 8 includes a guiding cover 801, a guiding fan 802, a guiding fan limiting plate 803, a guiding fan motor 804, and a control box 805; the lower end of the guiding cover 801 is open and has a curved top wall; the upper rear end of the guiding cover 801 has a rearwardly protruding tail, and soil guiding ports are opened on the left and right sides of the tail; the front and rear parts of the top of the guiding cover 801 are respectively connected to the central crossbeam 102. The longitudinal beam 105 is fixedly connected to the soil. A pair of parallel guide fans 802 are installed at the soil diversion ports on the left and right sides of the tail of the guide cover 801. The rotating shaft of the guide fan 802 is parallel to the longitudinal axis of the machine. Two guide fan motors 804 are fixedly connected to the rear end face of the tail of the guide cover 801. The drive shaft of the guide fan motor 804 is connected to the rotating shaft of the guide fan 802 through a coupling. Under the command of the control box 805 fixed to the guide cover 801, the two guide fans 802 rotate in opposite directions, scattering the soil thrown backward to both sides.

[0013] The trenching mechanism 6 is located in the middle of the machine, behind the front trenching shovel 201 of the gearbox 2. The trenching mechanism 6 includes a counter-rotating cutter shaft 601, trenching cutters 602, soil-throwing cutters 603, and trenching shovel 604. The left and right ends of the counter-rotating cutter shaft 601 are mounted on the side plates 109. Two cutter discs spaced a certain distance apart are fixedly connected to the middle of the counter-rotating cutter shaft 601. The upper part of the cutter disc is located inside the guide shroud 801. The lower edge of the left and right side walls of the guide shroud 801 is provided with a groove for accommodating the counter-rotating cutter shaft 601. Multiple trenching cutters 602 are uniformly fixed to the outer circumference of each cutter disc, and the trenching cutters 602 on the two cutter discs are arranged alternately. Multiple soil-throwing cutters 603 are uniformly fixed to the two cutter discs.

[0014] The trenching shovel 604 is fixed to the lower rear end of the flow guide cover 801. The trenching shovel 604 is arc-shaped and can enclose the trenching blade 602 on the counter-rotating cutter shaft 601. The trenching shovel 604 has a structure that is wider at the top and narrower at the bottom.

[0015] Six sets of shallow rotating blades 7 are provided on the counter-rotating blade shafts 601 on both sides of the blade disc; each pair of adjacent shallow rotating blades 7 constitutes a shallow rotating unit, corresponding to a wheat seedling strip; each set of shallow rotating blades 7 includes four circumferentially evenly distributed right-angle blades 701, the right-angle blades 701 are fixed to the counter-rotating blade shaft 601 through right-angle blade holders 702; the blade tips of the right-angle blades 701 of the two sets of shallow rotating blades 7 in the same shallow rotating unit face each other and are arranged in an alternating manner.

[0016] The strip quantitative soil covering mechanism 9 is arranged behind the trench opening mechanism 6 and the shallow rotary cutter group 7, and is located below the tail of the guide shroud 801; the strip quantitative soil covering mechanism 9 includes a soil supporting plate 901, a variable pitch auger 902, an auger motor 903, and a dividing disc 904; the left and right ends of the rotating shaft of the variable pitch auger 902 are mounted on the side plate 109; the power output shaft of the auger motor 903 is connected to the rotating shaft of the variable pitch auger 902; the rotating shaft of the variable pitch auger 902 is provided with twelve spiral blades corresponding one-to-one with the shallow rotary cutter group 7, and every two adjacent spiral blades form a unit. The soil covering unit has two spiral blades arranged symmetrically on the left and right sides, with opposite spiral directions and consistent pitch. A separating disc 904, fixed to the rotating shaft of the variable pitch auger 902, is provided between two adjacent soil covering units on the same side. The pitch of the middle soil covering unit on the same side is 0.5 times the pitch of the soil covering units on either side of it, ensuring consistent soil covering for each wheat seedling strip. The soil-supporting plate 901 is fixed to two side plates 109 and located directly below the variable pitch auger 902. The soil-supporting plate 901 has six soil-feeding openings corresponding to the soil covering units.

[0017] The lower end of the seed metering mechanism 4 is equipped with six seed metering tubes, located between the shallow rotary blade group 7 and the strip quantitative soil covering mechanism 9, with each seed metering tube corresponding to a wheat seedling strip.

[0018] The compaction mechanism 10 is located behind the strip quantitative soil covering mechanism 9.

[0019] Part of the power of the gearbox 2 is directly transmitted from the lower power output shaft to the rotary tillage shaft of the rotary tillage mechanism to drive the rotary tillage blade assembly 5 to rotate; another part of the power is transmitted from the upper power output shaft to the counter-rotating blade shaft 601 of the furrowing mechanism 6 through the transmission mechanism 11 to drive the furrowing blade 602 and the shallow rotary blade assembly 7 to operate.

[0020] The curved top wall of the flow guide shroud 801 is based on a logarithmic spiral curve, and the equation of the curve is:

[0021] ρ=ρ0·e kθ Formula 1

[0022] In Formula 1, ρ is the distance from a point on the curve to the center of rotation, in mm; ρ0 is the initial polar radius, in mm; k is the expansion coefficient; and θ is the rotation angle, in °.

[0023] The blade of the soil-throwing blade 603 is perpendicular to the cutter disc, and the handle is arranged radially along the cutter disc; the tip of the soil-throwing blade 603 has a bending angle of 30° between it and the handle.

[0024] Each helical blade has an inner diameter of 30 mm and an outer diameter of 190 mm.

