A saline-alkali soil ridging and film mulching seeder and method

Abstract

The application discloses a saline-alkali soil ridging and film mulching seeder and method, which can simultaneously complete rotary tillage, ridging, film mulching and seeding, reduces operation links and agricultural machine use cost, and can also reduce the number of times of entering the ground of the agricultural machine and reduce the soil compaction caused by repeated rolling. The saline-alkali soil ridging and film mulching seeder comprises a ridging and film mulching mechanism and a seeding mechanism, the ridging and film mulching mechanism is connected with a vehicle head, the ridging and film mulching mechanism is driven by the vehicle head to move on the ground, and the seeding mechanism is arranged on the side, away from the vehicle head, of the ridging and film mulching mechanism. The ridging and film mulching mechanism comprises a rotary tillage module, a ridging module and a film mulching module. The rotary tillage module is used for crushing and loosening the surface tillage layer soil, the ridging module is used for piling the crushed and loosened soil into a ridge, and the film mulching module is used for laying a film on the surface of the ridge.

Description

Technical Field

[0001] This invention relates to the field of planting technology, and in particular to a seeding machine and method for ridging, mulching, and sowing in saline-alkali land. Background Technology

[0002] In the cultivation of forage grasses in saline-alkali land, ridging and mulching are two indispensable key agronomic measures. Ridging, by physically raising the soil profile, effectively increases the distance between crop roots and deep, high-salt soil, reducing the availability of salt in the soil around the roots and creating a low-salt environment for seed germination and seedling growth. Mulching, on the other hand, blocks direct water exchange between the soil surface and the atmosphere through the plastic film, inhibiting soil moisture evaporation and reducing the amount of deep soil salt migrating to the surface and accumulating, thus preventing the adverse effects of surface salt return on forage grass growth. The combined implementation of these two measures can effectively improve the microenvironment for planting in saline-alkali land, enhancing the germination rate and later growth stability of forage grass seeds.

[0003] However, in actual production, planting machinery designed for grain crops such as corn and wheat is commonly used. This type of general-purpose planting machinery has the following drawback: to achieve the complete agronomic process of ridging, mulching, and sowing, growers need to call in different equipment multiple times, increasing the number of operational steps and the cost of using the machinery. At the same time, the multi-step operation also prolongs the agronomic cycle, potentially leading to problems such as soil moisture loss after ridging and untimely mulching due to excessively long intervals between operations, thus weakening the agronomic effects of ridging and mulching. Summary of the Invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides a soil ridging, mulching and sowing machine and method for saline-alkali land, which can simultaneously complete rotary tillage, ridging, mulching and sowing, reduce operation links and agricultural machinery usage costs, and at the same time reduce the number of times agricultural machinery enters the land, and reduce soil compaction caused by repeated rolling.

[0005] On the one hand, the present invention provides a ridge-mulching and seeding machine for saline-alkali land, including a ridge-mulching mechanism and a seeding mechanism. The ridge-mulching mechanism is connected to the tractor head, and the tractor head drives the ridge-mulching mechanism to move on the ground. The seeding mechanism is located on the side of the ridge-mulching mechanism away from the tractor head. The ridging and mulching mechanism includes: Rotary tillage module is used to break up and loosen the topsoil; Ridging modules are used to pile up broken and loose soil into ridges; The film coating module is used to lay the film on the surface of the ridge.

[0006] Furthermore, the ridging module includes at least one pair of ridging components, each pair of ridging components consisting of two sets of oppositely arranged ridging structures, each ridging structure including a disc, with the two sets of discs of each pair of ridging components arranged at a preset angle.

[0007] Furthermore, the ridging assembly also includes: A movable rod, with the disc body mounted at the end of the movable rod; A fixed rod is partially enclosed within a movable rod, which can slide relative to the fixed rod. Multiple fixing holes are provided on the sides of both the fixed rod and the movable rod. Bolts are passed through the fixing holes of the fixed rod and the movable rod to keep them fixed.

[0008] Furthermore, the ridging assembly also includes a connecting part, with connecting holes provided at both the end of the fixed rod away from the movable rod and the end of the connecting part. The connecting holes are arranged in a circular array, and bolts are passed through the connecting holes to keep the connecting part and the fixed rod fixed.

[0009] Furthermore, the coating module includes: A film roll that can rotate around its own circumference; A pressure roller, which is located on the rear side of the film roll, presses the edge of the film that is released from the film roll onto the ground; A soil covering disc is positioned behind the pressing roller and is used to cover the soil to the edge of the film.

