Hydraulic drive intelligent peanut harvesting tedder and control method thereof

Abstract

The invention discloses a hydraulically-driven intelligent peanut harvesting tedder and a control method thereof, the hydraulically-driven intelligent peanut harvesting tedder comprises a tractor and a machine tool part, and the machine tool part is provided with a seedling pressing roller, a digging shovel, a conveying and lifting mechanism and a seedling turning and laying mechanism. The hydraulic system comprises a first hydraulic motor, a second hydraulic motor, an oil tank, a speed increasing box and an oil pump, the input end of the gearbox is connected with a PTO output shaft of the tractor, and the output end is connected with the oil pump. The hydraulic system further comprises a first proportioning valve and a second proportioning valve which are arranged corresponding to the first hydraulic motor and the second hydraulic motor. A speed measurement system and an image acquisition unit are mounted on the rack and used for measuring the moving speed of the tractor and the running speed of the conveying and lifting mechanism and the seedling turning and laying mechanism. The control system judges the seedling turning quality according to an image acquired by the image acquisition unit, and accurately regulates the speed of the conveying and lifting mechanism and the seedling turning and laying mechanism in combination with the running speed of the tractor, so that the speeds of the conveying and lifting mechanism and the seedling turning and laying mechanism are coordinated, the seedling turning quality is ensured, and low-loss harvesting and laying of peanuts are realized.

Description

Technical Field

[0001] This invention relates to the field of peanut harvesting technology, and in particular to a liquid-driven intelligent peanut harvesting and drying machine and its control method. Background Technology

[0002] As an important oilseed and cash crop, peanuts require careful drying after harvesting to ensure their quality and subsequent processing performance. While efficient mechanized harvesting improves operational efficiency, peanut plants covered in soil after being dug up need to be promptly and evenly turned over and dried to effectively reduce the risk of mold growth on the pods, promote rapid dehydration of the pods, and achieve good separation of stems and leaves from the pods, creating favorable conditions for subsequent mechanized picking and hulling. Therefore, the quality of turning and laying the vines directly affects the final harvest loss rate, drying efficiency, and overall harvest quality, making it an indispensable and crucial step in the mechanized peanut harvesting process.

[0003] Existing peanut harvesters have significant shortcomings in the coordinated control of vine turning and laying. In the prior art, the applicant's earlier application CN 117413673 A discloses a root and fruit crop digging and drying machine, mainly including a tractor-traction frame, a digging mechanism, a conveying and lifting mechanism, and a vine turning and laying mechanism. It also includes a transmission system, which consists of a transmission box that connects to the tractor's PTO output shaft. The output shaft of the transmission box transmits power to the turning disc of the vine turning and laying mechanism via a chain transmission mechanism. In this solution, the speed transmitted from the transmission system to the conveying and lifting mechanism and the vine turning and laying mechanism is fixed. In actual use, this easily leads to peanut loss due to the mismatch between the speed of the components and the vehicle speed. Other existing technologies use simple hydraulic drive methods, where the operating speeds of the conveying and lifting mechanism and the vine turning and laying mechanism are usually a fixed ratio or only have limited gear adjustments, making it impossible to perform real-time, precise online speed adjustment matching based on the actual forward speed of the tractor, soil conditions, and crop status. This can easily lead to blockages in the seedling transport, uneven lifting, or uneven and insufficient spreading of the seedlings (such as overlapping seedlings or insufficient peanut exposure), seriously affecting the quality of seedling turning and subsequent drying. Furthermore, the lack of a real-time monitoring and feedback mechanism for the quality of the turning and drying operation makes it difficult to intelligently optimize and adjust operational parameters to cope with complex and changing field conditions. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a liquid-driven intelligent peanut harvesting and drying machine and its control method that can conveniently and precisely coordinate the control of various components of the peanut harvester and ensure the quality of turning the vines.

[0005] Technical solution: To achieve the above objectives, the present invention provides a liquid-driven intelligent peanut harvesting and drying machine, which includes a tractor and a implement. The implement includes a frame, a hydraulic system and a control system. The frame is equipped with a pressing roller, a digging shovel, a conveying and lifting mechanism and a turning and laying mechanism arranged from front to back.