[0025] The diameter of the dividing disc 904 is equal to the outer diameter of the spiral blade; the width of the soil-feeding opening of the soil-supporting plate 901 is 200mm.

[0026] The compaction mechanism 10 includes compaction wheels 1001, compaction wheel fixing plates 1002, and scraper blades 1003. Two compaction wheel fixing plates 1002 are fixed to the left and right ends of the rear crossbeam 103. The two ends of the compaction wheel axle are mounted on the two compaction wheel fixing plates 1002 via bearings. Six compaction wheels 1001 fixed to the axle are arranged in a one-to-one correspondence with the soil covering unit. A star-shaped roller fixed to the axle is provided between two adjacent compaction wheels 1001 on the same side to improve the compaction wheel's gripping ability and reduce the rotation rate. The scraper blades 1003 are fixed to the rear end face of the rear crossbeam 103. The scraper blades 1003 have grooves corresponding to the compaction wheels 1001 and star-shaped rollers to scrape away the soil and straw adhering to the compaction wheels 1001 and star-shaped rollers.

[0027] The transmission mechanism 11 includes a first sprocket 1101 installed at the end of the upper power output shaft and a second sprocket 1102 installed at the end of the counter-rotating cutter shaft 601. The first sprocket 1101 and the second sprocket 1102 are connected by a transmission chain. The first sprocket 1101 and the second sprocket 1102 are double-row sprockets.

[0028] The transmission mechanism 11 further includes a pressing sprocket 1103 installed at the end of the pressing wheel shaft of the pressing mechanism 10, a fertilizer discharging sprocket 1105 installed at the end of the fertilizer discharging shaft of the fertilizer discharging mechanism 3, and a seed discharging sprocket 1104 installed at the end of the seed discharging shaft of the seed discharging mechanism 4. The rolling of the pressing wheel 1001 on the ground as the seeder moves forward is used as the power source, and the power is transmitted through the transmission chain.

[0029] A method for soil diversion and quantitative soil covering based on the aforementioned rice-wheat double-furrow seeder in paddy-dry rotation areas, characterized in that the method includes the following steps:

[0030] S1. The seeder enters the field and begins operation. The front furrowing shovel 201 opens shallow furrows, and the ridge-opening mechanism 6 opens ridges of a certain depth. The soil in the furrows is thrown up by the combined action of the furrowing blade 602 and the soil-throwing blade 603, and moves backward along the curved top wall of the guide cover 801 based on a logarithmic spiral curve. During this process, the soil moisture sensor 202 probes into the soil surface with the front furrowing shovel 201 to obtain soil moisture content information. The three-dimensional lidar 113 scans the opened ridges to obtain ridge cross-sectional information. The IMU inertial measurement unit 111 is used to obtain the overall posture information and vibration interference data of the implement during operation.

[0031] S2. Soil moisture content information, trench cross-section information, overall machine posture information and vibration interference data are all transmitted to the controller, and the soil flow rate in the guide cover 801 is calculated through a mathematical model to finally obtain the optimal theoretical soil throwing speed and the optimal theoretical soil covering speed.

[0032] The mathematical model relating soil flow rate to information from various sensors is as follows:

[0033]

[0034] In Formula 3, Q is the soil flow rate inside the guide shroud 801, in kg / s; η is the trenching efficiency coefficient, which is affected by the diameter of the cutter head and the staggered layout of the trenching cutters, and is determined experimentally; A is the cross-sectional area of ​​the trench, calculated by reconstructing the cross-sectional information of the trench obtained from scanning, in m². 2 ;v m ζ represents the forward speed of the implement, obtained by integrating the pose information, in m / s; ζ represents the soil adhesion attenuation coefficient; ω represents the soil moisture content, in %; ω0 represents the soil saturated moisture content, in %;

[0035] The optimal theoretical soil-throwing rotation speed and soil flow rate mathematical model is as follows:

[0036]

[0037] In formula 4, n f The optimal theoretical soil-throwing speed of the guide fan 802 is given in r / min; Q is the soil flow rate inside the guide shroud 801 in kg / s; Q0 is the rated flow rate in kg / s; D f The diameter of the 802 guide fan is in mm; g is the acceleration due to gravity in m / s². 2 L represents the total length of all soil covering units on one side of the auger 902, in mm.

[0038] The mathematical model for the optimal theoretical soil cover rotation speed and soil flow rate is as follows:

[0039]

[0040] In formula 5, n a The optimal theoretical overburden rotation speed for the variable pitch auger 902 is given in r / min; Q is the soil flow rate inside the guide shroud 801 in kg / s; and γ is the soil mass per unit volume in kg / m³. 3 D is the outer diameter of the helical blade in mm; d is the inner diameter of the helical blade in mm; t is the pitch of the helical blade in mm; λ is the gap between the auger and the soil bearing plate in mm; β is the soil backflow correction coefficient, which is dynamically compensated by IMU vibration data.

[0041] S3. The controller outputs a control signal to the guide fan motor 804 according to the optimal theoretical soil throwing speed to change its speed and control the speed and mass of soil being thrown to both sides; at the same time, it outputs a signal to the auger motor 903 according to the optimal theoretical soil covering speed to change its speed and control the mass of soil gathering towards the strip to ensure uniform soil covering.