[0010] Furthermore, the seeding mechanism includes: The seed delivery module drives the movement of the seeds. The seeding module receives seeds and then punches holes in the film on the ridge to deliver the seeds into the soil.

[0011] Furthermore, the seed delivery module includes: A temporary storage bin is provided, which can hold a limited number of seeds. A V-shaped diversion plate is provided at the bottom of the temporary storage bin. A conveying screw is provided at the bottom of the area enclosed by the diversion plate and the temporary storage bin. The conveying screw is driven to rotate by an external first power device. An interface is fixed to the bottom of the outer side of the temporary storage bin and communicates with the inside of the temporary storage bin. A seed dispensing turbine is installed inside the interface. Multiple grooves for holding seeds are provided on the circumference of the seed dispensing turbine. The seed dispensing turbine is driven to rotate by an external second power device. The seeding pipe connects the interface to the seeding module.

[0012] Furthermore, the seeding module includes a duckbill unit, which is connected to the seed dispensing pipe. The duckbill unit is connected to a third power device through an eccentric wheel linkage transmission mechanism, and the third power device drives the duckbill unit to move vertically. The duckbill unit includes: Seed hopper, which is connected to the seed dispensing pipe; The beak has two sets, which are arranged opposite each other and pivotally mounted on the lower part of the seed hopper. The two sets of beaks are connected by a spring.

[0013] The seeding module also includes: The cam is driven to rotate by a third power device; A stop rod, which is rotatable about one end and maintains contact with a cam; A steel wire, one end of which is connected to the non-rotating end of the abutment, and the other end of which is connected to the upper part of one set of the duckbill; A flexible bushing, which is wrapped around the outside of the steel wire, with one end of the flexible bushing connected to the upper part of another set of the duckbill.

[0014] Furthermore, it also includes: The data acquisition module is used to collect data on the seeder's forward speed, the real-time filling rate of the seed metering turbine, the rotational phase angle and angular velocity of the seed metering turbine, and the actual number of seeds dropped. The seeding control module is configured to acquire the forward speed and real-time filling rate of the seeder in real time; calculate the target rotational speed of the conveying screw based on the forward speed and real-time filling rate; control the power output of the first power unit according to the target rotational speed of the conveying screw; acquire the rotational phase angle and angular velocity of the seed metering turbine; match the seed conveying delay time from the seed metering turbine to the duckbill according to the seed type; calculate the global target phase angle of the third power unit based on the rotational phase angle and angular velocity of the seed metering turbine and the conveying delay time; control the output of the third power unit according to the global target phase angle of the third power unit; acquire the actual number of seeds dropped; calculate the missed seeding rate based on the actual number of seeds dropped; and output an alarm signal when the missed seeding rate exceeds a threshold.

[0015] On the other hand, the present invention also provides a method for ridging and mulching seeding in saline-alkali land, which employs the aforementioned saline-alkali land ridging and mulching seeding machine, and the seeding method includes: The entire seeder is driven forward by the locomotive. During the forward movement, the rotary tillage module continuously breaks up the soil, the ridging module gathers the soil towards the center to form ridges, and the film pressing wheel presses down the edge of the film so that the film rolling cylinder of the film covering module continuously releases the film as it moves forward. The soil covering disc covers the soil to the edge of the film. Seeds are evenly distributed from the temporary storage bin to the conveying screw via the diversion plate. The rotating conveying screw moves the seeds to the connection between the interface and the temporary storage bin. Under the action of gravity, the seeds fall into the interface. The second power device drives the seed metering turbine to rotate, sending the seeds one by one into the seed metering pipe. Finally, the seeds move into the seed hopper. The third power device drives the seed hopper to descend. When the duckbill opens at the lowest point of insertion into the soil, the seeds fall into the soil under the action of gravity, completing the hole-drilling and sowing process. During the sowing process, the sowing control module acquires the forward speed and real-time filling rate of the seeder in real time. Based on the forward speed and real-time filling rate, it calculates the target rotational speed of the conveying screw and controls the power output of the first power unit according to the target rotational speed of the conveying screw. It also acquires the rotational phase angle and angular velocity of the seed metering turbine and matches the seed conveying delay time from the seed metering turbine to the duckbill according to the seed type. Based on the rotational phase angle and angular velocity of the seed metering turbine and the conveying delay time, it calculates the global target phase angle of the third power unit and controls the output of the third power unit according to the global target phase angle. Finally, it acquires the actual number of seeds sown and calculates the missed sowing rate based on the actual number of seeds sown. When the missed sowing rate exceeds a threshold, an alarm signal is output.