[0006] The hydraulic system includes a first hydraulic motor and a second hydraulic motor that respectively drive the conveying and lifting mechanism and the rice turning and laying mechanism, and also includes an oil tank;

[0007] The hydraulic system also includes a speed increaser and an oil pump connected to a hydraulic motor. The input unit of the speed increaser is connected to the PTO output shaft of the tractor, and the oil pump is connected to the output unit of the speed increaser.

[0008] The hydraulic system also includes a first proportional regulating valve and a second proportional regulating valve corresponding to the first hydraulic motor and the second hydraulic motor, respectively.

[0009] The frame is also equipped with a speed measurement system and an image acquisition unit, including a first speed measurement unit, a second speed measurement unit, and a third speed measurement unit for measuring the moving speed of the tractor, the operating speed of the conveying and lifting mechanism, and the operating speed of the rice seedling laying mechanism.

[0010] Furthermore, in the first embodiment, the speed increaser is mounted on the rear side of the tractor via a mounting bracket. The input unit of the speed increaser has a splined hole for the PTO output shaft to be inserted. The speed increaser has a single output unit, and the oil pump is a tandem pump connected to the output unit. Both the first hydraulic motor and the second hydraulic motor are connected to the tandem pump. Specifically, the tandem pump has an inlet connected to the oil tank and two outlets respectively connected to the first and second hydraulic motors. The two outlets of the tandem pump are respectively connected to the corresponding hydraulic motors via corresponding proportional control valves. The oil flowing out of the outlets of both the first and second hydraulic motors flows back to the oil tank after passing through a radiator.

[0011] Furthermore, the speed increaser is mounted on the frame and has one input unit and two output units. The axis of the input unit is perpendicular to the axis of the output unit, and the axes of the two output units are perpendicular to each other. The input unit is connected to the PTO output shaft of the tractor through a universal joint connecting shaft. The two output units are respectively connected to a first oil pump and a second oil pump, and the first oil pump and the second oil pump are respectively connected to a first hydraulic motor and a second hydraulic motor.

[0012] Furthermore, there are two second hydraulic motors, each connected to the left and right turning tray assemblies of the rice seedling turning and laying mechanism. Each turning tray assembly includes multiple turning trays strung together on the same roller. The rice seedling turning and laying mechanism also includes a laying rod extending rearward from the gap between every two turning trays. The oil outlets of the two second hydraulic motors are interconnected, and their oil inlets are respectively connected to the oil pump and the radiator. The oil inlet connected to the oil pump is connected to the oil pump through a second proportional regulating valve. The radiator is connected to the oil tank.

[0013] Furthermore, both the oil tank and the radiator are mounted on the frame.

[0014] Furthermore, the hydraulic system also includes a telescopic cylinder connecting the tractor and the frame. By controlling the extension and retraction of the telescopic cylinder, the digging depth of the excavator blade can be changed.

[0015] A control method for a liquid-driven intelligent peanut harvesting and drying machine, the method comprising:

[0016] The forward speed of the tractor is obtained through the first speed measuring unit, and the target operating speed of the conveying and lifting mechanism and the rice turning and laying mechanism is calculated according to the preferred speed ratio.

[0017] In this scheme, the control system presets a first preferred speed ratio corresponding to the operating speed of the conveying and lifting mechanism and the forward speed of the tractor, and sets a selectable range for the first speed ratio. In this invention, the selectable range for the first speed ratio is 0.8-1.2. The control system also presets a second preferred speed ratio corresponding to the operating speed of the rice seedling turning and laying mechanism and the operating speed of the conveying and lifting mechanism, and sets a selectable range for the second speed ratio. In this invention, the selectable range for the second speed ratio is 1-1.4. In this step, the target operating speed of the conveying and lifting mechanism is first determined based on the first preferred speed ratio, and then the target operating speed of the rice seedling turning and laying mechanism is determined based on the second preferred speed ratio and the target operating speed of the conveying and lifting mechanism.

[0018] The operation of the conveying and lifting mechanism and the rice seedling turning and laying mechanism is controlled based on the target running speed, and the quality of rice seedling turning is judged based on the image data collected by the image acquisition unit.