[0042] S4. During one operation, repeat steps S2 to S3 to direct the soil thrown from the trench from the center to the two sides of the trench. Adjust the throwing amount and the amount of soil covering in real time according to the operation status to achieve the purpose of quantitative soil covering.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] 1. This invention can complete fertilization, rotary tillage, furrow opening and shallow tillage, sowing, furrow soil diversion and covering, and compaction in one operation. The overall structure is compact, improving the efficiency of rice-wheat stubble sowing and promoting the survival rate of rice-wheat stubble. The wide-row strip tillage method only tills the wheat sowing rows, which can effectively reduce soil movement, reduce soil adhesion, and improve the maneuverability of the seeder in paddy fields.

[0045] 2. This invention opens drainage ditches by reversing the ditch-opening mechanism. The ditch-opening shovel shapes the soil to improve field drainage performance, and the soil is thrown up by the combined action of the ditch-opening blade and the soil-throwing blade. The soil is guided backward by the curved inner wall of the guide cover and then thrown to both sides by the guide fan as the covering soil material. At the same time, it is equipped with a strip quantitative soil covering mechanism, which can collect the thrown ditch soil in a directional manner to cover the wheat seedlings, avoid the accumulation of ditch soil on both sides of the auger, improve the utilization rate, and realize the directional guidance of soil.

[0046] 3. In this invention, the curved top wall of the flow guide shell is designed based on a logarithmic spiral curve to reduce the frictional force when the soil moves along the curved surface, reduce the adhesion between the soil and the inner wall, improve the soil fluidity and flow guiding performance, and avoid soil blockage.

[0047] 4. This invention uses a soil moisture sensor, a three-dimensional lidar, and an IMU inertial measurement unit to collect data such as soil moisture content, trench cross-section information, machine posture, and vibration interference. The controller calculates the soil flow rate inside the guide shroud, and then determines the theoretical soil throwing speed and soil covering speed. This allows for the control of the speed of the guide fan motor and the auger motor, thereby precisely adjusting the speed and quality of soil throwing and the amount of soil accumulating in the strip. It can also adjust the soil covering amount in real time according to the working conditions, ultimately achieving quantitative soil covering of wheat seedling strips. Attached Figure Description

[0048] Figure 1 This is a side view of the structure of the rice-wheat stubble double-furrow soil-covering seeder for the water-dry rotation area of ​​the present invention.

[0049] Figure 2 A schematic diagram of the main structure of the rice-wheat stubble double-furrow soil-covering seeder for paddy-dryland rotation areas according to the present invention;

[0050] Figure 3 This is a schematic diagram of the axonal structure of the rice-wheat stubble double-furrow seeder with soil covering in the paddy-dry rotation area of ​​the present invention. Figure 1 ;

[0051] Figure 4 This is a schematic diagram of the axonal structure of the rice-wheat stubble double-furrow seeder with soil covering in the paddy-dry rotation area of ​​the present invention. Figure 2 ;

[0052] Figure 5 This is a schematic diagram showing the relative positions of the frame 1, the soil diversion mechanism 8, and the strip quantitative soil covering mechanism 9 of the present invention.

[0053] Figure 6 for Figure 3 Enlarged view of the structure of region A in the middle;

[0054] Figure 7 for Figure 3 Enlarged view of the structure of region B in the middle;

[0055] Figure 8 This is a schematic diagram of the structure of the front trenching shovel 201 and the soil moisture sensor 202;

[0056] Figure 9 This is a schematic diagram of the soil diversion mechanism 8 of the present invention;

[0057] Figure 10 This is a cross-sectional view of the flow guide shroud 801 of the present invention and a schematic diagram of the logarithmic spiral curve of the curved top wall;

[0058] Figure 11 This is a schematic diagram of the structure of the trench opening mechanism 6 of the present invention;

[0059] Figure 12 This is a schematic diagram of the structure of the soil-throwing blade 603 of the present invention;

[0060] Figure 13 This is a schematic diagram of the strip quantitative soil covering mechanism 9 of the present invention;

[0061] Figure 14 This is a schematic diagram of the structure of the pressing mechanism 10 of the present invention;

[0062] Figure 15 This is a schematic diagram illustrating the principle of the soil diversion and quantitative soil covering method of the present invention.

[0063] The reference numerals in the attached figures are:

[0064] 1 rack

[0065] 101 Front crossbeam 102 Middle crossbeam

[0066] 103 Rear crossbeam; 104 Side longitudinal beam

[0067] 105 Middle longitudinal beam; 106 Suspension assembly

[0068] 107 Front cover plate 108 Rear cover plate

[0069] 109 Side plate 110 Depth limiting plate

[0070] 111 IMU (Inertial Measurement Unit) 112 Bearing End Cover

[0071] 113 Three-dimensional LiDAR

[0072] 2. Gearbox

[0073] 201 Front trenching shovel; 202 Soil moisture sensor;

[0074] 3. Fertilizer dispensing mechanism 4. Seed dispensing mechanism

[0075] 5 Rotary Tiller Blades

[0076] 6. Opening groove mechanism

[0077] 601 Reverse Rotary Cutting Shaft; 602 Grooving Cutting Tool

[0078] 603 Soil-throwing dagger; 604 Trenching shovel

[0079] 7 Shallow Rotary Cutting Tool Set

[0080] 701 Right Angle Knife702 Right Angle Knife Holder

[0081] 8 Soil diversion mechanism

[0082] 801 Airflow Deflector Housing 802 Airflow Deflector Fan

[0083] 803 Guide fan limit plate; 804 Guide fan motor

[0084] 805 Control Box

[0085] 9-strip quantitative soil covering mechanism

[0086] 901 Soil-supporting plate; 902 Variable pitch auger

[0087] 903 Screw motor; 904 Dividing disc

[0088] 10. Repression agencies

[0089] 1001 Pressing roller 1002 Pressing roller fixing plate

[0090] 1003 Scraper

[0091] 11 Transmission Mechanism

[0092] 1101 First sprocket 1102 Second sprocket

[0093] 1103 Press sprocket 1104 Seed metering sprocket

[0094] 1105 Fertilizer Discharge Sprocket Detailed Implementation

[0095] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0096] like Figures 1 to 4 As shown, a rice-wheat stubble double-furrow seeder with soil covering in a paddy-dryland rotation area includes a frame 1, a gearbox 2, a fertilizer dispensing mechanism 3, a seed dispensing mechanism 4, a rotary tiller blade assembly 5, a furrow opening mechanism 6, a shallow rotary blade assembly 7, a soil guiding mechanism 8, a strip quantitative soil covering mechanism 9, a compaction mechanism 10, and a transmission mechanism 11; wherein,