[0016] The present invention has the following advantages: By using the ridging and mulching mechanism and the sowing mechanism, rotary tillage, ridging, mulching and sowing can be completed simultaneously without having to call different equipment multiple times. This reduces the number of operation steps and agricultural machinery usage costs, and also reduces the number of times agricultural machinery enters the field, reducing soil compaction caused by repeated compaction. The entire operation process is continuous and uninterrupted, avoiding problems such as soil moisture loss after ridging and untimely mulching, and improving the synergistic effect of ridging in reducing salt content and mulching in inhibiting salt return. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the seeder's structure; Figure 2 yes Figure 1 The diagram shows the structural schematic of the ridging and mulching mechanism in the seeder. Figure 3 yes Figure 2 A side view of the ridging and mulching mechanism shown; Figure 4 yes Figure 3 The diagram shows the structure of the ridging module in the ridging and mulching mechanism. Figure 5 yes Figure 2 The diagram shows the structure of the fertilization module in the ridging and mulching mechanism. Figure 6 yes Figure 5 A top view of the fertilizer application mechanism shown; Figure 7 yes Figure 3The diagram shows the structure of the ridge-pressing module in the ridging and mulching mechanism. Figure 8 yes Figure 2 The diagram shows the structure of the film covering module in the ridging and film covering mechanism. Figure 9 yes Figure 1 The diagram shows the structure of the seeding mechanism in the seeder. Figure 10 yes Figure 9 The diagram shows the structure of the seed delivery module in the seeding mechanism. Figure 11 yes Figure 9 A schematic diagram of the first part of the seeding module in the seeding mechanism shown; Figure 12 yes Figure 11 A schematic diagram of the second part of the seeding module shown; Figure 13 yes Figure 12 A front view of the second part of the seeding module structure shown; Figure 14 yes Figure 9 The diagram shows the control logic of the seeding module. In the picture: 100. Ridging and mulching mechanism; 110. Fertilizer application module; 111. Storage bin; 112. Fertilizer dispensing pipe; 113. Support leg; 114. Fertilizer outlet pipe; 115. Mixer; 120. Mulching module; 121. Film roll; 122. Film pressing wheel; 123. Soil covering disc; 130. Rotary tillage module; 140. Ridging module; 141. Connecting part; 142. Fixing rod; 143. Movable rod; 144. Disc body; 150. Ridging module; 151. Ridging section; 152. Furrow section; 200. Seeding mechanism; 210. Seed conveying module; 211. Temporary storage bin; 212. Diverter plate; 213. Conveying screw; 214. Seed metering pipe; 215. Interface; 216. Seed metering turbine; 220. Seeding module; 222. Eccentric wheel linkage transmission mechanism; 223. Slide; 224. Duckbill unit; 224A. Duckbill; 224B. Seed hopper; 224C. Spring; 225. Cam; 226. Push rod; 227. Flexible bushing; 228. Steel wire; 300. Data acquisition module; 400. Seeding control module. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0019] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0020] As described in the background section, in order to achieve the complete agronomic process of ridging, mulching and sowing, growers need to call different equipment to the field multiple times (such as first using a ridging machine to rid, then using a mulching machine to mulch, and finally using a seeder to sow), which increases the number of operation steps and the cost of using agricultural machinery. At the same time, the multi-stage operation also prolongs the agronomic process cycle. Due to the long interval between operations, problems such as soil moisture loss after ridging and untimely mulching may occur, weakening the agronomic effects of ridging and mulching.

[0021] Example 1: Therefore, in order to solve the above-mentioned technical problems existing in the prior art, this embodiment provides a soil ridging and mulching seeder for saline-alkali land, such as... Figure 1 As shown, the seeder includes a ridging and mulching mechanism 100 and a sowing mechanism 200. The ridging and mulching mechanism is connected to the vehicle head and is driven by the vehicle head to move on the ground. The sowing mechanism is located on the side of the ridging and mulching mechanism away from the vehicle head. The ridging and mulching mechanism includes: Rotary tillage module 130 is used to break up and loosen the topsoil layer. The ridging module 140 is used to pile up broken and loose soil into ridges; The film coating module 120 is used to lay the film on the surface of the ridge.