[0019] In this step, the control system adjusts the speed of the first hydraulic motor and the second hydraulic motor based on the rotational speeds fed back by the second speed measuring unit and the third speed measuring unit, so as to realize that the conveying and lifting mechanism and the rice turning and laying mechanism operate at their respective target operating speeds.

[0020] When the quality of turning the rice seedlings does not meet the requirements, the operating speed of the rice seedling turning and laying mechanism is adjusted, and the operating speed of the conveying and lifting mechanism is adjusted based on a preset selectable ratio range.

[0021] Furthermore, the quality of rice seedling turning is judged based on the real-time fruit yield.

[0022] Specifically, the real-time peanut exposure rate refers to the proportion of peanuts exposed to the elements within the sampling range of the image acquisition unit after the peanuts have been turned and laid out. The number of exposed peanuts is determined by the control system through peanut identification and counting based on images acquired by the image acquisition unit. The total number of peanuts is a fixed value estimated through pre-experimentation. The control system compares the real-time peanut exposure rate with a preset benchmark peanut exposure rate to determine whether the peanut turning quality meets the requirements.

[0023] If the real-time seedling turning and laying rate is lower than the benchmark rate after two consecutive measurements, the operating speed of the seedling turning and laying mechanism will be reduced by 5%, which means the speed of the second hydraulic motor will be reduced by 5%. Simultaneously, based on the adjusted operating speed of the seedling turning and laying mechanism, the operating speed of the conveying and lifting mechanism will be adjusted so that the actual first speed ratio is within the first selectable speed ratio range, and the actual second speed ratio is within the second selectable speed ratio range. When the actual first speed ratio and second speed ratio can simultaneously satisfy the first preferred speed ratio and the second preferred speed ratio, then the first preferred speed ratio and the second preferred speed ratio will be selected for speed adjustment. This balances the seedling turning effect with the coordinated movement between various components. If, after reducing the operating speed of the seedling turning and laying mechanism, the real-time seedling turning rate is still lower than the benchmark rate after two consecutive measurements, an alarm will be issued to remind the user to stop the machine for inspection.

[0024] The baseline peanut pod visibility rate and total peanut count were obtained through the experiment as follows: Images of 200 sets of experimental samples were acquired, each set including peanut plants after thorough tilling and spreading; then, the number of exposed peanut pods within the frame of each experimental set was counted, as well as the total number of all peanut pods within the frame, including those not visible. Based on all sets of experimental samples, the average number of exposed peanut pods and the average total number of peanut pods were calculated. The baseline peanut pod visibility rate was calculated based on the ratio of these two data points. The average total number of peanut pods was used as the total number of peanuts for calculating the real-time peanut pod visibility rate. Since peanuts are evenly distributed on the ridges during planting, this simplified method of calculating the real-time peanut pod visibility rate reduces the computational difficulty.

[0025] Beneficial effects: The liquid-driven intelligent peanut harvesting and drying machine and its control method of the present invention have the following beneficial effects:

[0026] In this invention, the PTO output shaft and speed increaser of the tractor are used to drive the oil pump, which can provide continuous power to the oil pump and ensure the main shaft speed of the oil pump. There is no need to equip the oil pump with a separate motor or other drive mechanism. The control system judges the quality of turning the seedlings based on the images collected by the image acquisition unit, and can precisely adjust the operating speed of the conveying and lifting mechanism and the turning and laying mechanism based on the tractor's travel speed, so that the three speeds work together and ensure the quality of turning the seedlings, achieving low-loss harvesting and laying of peanuts. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the liquid-driven intelligent peanut harvesting and drying machine in the first embodiment;

[0028] Figure 2 This is a side view of the hydraulically driven intelligent peanut harvesting and drying machine in the first embodiment;

[0029] Figure 3 for Figure 1 Enlarged structural diagram of section A;

[0030] Figure 4 This is a structural diagram of the hydraulic system in the first embodiment;

[0031] Figure 5 This is a structural diagram of the liquid-driven intelligent peanut harvesting and drying machine in the second embodiment;

[0032] Figure 6 This is a structural diagram of the hydraulic system in the second embodiment;

[0033] Figure 7 This is a structural diagram of the combined conveying and lifting mechanism and the weight detection mechanism;

[0034] Figure 8 This is a flowchart illustrating the control method of a liquid-driven intelligent peanut harvesting and drying machine.