[0097] like Figure 5 As shown, the frame 1 includes a front crossbeam 101, a middle crossbeam 102, a rear crossbeam 103, side longitudinal beams 104, a middle longitudinal beam 105, a suspension assembly 106, a front end cover plate 107, a rear end cover plate 108, side plates 109, a depth limiting plate 110, an IMU inertial measurement unit 111, and a three-dimensional lidar 113. The front crossbeam 101, middle crossbeam 102, and rear crossbeam 103, arranged sequentially from front to back, are fixed between two side longitudinal beams 104, forming the overall load-bearing plane of the machine. Two middle longitudinal beams 105, spaced a certain distance apart, are fixed between the middle crossbeam 102 and the rear crossbeam 103. To reinforce the overall machine strength and provide an installation position for the soil guiding mechanism 8; the suspension assembly 106 is fixed to each crossbeam to pull the seeder; the front cover plate 107 is fixed to the front crossbeam 101 and the middle crossbeam 102 by bolts, and the rear cover plate 108 is fixed to the middle crossbeam 102 and the rear crossbeam 103 by bolts to isolate the soil thrown up after tillage; the two side plates 109 are fixed to the two side longitudinal beams 104 by bolts to install the drive shaft of the working component; the two depth limiting plates 110 are fixed to the bottom of the two side plates 109 to limit the tillage depth of the whole machine; Figure 6 As shown, the IMU (Inertial Measurement Unit) 111 is bolted to the front of the rear end cover 108 and is used to acquire the machine's pose information and vibration interference data during operation; as Figure 7 As shown, the three-dimensional lidar 113 is bolted to the middle of the rear crossbeam 103 and is used to scan the excavated trench to obtain the trench cross-sectional information.

[0098] like Figure 2 and Figure 4As shown, the gearbox 2 is fixedly connected between the front crossbeam 101 and the middle crossbeam 102 along the longitudinal axis of the implement, and passes through the front cover plate 107; the front end of the gearbox 2 is provided with a power input shaft connected to the tractor's power output shaft, the upper left and right ends of the gearbox 2 above the front cover plate 107 are provided with upper power transmission shafts, and the lower left and right ends of the gearbox 2 below the front cover plate 107 are provided with lower power transmission shafts; Figure 8 As shown, the lower front end of the gearbox 2 is provided with a front trenching shovel 201, which is used to pre-dig shallow trenches to reduce the resistance of subsequent trenching operations; the rear part of the front trenching shovel 201 is provided with a soil moisture sensor 202, which is used to obtain soil moisture content information.

[0099] like Figures 2 to 4 As shown, two fertilizer discharge mechanisms 3 are mounted on the front cover plate 107, located on the left and right sides of the gearbox 2. Each fertilizer discharge mechanism 3 has three fertilizer discharge pipes at its lower end, with a spacing of 365mm between adjacent fertilizer discharge pipes. The bottom end of each fertilizer discharge pipe extends to the front end face of the front crossbeam 101. The seed dispensing mechanism 4 is mounted on the rear cover plate 108. Two rotary tillage mechanisms are located below the front cover plate 107. The inner ends of the rotary tillage shafts of the two rotary tillage mechanisms are connected to the lower power transmission shaft of the gearbox 2, and the outer ends of the rotary tillage shafts are mounted on the two side plates 109 via bearing end caps 112. Each rotary tillage shaft has six sets of rotary tillage blades 5. Two adjacent sets of rotary tillage blades 5 constitute a rotary tillage unit. After rotary tillage by the rotary tillage mechanism, six wheat seedling strips with a width of 100mm can be formed on the seedbed. The soil guiding mechanism 8 is arranged between the two middle longitudinal beams 105, located behind the gearbox 2.

[0100] like Figure 9As shown, the soil guiding mechanism 8 includes a guiding cover 801, a guiding fan 802, a guiding fan limiting plate 803, a guiding fan motor 804, and a control box 805. The lower end of the guiding cover 801 is open and has a curved top wall, which can effectively collect and throw up soil. The upper rear end of the guiding cover 801 has a rearward protruding tail, and soil guiding ports are opened on the left and right sides of the tail. The front and rear parts of the top of the guiding cover 801 are respectively bolted to the middle cross beam 102 and the middle longitudinal beam 105 to ensure structural stability under soil impact. A pair of parallel guiding fans 802 are installed at the soil guiding ports on the left and right sides of the tail of the guiding cover 801. The rotating shaft of the guiding fan 802 is parallel to the longitudinal axis of the machine and its lateral movement is restricted by the guiding fan limiting plate 803. During installation, the shaft end of the guide fan 802 can be first placed into the rear groove, and then pushed backward to a position where it can be coupled with the motor. The guide fan limiting plate 803 is fixed to the outside of the groove of the guide shroud 801 by bolts, which is used to limit the lateral movement of the guide fan 802 after it is in place. Two guide fan motors 804 are fixed to the rear end face of the guide shroud 801, and the drive shaft of the guide fan motor 804 is connected to the shaft of the guide fan 802 through a coupling; the two guide fans 802 rotate in opposite directions under the command of the control box 805 fixed to the guide shroud 801, scattering the soil thrown backward to both sides.