[0022] Specifically, in this embodiment, the tractor unit has an internal combustion engine, an electric motor, or other device capable of providing power for its movement. Through the traction of this tractor unit, the entire seeder can be moved across saline-alkali farmland. The rotary tillage module is an existing, mature structure. For example, it can be a standard rotary tillage component of existing grain crop seeders (such as corn and wheat seeders), or a core working module of an independent rotary tiller. Its core components (including rotary tillage blades, drive shafts, guards, etc.) and working principle (power-driven rotary tillage blades to rotate and break up the soil) are entirely based on existing technology. Only the overall installation dimensions (such as lateral spacing and longitudinal height) and operating parameters (such as tillage depth and travel speed) of this ridging and mulching mechanism need to be selected to assemble an appropriate model of existing rotary tillage module.

[0023] The agricultural machinery is started, driving the ridging and mulching mechanism along the preset working path. At this time, the rotary tillage module within the ridging and mulching mechanism activates, using the rotation of the rotary blades to break up and loosen the topsoil of the saline-alkali land, breaking up the soil compaction and providing a loose soil foundation for subsequent ridging operations. After the rotary tillage module completes its breaking up work, the ridging and mulching mechanism continues to move with the machinery, piling up the loosened soil to form ridges. By physically raising the soil profile, the distance between the seeds and roots and the deeper, high-salt soil is increased, creating a low-salt growth environment. After the ridging module completes the ridge construction, the mulching module in the ridging and mulching mechanism lays a pre-prepared plastic film on the ridge surface. The seeding mechanism installed behind it then sows seeds at a preset density and depth at designated locations on the mulched ridges, achieving immediate sowing after mulching.

[0024] By using the ridging and mulching mechanism and the sowing mechanism, rotary tillage, ridging, mulching and sowing can be completed simultaneously without having to call different equipment multiple times. This reduces the number of operation steps and agricultural machinery usage costs, and also reduces the number of times agricultural machinery enters the field, reducing soil compaction caused by repeated compaction. The entire operation process is continuous and uninterrupted, avoiding problems such as soil moisture loss after ridging and untimely mulching, and improving the synergistic effect of ridging in reducing salt content and mulching in inhibiting salt return.

[0025] In this embodiment, as Figure 3 As shown, the ridging module includes at least one pair of ridging components, such as... Figure 4 As shown, each pair of ridging components consists of two sets of oppositely arranged ridging structures, each ridging structure including a disc body 144, with the two sets of disc bodies of each pair of ridging components arranged at a preset angle.

[0026] As the machine moves, the discs come into contact with the surface soil and rotate adaptively under the action of soil friction (or maintain a fixed posture and scrape the soil as it moves forward). The two sets of opposite discs are tilted at a preset angle (this angle can be adjusted according to the target ridge width and soil looseness, usually 30°~60°) toward the center of the working path. As the machine moves forward and the loosened soil from the rotary tillage enters between the two sets of discs, the inclined disc surfaces exert a lateral thrust on the soil. Soil on the side furthest from the center of the path is blocked and guided by the inclined disc surfaces, preventing it from spreading outward and forcing it to move towards the center of the path along the inclined disc direction. As the machine continues to move forward, the rotary tillage module continuously delivers new loosened soil to the ridging module's working area. The two opposing discs continuously exert a cohesive force on the soil. The surface loose soil comes into contact with the discs and, guided by the inclined discs, begins to converge towards the center, forming a loose soil mound. As the machine moves forward, subsequent soil is continuously added to both sides of the mound, and the cohesive force of the discs continuously increases, causing the lateral width of the mound to gradually narrow and the longitudinal height to gradually increase, forming a ridge.

[0027] In addition, the ridging assembly may also include: Movable rod 143, the disc body is mounted on the end of the movable rod; The fixed rod 142 is partially enclosed within the movable rod, which can slide relative to the fixed rod. Multiple fixing holes are provided on the sides of both the fixed rod and the movable rod. Bolts are passed through the fixing holes of the fixed rod and the movable rod to keep the fixed rod and the movable rod fixed.