[0035] In the diagram: 1-Tractor; 2-Frame; 3-Pressing roller; 4-Digging shovel; 5-Conveying and lifting mechanism; 51-Chain; 52-Conveying rod; 53-Vibrating wheel mechanism; 6-Turning and laying mechanism; 61-Turning tray assembly; 62-Laying rod; 7-Hydraulic system; 71-First hydraulic motor; 72-Second hydraulic motor; 73-Oil tank; 74-Increase speed increaser; 75-Double pump; 76-Radiator; 77-Universal joint connecting shaft; 78-First oil pump; 79-Second oil pump; 710-First proportional regulating valve; 711-Second proportional regulating valve; 712-Mounting bracket; 713-Telescopic cylinder; 81-First speed measuring unit; 82-Second speed measuring unit; 83-Third speed measuring unit; 9-Image acquisition unit; 10-Weight detection mechanism; 10a-Support wheel; 10b-Support shaft; 10c-Pressure sensor. Detailed Implementation

[0036] The invention will now be further described with reference to the accompanying drawings.

[0037] like Figures 1 to 2 The hydraulically driven intelligent peanut harvesting and drying machine shown includes a tractor 1 and a implement part. The implement part includes a frame 2, a hydraulic system 7 and a control system. The frame 2 is equipped with a pressing roller 3, a digging shovel 4, a conveying and lifting mechanism 5 and a turning and laying mechanism 6 arranged from front to back.

[0038] The hydraulic system 7 includes a first hydraulic motor 71 and a second hydraulic motor 72 that respectively drive the conveying and lifting mechanism 5 and the rice turning and laying mechanism 6, and also includes an oil tank 73.

[0039] The hydraulic system 7 also includes a speed increaser 74 and an oil pump connected to a hydraulic motor. The input unit of the speed increaser 74 is connected to the PTO output shaft of the tractor 1, and the oil pump is connected to the output unit of the speed increaser 74.

[0040] The hydraulic system 7 also includes a first proportional regulating valve 710 and a second proportional regulating valve 711 corresponding to the first hydraulic motor 71 and the second hydraulic motor 72, respectively.

[0041] The frame 2 is also equipped with a speed measuring system and an image acquisition unit 9, including a first speed measuring unit 81, a second speed measuring unit 82, and a third speed measuring unit 83, which are used to measure the moving speed of the tractor 1, the operating speed of the conveying and lifting mechanism 5, and the operating speed of the rice seedling laying mechanism 6, respectively.

[0042] In this invention, the PTO output shaft of the tractor and the speed increaser 74 drive the oil pump, which can provide continuous power to the oil pump and ensure the main shaft speed of the oil pump. There is no need to equip the oil pump with a separate motor or other drive mechanism. The control system judges the quality of turning the seedlings based on the image acquired by the image acquisition unit 9, and can precisely adjust the running speed of the conveying and lifting mechanism 5 and the turning and laying mechanism 6 based on the travel speed of the tractor 1, so that the three speeds work together and ensure the quality of turning the seedlings, achieving low-loss harvesting and laying of peanuts.

[0043] Preferably, in the first embodiment, such as Figure 1 and Figure 3 As shown, the speed increaser 74 is mounted on the rear side of the tractor 1 via a mounting bracket 712. The input unit of the speed increaser 74 has a splined hole for the PTO output shaft to be inserted. The speed increaser 74 has a single output unit, and the oil pump is a dual pump 75 connected to the output unit. The first hydraulic motor 71 and the second hydraulic motor 72 are both connected to the dual pump 75. Specifically, as... Figure 4 As shown, the dual pump 75 has an oil inlet connected to the oil tank 73, and two oil outlets connected to the first hydraulic motor 71 and the second hydraulic motor 72 respectively. The two oil outlets of the dual pump 75 are connected to the corresponding hydraulic motors through corresponding proportional regulating valves. The oil flowing out of the oil outlets of the first hydraulic motor 71 and the second hydraulic motor 72 flows back to the oil tank 73 after passing through the radiator 76.