[0101] Specifically, such as Figure 10 As shown, in the side view of the guide shroud 801, a coordinate system is established with the projection point of its bottom front contour line as the origin and its bottom projection line as the x-axis. To reduce friction and thus mitigate adhesion when soil moves within the guide shroud 801, the curved surface of its top wall is based on a logarithmic spiral curve, with its radius of curvature gradually increasing to allow soil particles to slide along the tangential direction; the angle between the contact point normal and the direction of movement approaches 90°, significantly reducing normal pressure and thus frictional resistance. The curve equation is:

[0102] ρ=ρ0·e kθ Formula 1

[0103] In Formula 1, ρ is the distance from a point on the curve to the center of rotation, in mm; ρ0 is the initial polar radius, in mm; k is the expansion coefficient; and θ is the rotation angle, in °.

[0104] The trenching mechanism 6 is located in the middle of the machine, behind the front trenching shovel 201 of the gearbox 2. For example... Figure 11As shown, the trenching mechanism 6 includes a counter-rotating cutter shaft 601, a trenching cutter 602, a soil-throwing cutter 603, and a trenching shovel 604. The left and right ends of the counter-rotating cutter shaft 601 are mounted on the side plate 109 via bearing end caps 112. Two cutter discs spaced a certain distance apart are fixedly connected to the middle of the counter-rotating cutter shaft 601. The upper half of each cutter disc is located inside a guide shroud 801. Grooves for accommodating the counter-rotating cutter shaft 601 are provided in the middle of the lower edges of the left and right side walls of the guide shroud 801. The diameter of the cutter discs is 400 mm, increasing the trenching depth. Each cutterhead has multiple (preferably 10) trenching blades 602 evenly fixed to its outer circumference. The trenching blades 602 on the two cutterheads are staggered, and the tips of the trenching blades 602 on the two cutterheads are bent towards each other, which can effectively cover the cross-section of the trench and reduce the size of the soil clod; multiple (preferably 10) soil-throwing blades 603 are evenly fixed between the two cutterheads, used to throw the fallen soil backward. The blade body of the soil-throwing blade 603 is perpendicular to the cutterhead, and the handle is arranged radially along the cutterhead. Figure 12 As shown, the soil-throwing blade 603 has a bend between its tip and handle to improve its ability to throw soil backward. Preferably, the bend angle is 30° to allow the soil flow to match the contour of the curved top wall of the guide shroud 801, achieving the best soil-throwing effect.

[0105] like Figure 9 As shown, the trenching shovel 604 is fixed to the lower rear end of the guide cover 801. The trenching shovel 604 is arc-shaped and can enclose the trenching blade 602 on the counter-rotating cutter shaft 601. The trenching shovel 604 has a structure that is wider at the top and narrower at the bottom. Its upper width is 200mm and its lower width is 130mm. It can create a trapezoidal trench with good drainage performance based on the operation of the trenching blade 602.

[0106] Furthermore, such as Figure 11 As shown, six sets of shallow rotating blade groups 7 are provided on the counter-rotating blade shafts 601 on both the left and right sides of the cutter head; each pair of adjacent shallow rotating blade groups 7 constitutes a shallow rotating unit, corresponding to a wheat seedling strip; each set of shallow rotating blade groups 7 includes four circumferentially evenly distributed right-angle blades 701, which are fixed to the counter-rotating blade shaft 601 by right-angle blade holders 702; the blade tips of the right-angle blades 701 in the two sets of shallow rotating blade groups 7 in the same shallow rotating unit face each other and are arranged alternately. The three shallow rotating units located on the left side of the counter-rotating blade shaft 601 and the three shallow rotating units located on the right side of the counter-rotating blade shaft 601 are arranged symmetrically with respect to the longitudinal axis of the machine. In this embodiment of the invention, there are twelve shallow rotary blade groups 7 in total, and two adjacent shallow rotary blade groups 7 constitute a shallow rotary unit; each shallow rotary blade group 7 includes four right-angle blades 701, which are installed into right-angle blade holders 702 and connected by bolts. The right-angle blade holders 702 are welded to the counter-rotating blade shaft 601. The two shallow rotary blade groups 7 in the same shallow rotary unit are arranged in a cross pattern; the shallow rotary range of each shallow rotary unit covers a strip of wheat seedlings.