[0028] The vertical sliding structure of the movable rod relative to the fixed rod allows for flexible adjustment of the vertical height of the ridge disc (i.e., the depth of the disc embedded in the soil and the height of the ridge). Addressing the differences in surface topsoil thickness and deep salinity in different saline-alkali land plots (e.g., in plots with a thicker topsoil, the disc height can be increased to build a higher ridge and further increase the distance from the deeper, highly saline soil; in plots with a thinner topsoil, the disc height can be reduced to avoid damaging the underlying saline soil), the final ridge height (e.g., adjusted to 8-18 cm) can be controlled simply by sliding the movable rod and fixing it with bolts, without replacing the ridging components. cm (Range). The vertical adjustment via the movable lever allows for adaptation to different forage bed height requirements; for example, when planting alfalfa, the bed height can be adjusted to 12-15 mm. cm Adjust the planting density to 8-10 when planting sheepgrass. cm .

[0029] In this embodiment, the ridging assembly may further include a connecting part 141, with connecting holes provided at both the end of the fixed rod away from the movable rod and the end of the connecting part. The connecting holes are arranged in a circular array, and bolts are passed through the connecting holes to keep the connecting part and the fixed rod fixed.

[0030] The structure, where the connecting part and the fixing rod are fixed through a circular array of connecting holes, allows for adjustment of the rotation angle of the fixing rod around the connecting part (e.g., within the range of 0° to 30° as needed). To address the differences in soil-gathering characteristics of different soil textures in saline-alkali land (e.g., heavy clay saline-alkali soil, sandy saline-alkali soil), for example, heavy clay soil is prone to clumping, requiring the ridging component angle to be adjusted to a gentler angle (e.g., 5° to 10°) to prevent the ridge from collapsing due to excessive resistance during soil accumulation; sandy soil is prone to loosening, requiring a steeper angle (e.g., 15° to 25°) to enhance the binding force of the plate on the soil, prevent the ridge from loosening and collapsing, and improve the soil adaptability of ridging operations.

[0031] In this embodiment, as Figure 2 , 3 As shown, the ridging and mulching mechanism may also include a fertilization module 110 and a ridge compaction module 150. The fertilization module is located behind the ridging module and fertilizes the furrows through the fertilization module. The ridge compaction module is located behind the fertilization module and compacts the ridges into shape through the ridge compaction module. like Figure 5 , 6 As shown, the fertilization module includes: Storage bin 111, which can hold fertilizer in limited quantities, and a stirrer 115 is installed in the storage bin, which is driven to rotate by an external fourth power device; Fertilizer discharge pipe 112, which is connected to the bottom of the storage silo; Fertilizer outlet pipe 114, which is connected to the end of the fertilizer discharge pipe; Support leg 113, which is set corresponding to the furrow, and the fertilizer outlet pipe is fixed on the support leg; like Figure 7 As shown, the ridge pressing module includes a ridge-forming section 151, which is provided corresponding to the ridge-forming component, and adjacent ridge-forming sections are connected by furrow sections 152.

[0032] Specifically, after the ridging module completes the ridging (by gathering the soil into ridges using the trays of the ridging components, forming furrows on both sides), the fourth power unit drives the agitator in the storage silo to rotate continuously, stirring the fertilizer in the silo and keeping it loose. Under the action of gravity, the fertilizer flows from the bottom of the storage silo into the fertilizer discharge pipe connected to it, and the flow rate is controlled by a valve preset in the pipe. The fertilizer flows through the fertilizer discharge pipe to the fertilizer discharge pipe connected at the end. Since the fertilizer discharge pipe is fixed by the support legs and aligned with the furrows, the fertilizer is finally directly spread into the furrows formed after ridging, allowing the fertilizer to be close to the root area of ​​the ridge, providing a nutrient base for the subsequent growth of forage.

[0033] After the fertilization module completes the application of fertilizer in the furrows, the ridging section of the ridge module covers the surface of the ridges built by the ridging module. As the machine moves forward, the ridging section, under its own weight and the traction force of the whole machine, longitudinally compacts the ridges, squeezing the loose soil particles in the ridges tightly to prevent the ridges from collapsing later due to loose soil. At the same time, it makes the surface of the ridges flat, providing a regular contact surface for the subsequent film laying by the mulching module, reducing film wrinkles or damage.

[0034] For example, such as Figure 8 As shown, the coating module includes: Film winding drum 121, which can rotate around its own circumference; A pressure roller 122 is located on the rear side of the film roll and presses the edge of the film roll that is released from the film roll onto the ground. Covering disc 123, which is located behind the pressing roller, is used to cover the soil to the edge of the film.