[0044] In the first embodiment described above, the speed increaser 74 and the dual pump 75 are directly installed at the location of the PTO output shaft, making the structure simple and compact, and easy to install.

[0045] In the second embodiment, such as Figure 5 As shown, the speed increaser 74 is mounted on the frame 2 and has one input unit and two output units. The axes of the input unit and the output units are perpendicular to each other, and the axes of the two output units are also perpendicular. The input unit is connected to the PTO output shaft of the tractor 1 via a universal joint connecting shaft 77. Figure 6 As shown, the two output units are respectively connected to the first oil pump 78 and the second oil pump 79, and the first oil pump 78 and the second oil pump 79 are respectively connected to the first hydraulic motor 71 and the second hydraulic motor 72.

[0046] Preferably, there are two second hydraulic motors 72, which are respectively connected to the left and right turning tray assemblies 61 of the rice seedling turning and laying mechanism 6. Each turning tray assembly 61 includes multiple turning trays strung together on the same roller. The rice seedling turning and laying mechanism 6 also includes a laying rod 62 extending rearward from the gap between every two turning trays. The oil outlets of the two second hydraulic motors 72 are connected to each other, and their oil inlets are respectively connected to the oil pump and the radiator 76. The oil inlet connected to the oil pump is connected to the oil pump through a second proportional regulating valve 711. The radiator 76 is connected to the oil tank 73.

[0047] Preferably, the oil tank 73 and the radiator 76 are both mounted on the frame 2.

[0048] Preferably, the hydraulic system 7 further includes a telescopic cylinder 713 connecting the tractor 1 and the frame 2. By controlling the extension and retraction of the telescopic cylinder 713, the digging depth of the digging shovel 4 can be changed. The conveying and lifting mechanism 5 includes two sets of parallel chains 51, and a conveying rod 52 mounted between the two sets of chains 51. The conveying and lifting mechanism 5 also includes a vibrating wheel mechanism 53 acting on the conveying rod 52, such as... Figure 7As shown, the upper half of the chain 51 has two weight detection mechanisms 10 on both sides of the vibrating wheel mechanism 53, with one set of weight detection mechanisms 10 at a higher position and the other at a lower position. Each set of weight detection mechanisms 10 includes a support wheel 10a acting on the chain 51, a support shaft 10b connecting the support wheel 10a, and a pressure sensor 10c connecting the support shaft 10b. Based on the data collected by the two sets of weight detection mechanisms 10, the control system can calculate the soil removal rate of the crop excavated by the peanut harvesting and drying machine, and thereby determine whether the digging depth of the digging shovel 4 is reasonable. Specifically, the control system acquires the weight data T1 generated by the lower weight detection mechanism 10 at time t, and acquires the second weight data T2 collected by the higher weight detection mechanism 10 at time t+Δt. The soil removal rate is calculated based on the following formula: (T1-T2) / T1×100%, where Δt is the time it takes for the crop to travel from the lower weight detection mechanism 10 to the higher weight detection mechanism 10, determined by the conveying speed of the conveying and lifting mechanism 5. When the soil removal rate is higher than the preset maximum soil removal rate, it indicates that the digging depth is too large. Control the telescopic cylinder 713 to operate to raise the frame 2. When the soil removal rate is lower than the preset minimum soil removal rate, it indicates that the digging depth is too shallow. Control the telescopic cylinder 713 to operate to lower the frame 2.

[0049] A control method for a liquid-driven intelligent peanut harvesting and drying machine, such as Figure 8 As shown, the method includes the following steps S101-S104:

[0050] Step S101: The forward speed of the tractor 1 is obtained through the first speed measuring unit 81, and the target operating speed of the conveying and lifting mechanism 5 and the rice turning and laying mechanism 6 is calculated according to the preferred speed ratio.