[0107] The strip-type quantitative soil covering mechanism 9 is arranged behind the trenching mechanism 6 and the shallow rotary cutter group 7, and is located below the tail of the guide shroud 801. Figure 13 As shown, the strip quantitative soil covering mechanism 9 includes a soil support plate 901, a variable pitch auger 902, an auger motor 903, and a dividing disc 904; the left and right ends of the rotating shaft of the variable pitch auger 902 are mounted on the side plate 109 via bearing end caps 112; the auger motor 903 is fixed to the bearing end caps 112, and the power output shaft of the auger motor 903 is connected to the rotating shaft of the variable pitch auger 902; the rotating shaft of the variable pitch auger 902 is provided with twelve spiral blades corresponding one-to-one with the shallow rotary cutter group 7, and every two adjacent spiral blades constitute a soil covering unit; the two spiral blades of the same soil covering unit are arranged symmetrically from left to right, and The spiral directions are opposite, but the pitch is the same. Three soil-covering units located on the left side of the rotating shaft of the variable-pitch auger 902 and three on the right side are arranged symmetrically with respect to the longitudinal axis of the machine. A separating disc 904, fixed to the rotating shaft of the variable-pitch auger 902, is provided between adjacent soil-covering units on the same side. The pitch of the middle soil-covering unit on the same side is 0.5 times the pitch of the soil-covering units on either side of it, ensuring consistent soil coverage for each wheat seedling strip. To ensure the auger has an ideal soil transport capacity without clogging, the inner diameter of each spiral blade is 30mm and the outer diameter is 190mm. The diameter of the separating disc 904 is equal to the outer diameter of the spiral blade. The soil-bearing plate 901 is fixed to two side plates 109 and located directly below the variable-pitch auger 902. The soil-bearing plate 901 has six soil-feeding openings corresponding to the soil-covering units.

[0108] The productivity of the auger for transporting soil is:

[0109]

[0110] In Formula 2, q is the conveying capacity of the auger, in kg / s; D is the outer diameter of the helical blade, in mm; λ is the gap between the auger and the soil bearing plate, in mm; d is the inner diameter of the helical blade, in mm; t is the pitch of the helical blade, in mm; n is the rotational speed of the auger, in r / min; and γ is the unit volumetric mass of the soil, in kg / m³. 3 .

[0111] Specifically, to ensure consistent soil coverage for each wheat seedling strip, dividing discs 904 are installed at three equal points on the left and right sides of the rotating shaft of the variable-pitch auger 902 to separate the soil. Within each separated space, spiral blades with opposite directions and consistent pitch extend outwards from both sides, using the longitudinal centerline of the wheat seedling strip as a reference. After the entire machine operates, a section approximately 1m wide is formed on both sides of the trench. Three wheat seedling strips are arranged laterally on each section surface. Due to the soil ejection effect of the guide fan 802, the amount of soil obtainable in the separated spaces corresponding to the two wheat seedling strips on the left and right sides of the section surface is lower than the amount of soil obtainable in the separated space corresponding to the middle wheat seedling strip. To ensure consistent soil coverage for each wheat seedling strip, according to Formula 2, the pitch of the spiral blades of the middle soil covering unit on the same side of the rotating shaft of the variable-pitch auger 902 is 0.5 times the pitch of the spiral blades of the soil covering units on its two sides. Within each partition space, the width of the soil-feeding opening of the soil-bearing plate 901 is 200mm, so that the trench soil can fall and cover the soil.

[0112] The lower end of the seed metering mechanism 4 is equipped with six seed metering tubes, located between the shallow rotary blade group 7 and the strip quantitative soil covering mechanism 9, with each seed metering tube corresponding to a wheat seedling strip.

[0113] The compaction mechanism 10 is located behind the strip quantitative soil covering mechanism 9. For example... Figure 14 As shown, the compaction mechanism 10 includes compaction wheels 1001, compaction wheel fixing plates 1002, and scraper blades 1003. Two compaction wheel fixing plates 1002 are fixed to the left and right ends of the rear crossbeam 103. The two ends of the compaction wheel axle are mounted on the two compaction wheel fixing plates 1002 via bearings. Six compaction wheels 1001 fixed to the axle are arranged corresponding to the soil covering units. The diameter of the compaction wheel 1001 is 370mm. A star-shaped roller fixed to the axle is provided between two adjacent compaction wheels 1001 on the same side to improve the compaction wheel's gripping ability and reduce the rotation rate. The scraper blades 1003 are fixed to the rear end face of the rear crossbeam 103. The scraper blades 1003 have grooves corresponding to the compaction wheels 1001 and the star-shaped rollers for scraping away soil and straw adhering to the compaction wheels 1001 and the star-shaped rollers.

[0114] like Figure 3 As shown, a portion of the power of the gearbox 2 is directly transmitted from the lower power output shaft to the rotary tillage shaft of the rotary tillage mechanism to drive the rotary tillage blade assembly 5 to rotate; another portion of the power is transmitted from the upper power output shaft to the counter-rotating blade shaft 601 of the trenching mechanism 6 through the transmission mechanism 11 to drive the trenching blade 602 and the shallow rotary blade assembly 7 to operate.

[0115] The transmission mechanism 11 includes a first sprocket 1101 installed at the end of the upper power output shaft and a second sprocket 1102 installed at the end of the counter-rotating cutter shaft 601. The first sprocket 1101 and the second sprocket 1102 are connected by a transmission chain.

[0116] The transmission mechanism 11 further includes a pressing sprocket 1103 installed at the end of the pressing wheel shaft of the pressing mechanism 10, a fertilizer discharging sprocket 1105 installed at the end of the fertilizer discharging shaft of the fertilizer discharging mechanism 3, and a seed discharging sprocket 1104 installed at the end of the seed discharging shaft of the seed discharging mechanism 4. The rolling of the pressing wheel 1001 on the ground as the seeder moves forward is used as the power source, and the power is transmitted through the transmission chain.

[0117] Preferably, the transmission chain is equipped with multiple tensioning pulleys to ensure reliable transmission.

[0118] Preferably, the first sprocket 1101 and the second sprocket 1102 are double-row sprockets to enhance the transmission torque and load-bearing capacity of the counter-rotating cutter shaft 601.