[0035] As it moves forward, the pressing roller rolls on the surface of the film, pulling it. Under the traction of the film, the film roll slowly rotates around its own circumference, continuously releasing the wound plastic film. The film first covers the surface of the regular ridge compacted by the ridge pressing module. After the film roll releases the film to cover the ridge, the soil covering plate on the rear side, through its own tilt angle and soil penetration depth, gathers the loose soil (the topsoil remaining after ridge pressing) in the furrow towards the edge of the film and covers the edge of the film pressed by the pressing roller, forming a soil ridge to fix the edge of the film.

[0036] For example, such as Figure 9 As shown, the seeding mechanism includes: Seed delivery module 210, through which the seed is moved; The sowing module 220 receives seeds and punches holes in the film on the ridge to deliver the seeds into the soil.

[0037] Specifically, such as Figure 10 As shown, the seed delivery module includes: Temporary storage bin 211, which can hold a limited number of seeds, has a V-shaped diversion plate 212 located below it. A conveying screw 213 is located at the lower part of the area enclosed by the diversion plate and the temporary storage bin, and is driven to rotate by an external first power device. Interface 215, which is fixed to the bottom of the outer side of the temporary storage bin and communicates with the inside of the temporary storage bin. A seed dispensing turbine 216 is provided in the interface. Multiple grooves for holding seeds are provided on the circumference of the seed dispensing turbine. The seed dispensing turbine is driven to rotate by an external second power device. Seeding pipe 214 connects the interface to the seeding module.

[0038] like Figures 11-13 As shown, the seeding module includes a duckbill unit 224, which is connected to the seeding pipe. The duckbill unit is connected to a third power device through an eccentric wheel linkage transmission mechanism 222, which drives the duckbill unit to move vertically. The duckbill unit includes: Seed hopper 224B, which is connected to the seed dispensing pipe; The duckbill 224A has two sets, which are arranged opposite each other and pivotally mounted on the lower part of the seed hopper. The two sets of duckbill are connected by a spring 224C.

[0039] The seeding module also includes: Cam 225 is driven to rotate by a third power device; A stop bar 226, which is rotatable about one end and maintains contact with a cam; Wire 228, one end of which is connected to the non-rotating end of the abutment, and the other end is connected to the upper part of one set of the duckbill; Flexible bushing 227, which is wrapped around the outside of the steel wire, with one end of the flexible bushing connected to the upper part of another set of the duckbill.

[0040] Specifically, the seeds in the temporary storage bin are evenly distributed along a V-shaped diverter to the lower conveying screw. The first power unit drives the conveying screw to rotate, and the screw's helical teeth continuously push the seeds forward to the interface at the bottom of the outer side of the temporary storage bin. The seed dispensing turbine inside the interface rotates under the drive of the second power unit, and the grooves on the circumference of the turbine receive the seeds pushed by the conveying screw one by one (1-2 seeds per groove, achieving quantitative distribution). As the turbine rotates, the grooves carrying the seeds turn to the position connected to the seed dispensing pipe. Under the action of gravity, the seeds fall into the seed dispensing pipe and slide along the pipe to the seed hopper of the sowing module for temporary storage. The third power unit drives the eccentric wheel linkage transmission mechanism to move, causing the duckbill unit to move vertically downwards. The duckbill first contacts the film covering the ridge, and with the downward force, penetrates the film and inserts into the soil of the ridge. Simultaneously, the third power unit drives the cam to rotate, and the cam's convex end pushes the abutment rod to rotate upwards around one end. The non-rotating end of the abutment rod pulls the upper part of one set of duckbills through a steel wire. The two sets of duckbills open against the tension of the springs, and the seeds in the seed hopper fall into the sowing holes in the soil through the gap between the duckbills. The cam continues to rotate, and the convex end leaves the abutment rod. The abutment rod returns to its original position under its own weight, and the tension of the steel wire disappears. The two sets of duckbills close under the elastic force of the springs. At the same time, the eccentric wheel linkage drives the duckbill unit to return vertically upwards, leaving the ridge surface, completing one drilling and sowing cycle, and then moving forward with the whole machine to enter the next sowing cycle.

[0041] It should be noted that, in this embodiment, the first power device, the second power device, the third power device, and the fourth power device can be selected as motors.