[0051] In this embodiment, the control system presets a first preferred speed ratio corresponding to the operating speed of the conveying and lifting mechanism 5 and the forward speed of the tractor 1, and sets a first speed ratio selectable range. In this invention, the first speed ratio selectable range is 0.8-1.2. The control system also presets a second preferred speed ratio corresponding to the operating speed of the rice seedling turning and laying mechanism 6 and the operating speed of the conveying and lifting mechanism 5, and sets a second speed ratio selectable range. In this invention, the second speed ratio selectable range is 1-1.4. Since the diameter of the rice seedling turning disc is twice the diameter of the drive sprocket in the conveying and lifting mechanism 5, the selectable range for the speed ratio between the second hydraulic motor 72 and the first hydraulic motor 71 is 0.5-0.7. In this step, the target operating speed of the conveying and lifting mechanism 5 is first determined based on the first preferred speed ratio, and then the target operating speed of the rice seedling turning and laying mechanism 6 is determined based on the second preferred speed ratio and the target operating speed of the conveying and lifting mechanism 5.

[0052] Step 102: Control the operation of the conveying and lifting mechanism 5 and the rice seedling turning and laying mechanism 6 based on the target running speed, and determine whether the rice seedling turning quality meets the requirements based on the image data collected by the image acquisition unit 9.

[0053] In this step, the control system adjusts the speeds of the first hydraulic motor 71 and the second hydraulic motor 72 based on the rotational speeds fed back by the second speed measuring unit 82 and the third speed measuring unit 83, respectively, so as to realize that the conveying and lifting mechanism 5 and the rice turning and laying mechanism 6 operate at their respective target speeds; in this embodiment,

[0054] Step 103: When the quality of turning the rice seedlings does not meet the requirements, the operating speed of the rice seedling turning and laying mechanism 6 is adjusted, and the operating speed of the conveying and lifting mechanism 5 is adjusted based on a preset selectable ratio range.

[0055] Preferably, the quality of turning the seedlings in step S102 is judged based on the real-time fruit yield.

[0056] Specifically, the real-time peanut exposure rate refers to the proportion of peanuts exposed to the elements within the sampling range of image acquisition unit 9 after the peanuts have been turned and laid out. The number of exposed peanuts is determined by the control system through peanut identification and statistics based on the images acquired by image acquisition unit 9. The total number of peanuts is a fixed value estimated through pre-experimentation. The control system compares the real-time peanut exposure rate with a preset benchmark peanut exposure rate to determine whether the peanut turning quality meets the requirements.

[0057] In step S103 above, if the real-time seedling turning and laying rate is less than the benchmark seedling turning rate twice consecutively, the operating speed of the seedling turning and laying mechanism 6 is reduced by 5%, that is, the speed of the second hydraulic motor 72 is reduced by 5%. Simultaneously, based on the adjusted operating speed of the seedling turning and laying mechanism 6, the operating speed of the conveying and lifting mechanism 5 is adjusted so that the actual first speed ratio is within the first speed ratio selectable range, and the actual second speed ratio is within the second speed ratio selectable range. When the actual first speed ratio and second speed ratio can simultaneously satisfy the first preferred speed ratio and the second preferred speed ratio, then the first preferred speed ratio and the second preferred speed ratio are selected for speed adjustment. In this way, both the seedling turning effect and the coordinated movement between various components can be taken into account. If, after reducing the operating speed of the seedling turning and laying mechanism 6, the real-time seedling turning rate is still less than the benchmark seedling turning rate after two consecutive measurements, an alarm is issued to remind the user to stop the machine for inspection.

[0058] The baseline peanut pod visibility rate and total peanut count were obtained through the experiment as follows: Images of 200 sets of experimental samples were acquired, each set including peanut plants after thorough tilling and spreading; then, the number of exposed peanut pods within the frame of each experimental set was counted, as well as the total number of all peanut pods within the frame, including those not visible. Based on all sets of experimental samples, the average number of exposed peanut pods and the average total number of peanut pods were calculated. The baseline peanut pod visibility rate was calculated based on the ratio of these two data points. The average total number of peanut pods was used as the total number of peanuts for calculating the real-time peanut pod visibility rate. Since peanuts are evenly distributed on the ridges during planting, this simplified method of calculating the real-time peanut pod visibility rate reduces the computational difficulty.