[0119] The working principle and process of this invention are as follows:

[0120] First, the rotary tiller set 5 performs strip tillage on the wheat seedling strip. Next, the furrow-opening mechanism 6, driven by the transmission mechanism 11, reverses its operation to create drainage furrows 30cm deep and 20cm wide, shaping the furrow walls. Simultaneously, the shallow rotary blade set 7, mounted on the counter-rotating blade shaft 601, further breaks up soil clods and clears straw from the seedling strip area, improving the quality of the seedbed, while also completing fertilization and sowing. To prevent soil thrown up during furrowing from flowing back and clogging, the soil guiding mechanism 8 uses a guiding cover 801 to gather the furrow soil backwards, and then the guiding fan 802, controlled by the guiding fan motor 804, evenly distributes it onto the soil-bearing plates 901 on both sides. Finally, the variable-pitch auger 902 of the strip quantitative soil covering mechanism 9 efficiently concentrates the furrow soil on the soil-bearing plates 901 to cover the central seeding strip, completing the soil covering and ensuring uniform coverage. Finally, the compaction mechanism 10 compacts the soil. The entire process is completed in one go, efficiently and compactly, including fertilization, rotary tillage, furrowing and shallow tillage, sowing, soil diversion and covering, and compaction, which can improve the efficiency and survival rate of rice stubble wheat sowing.

[0121] like Figure 15 As shown, the soil moisture sensor 202, the three-dimensional lidar 113, and the IMU inertial measurement unit 111 constitute a data acquisition module; the controller constitutes a data processing module; and the guide fan motor 804 and the auger motor 903 constitute an actuator.

[0122] This invention also provides a soil diversion and quantitative soil covering method based on a rice-wheat double-furrow seeder in a paddy-dry rotation area, comprising the following steps:

[0123] S1. The seeder enters the field and begins operation. The front furrowing shovel 201 creates shallow furrows, and the ridge-opening mechanism 6 creates ridges approximately 30cm deep. The soil in the furrows is thrown up by the combined action of the furrowing blade 602 and the soil-throwing blade 603, and moves backward along the curved top wall of the guide cover 801 based on a logarithmic spiral curve. During this process, the soil moisture sensor 202 probes into the soil surface along with the front furrowing shovel 201 to obtain soil moisture content information. The three-dimensional lidar 113 scans the created ridges to obtain ridge cross-sectional information. The IMU inertial measurement unit 111 is used to obtain the overall posture information and vibration interference data of the implement during operation.

[0124] S2. Soil moisture content information, trench cross-section information, overall machine posture information and vibration interference data are all transmitted to the controller, and the soil flow rate in the guide cover 801 is calculated through a mathematical model to finally obtain the optimal theoretical soil throwing speed and the optimal theoretical soil covering speed.

[0125] The mathematical model relating soil flow rate to information from various sensors is as follows:

[0126]

[0127] In Formula 3, Q is the soil flow rate inside the guide shroud 801, in kg / s; η is the trenching efficiency coefficient, which is affected by the diameter of the cutter head and the staggered layout of the trenching cutters, and is determined experimentally; A is the cross-sectional area of ​​the trench, calculated by reconstructing the cross-sectional information of the trench obtained from scanning, in m². 2 ;v m ζ represents the forward speed of the implement, obtained by integrating the pose information, in m / s; ζ represents the soil adhesion attenuation coefficient; ω represents the soil moisture content, in %; and ω0 represents the soil saturated moisture content, in %.

[0128] The optimal theoretical soil-throwing rotation speed and soil flow rate mathematical model is as follows:

[0129]

[0130] In formula 4, n f The optimal theoretical soil-throwing speed of the guide fan 802 is given in r / min; Q is the soil flow rate inside the guide shroud 801 in kg / s; Q0 is the rated flow rate in kg / s; D f The diameter of the 802 guide fan is in mm; g is the acceleration due to gravity in m / s². 2 L represents the total length of all soil covering units on one side of the auger 902, in mm.

[0131] The mathematical model for the optimal theoretical soil cover rotation speed and soil flow rate is as follows:

[0132]

[0133] In formula 5, na The optimal theoretical overburden rotation speed for the variable pitch auger 902 is given in r / min; Q is the soil flow rate inside the guide shroud 801 in kg / s; and γ is the soil mass per unit volume in kg / m³. 3 D is the outer diameter of the helical blade in mm; d is the inner diameter of the helical blade in mm; t is the pitch of the helical blade in mm; λ is the gap between the auger and the soil bearing plate in mm; β is the soil backflow correction coefficient, which is dynamically compensated by IMU vibration data.

[0134] S3. The controller outputs a control signal to the guide fan motor 804 according to the optimal theoretical soil throwing speed to change its speed and control the speed and mass of soil being thrown to both sides; at the same time, it outputs a signal to the auger motor 903 according to the optimal theoretical soil covering speed to change its speed and control the mass of soil gathering towards the strip to ensure uniform soil covering.

[0135] S4. During one operation, repeat steps S2 to S3 to direct the soil thrown from the trench from the center to the two sides of the trench. Adjust the throwing amount and the amount of soil covering in real time according to the operation status to achieve the purpose of quantitative soil covering.

[0136] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope of the present invention.