[0059] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A hydraulically driven intelligent peanut harvesting and drying machine, comprising a tractor (1) and a implement, wherein the implement comprises a frame (2), a hydraulic system (7) and a control system, wherein the frame (2) is equipped with a pressing roller (3), a digging shovel (4), a conveying and lifting mechanism (5) and a turning and laying mechanism (6) arranged sequentially from front to back. The hydraulic system (7) includes a first hydraulic motor (71) and a second hydraulic motor (72) that respectively drive the conveying and lifting mechanism (5) and the rice seedling laying mechanism (6), and also includes an oil tank (73); characterized in that: The hydraulic system (7) also includes a speed increaser (74) and an oil pump connected to a hydraulic motor. The input unit of the speed increaser (74) is connected to the PTO output shaft of the tractor (1), and the oil pump is connected to the output unit of the speed increaser (74). The hydraulic system (7) further includes a first proportional regulating valve (710) and a second proportional regulating valve (711) corresponding to the first hydraulic motor (71) and the second hydraulic motor (72). The frame (2) is also equipped with a speed measurement system and an image acquisition unit (9), including a first speed measurement unit (81), a second speed measurement unit (82), and a third speed measurement unit (83) for measuring the moving speed of the tractor (1), the operating speed of the conveying and lifting mechanism (5), and the operating speed of the rice seedling laying mechanism (6), respectively.

2. The hydraulically driven intelligent peanut harvesting and drying machine according to claim 2, characterized in that, The speed increaser (74) is mounted on the rear side of the tractor (1) via a mounting bracket (712). The input unit of the speed increaser (74) has a spline hole for the PTO output shaft to be inserted. The speed increaser (74) has a single output unit. The oil pump is a double pump (75) connected to the output unit. The first hydraulic motor (71) and the second hydraulic motor (72) are both connected to the double pump (75).

3. The hydraulically driven intelligent peanut harvesting and drying machine according to claim 1, characterized in that, The speed increaser (74) is mounted on the frame (2) and has one input unit and two output units; the input unit is connected to the PTO output shaft of the tractor (1) via a universal joint connecting shaft (77); the two output units are respectively connected to the first oil pump (78) and the second oil pump (79), and the first oil pump (78) and the second oil pump (79) are respectively connected to the first hydraulic motor (71) and the second hydraulic motor (72).

4. The hydraulically driven intelligent peanut harvesting and drying machine according to claim 1, characterized in that, There are two second hydraulic motors (72), which are respectively connected to the left and right turning tray assemblies (61) of the turning and laying mechanism (6); the oil outlets of the two second hydraulic motors (72) are connected to each other, and the oil inlets of the two are respectively connected to the oil pump and the radiator (76).

5. The hydraulically driven intelligent peanut harvesting and drying machine according to claim 1, characterized in that, The oil tank (73) and the radiator (76) are both mounted on the frame (2).

6. The hydraulically driven intelligent peanut harvesting and drying machine according to claim 1, characterized in that, The hydraulic system (7) also includes a telescopic cylinder (713) that connects the tractor (1) to the frame (2).

7. A control method for a liquid-driven intelligent peanut harvesting and drying machine, characterized in that, The method includes: The forward speed of the tractor (1) is obtained by the first speed measuring unit (81), and the target operating speed of the conveying and lifting mechanism (5) and the rice turning and laying mechanism (6) is calculated according to the preferred speed ratio. The conveying and lifting mechanism (5) and the rice seedling turning and laying mechanism (6) are controlled to operate based on the target running speed, and the quality of rice seedling turning is judged based on the image data collected by the image acquisition unit (9). When the quality of the rice seedling turning does not meet the requirements, the operating speed of the rice seedling turning and laying mechanism (6) is adjusted, and the operating speed of the conveying and lifting mechanism (5) is adjusted based on a preset selectable ratio range.

8. The control method for the liquid-driven intelligent peanut harvesting and drying machine according to claim 7, characterized in that, The quality of rice seedling turning is judged based on the real-time fruit yield.

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