Claims

1. A method for soil guidance and quantitative soil covering based on a rice-wheat stubble double-furrow seeder in a rice-wheat rotation area, wherein the rice-wheat stubble double-furrow seeder in a rice-wheat rotation area includes a frame (1), a gearbox (2), a fertilizer dispensing mechanism (3), a seed dispensing mechanism (4), a rotary tiller assembly (5), a compaction mechanism (10), a transmission mechanism (11), a furrow opening mechanism (6), a shallow rotary tiller assembly (7), a soil guidance mechanism (8), and a strip quantitative soil covering mechanism (9); the frame (1) includes a front crossbeam (101), a middle crossbeam (102), a rear crossbeam (103), side longitudinal beams (104), a middle longitudinal beam (105), a suspension assembly (106), and a front cover. The frame (1) includes a plate (107), a rear cover plate (108), a side plate (109), and a depth limiting plate (110). An IMU inertial measurement unit (111) and a three-dimensional lidar (113) are mounted on the frame (1). The gearbox (2) is fixed along the longitudinal axis of the machine between the front crossbeam (101) and the middle crossbeam (102), and passes through the front cover plate (107). A front trenching shovel (201) is located at the lower front end of the gearbox (2). A soil moisture sensor (202) is located at the rear of the front trenching shovel (201). A soil guiding mechanism (8) is arranged between two middle longitudinal beams (105) and located behind the gearbox (2). The flow mechanism (8) includes a flow guide shroud (801) and a flow guide fan (802); the front and rear parts of the top of the flow guide shroud (801) are respectively fixed to the middle crossbeam (102) and the middle longitudinal beam (105); a pair of parallel flow guide fans (802) are installed at the soil flow inlets on the left and right sides of the tail of the flow guide shroud (801); the trenching mechanism (6) is located in the middle of the whole machine, behind the front trenching shovel (201) of the gearbox (2); the trenching mechanism (6) includes a counter-rotating cutter shaft (601), a trenching cutter (602) and a soil-throwing cutter (603); the left and right ends of the counter-rotating cutter shaft (601) are installed on the side plate (109); the counter-rotating cutter... Two cutterheads spaced a certain distance apart are fixedly connected to the middle of the shaft (601); multiple trenching cutters (602) are uniformly fixedly connected to the outer circumference of each cutterhead, and the trenching cutters (602) on the two cutterheads are staggered; multiple soil-throwing cutters (603) are uniformly fixedly connected between the two cutterheads; the strip quantitative soil covering mechanism (9) is arranged behind the trench opening mechanism (6) and the shallow rotary cutter group (7), and is located below the tail of the guide shroud (801); the strip quantitative soil covering mechanism (9) includes a variable pitch auger (902) and an auger motor (903); the power output shaft of the auger motor (903) is connected to the rotating shaft of the variable pitch auger (902); characterized in that, The method includes the following steps: S1. The seeder enters the field and operates. The front furrowing shovel (201) opens a shallow furrow, and the ditch opening mechanism (6) opens a ditch of a certain depth. The soil in the furrow is thrown up by the joint action of the furrowing blade (602) and the soil throwing blade (603) and moves backward along the curved top wall of the guide cover (801) based on the logarithmic spiral curve. During the process, the soil moisture sensor (202) probes into the soil surface with the front furrowing shovel (201) to obtain soil moisture information. The three-dimensional lidar (113) scans the opened ditch to obtain the ditch cross-sectional information. The IMU inertial measurement unit (111) is used to obtain the overall posture information and vibration interference data of the machine during operation. S2, soil moisture content information, trench cross section information, overall machine posture information and vibration interference data are all transmitted to the controller, and the soil flow rate in the guide cover (801) is calculated through mathematical model, and finally the optimal theoretical soil throwing speed and the optimal theoretical soil covering speed are obtained. The mathematical model relating soil flow rate to information from various sensors is as follows: Official 3 In Formula 3, Q is the soil flow rate inside the flow guide shroud (801), in kg / s; η is the trenching efficiency coefficient, which is affected by the diameter of the cutterhead and the staggered arrangement of the trenching cutters, and is determined experimentally; A is the cross-sectional area of ​​the trench, calculated by reconstructing the cross-sectional information of the trench obtained from scanning, and the unit is m²; v m ζ represents the forward speed of the implement, which is obtained by integrating the pose information and is expressed in m / s; ζ is the soil adhesion attenuation coefficient. ω represents soil moisture content (in %), and ω0 represents soil saturation moisture content (in %). The optimal theoretical soil-throwing rotation speed and soil flow rate mathematical model is as follows: Official 4 In formula 4, n f , where is the optimal theoretical soil dumping speed of the guide fan (802), in r / min; Q is the soil flow rate inside the guide shroud (801), in kg / s; Q0 is the rated flow rate, in kg / s; D f The diameter of the guide fan (802) is in mm; g is the acceleration due to gravity in m / s². 2 L represents the total length of all soil covering units on one side of the variable pitch auger (902), in mm. The mathematical model for the optimal theoretical soil cover rotation speed and soil flow rate is as follows: Official 5 In formula 5, n a The optimal theoretical overburden rotation speed for the variable pitch auger (902) is given in r / min; Q is the soil flow rate inside the guide shroud (801) in kg / s; and γ is the soil mass per unit volume in kg / m³. 3 D is the outer diameter of the helical blade in mm; d is the inner diameter of the helical blade in mm; t is the pitch of the helical blade in mm; λ is the gap between the auger and the soil bearing plate in mm; β is the soil reflux correction coefficient. S3. The controller outputs a control signal to the guide fan motor (804) according to the optimal theoretical soil throwing speed to change its speed and control the speed and mass of soil being thrown to both sides; at the same time, it outputs a signal to the auger motor (903) according to the optimal theoretical soil covering speed to change its speed and control the mass of soil gathering towards the strip to ensure that the soil covering amount is uniform. S4. During one operation, repeat steps S2 to S3 to direct the soil thrown from the trench from the center to the two sides of the trench. Adjust the throwing amount and the amount of soil covering in real time according to the operation status to achieve the purpose of quantitative soil covering.

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