[0042] Example 2: This embodiment proposes improvements based on Embodiment 1, such as... Figure 14 As shown, the seeder also includes: The data acquisition module 300 is used to collect the forward speed of the seeder, the real-time filling rate of the seed metering turbine, the rotational phase angle and angular velocity of the seed metering turbine, and the actual number of seeds dropped. The seeding control module 400 is configured to acquire the forward speed and real-time filling rate of the seeder in real time; calculate the target rotational speed of the conveying screw based on the forward speed and real-time filling rate; control the power output of the first power unit according to the target rotational speed of the conveying screw; acquire the rotational phase angle and angular velocity of the seed metering turbine; match the seed conveying delay time from the seed metering turbine to the duckbill according to the seed type; calculate the global target phase angle of the third power unit based on the rotational phase angle and angular velocity of the seed metering turbine and the conveying delay time; control the output of the third power unit according to the global target phase angle of the third power unit; acquire the actual number of seeds dropped; calculate the missed seeding rate based on the actual number of seeds dropped; and output an alarm signal when the missed seeding rate exceeds a threshold.

[0043] Specifically, based on the seeder's forward speed and real-time filling rate, the target rotational speed of the conveying screw is calculated as follows: ; in, n l The target rotational speed of the conveyor screw, measured in revolutions per second; v The forward speed of the seeder is measured in meters per second. ρ The target seeding density is expressed in seeds per square meter. η The real-time filling rate of the seed turbine; N The number of grooves in the seed turbine; V The volume of a single recess is in cubic meters. ω The width covered by a single sowing operation, in meters; V S This represents the average volume of the seeds, expressed in cubic meters per seed.

[0044] The controller sends the target rotational speed of the conveying screw as a setpoint to the electronic speed controller (ESC) or frequency converter (VFD) of the first power unit. The ESC / VFD controls the motor's output torque by changing the input voltage, current, or frequency. A speed sensor (such as an encoder) mounted on the conveying screw or motor shaft continuously measures the actual rotational speed of the screw and feeds this signal back to the controller in real time. The controller compares the target speed with the actual speed and calculates the speed error between the two. Then, a PID control algorithm is used to dynamically adjust the motor's output power (torque) based on this error.

[0045] The specific method for calculating the global target phase angle of the third power unit based on the rotational phase angle and angular velocity of the seeding turbine and the delivery delay time is as follows: φ 1= φ 0- ω 0 τ-∆φ 2; in, φ 1 represents the global target phase angle; φ 0 represents the rotational phase angle of the seed turbine; ω 0 represents the angular velocity of the seed turbine, measured in seconds; τ The seed delivery delay time, in seconds; ∆φ 2 is the comprehensive compensation angle.

[0046] The seeding control module compares the calculated target phase angle with the actual phase angle fed back by the encoder to calculate the angle error. The seeding control module uses a PID control algorithm to handle this angle error. Based on the magnitude and trend of the error, the PID algorithm accurately calculates the torque, speed, and direction to be applied to the motor. The seeding control module sends the calculated commands to the motor driver (such as a servo driver or stepper driver). The driver precisely controls the magnitude and direction of the current input to the motor, thereby controlling the motor's output torque and speed, enabling it to rotate quickly, smoothly, and accurately to the target phase angle. In this embodiment, the comprehensive compensation angle is the phase compensation caused by factors such as transmission chain clearance, elastic deformation, and soil resistance.

[0047] The method for calculating the under-seeding rate based on the actual number of seeds sown is as follows: ; Where P is the under-seeding rate; N1 is the actual number of seeds sown; and N0 is the expected number of seeds sown.

[0048] In this embodiment, the forward speed of the seeder can be obtained by measuring the GPS satellite positioning system in conjunction with the inertial measurement unit (IMU); the real-time filling rate of the seed metering turbine can be obtained by measuring the real-time filling rate of the seed metering turbine in conjunction with the machine vision algorithm or the infrared photoelectric sensor array; the rotational phase angle and angular velocity of the seed metering turbine can be obtained by measuring the rotational phase angle and angular velocity of the seed metering turbine in conjunction with the incremental encoder or the absolute rotary encoder; and the actual number of seeds dropped can be obtained by measuring the number of seeds dropped in conjunction with the infrared photoelectric sensor array or the high-speed proximity sensor.

[0049] This embodiment can reduce the deviation between the actual speed and the target speed of the conveying screw, achieve dynamic calibration of the sowing density (e.g., 20-30 plants / m), and improve the uniformity of seed distribution in the ridge.

[0050] This embodiment can calculate the target rotational speed of the conveying screw and dynamically adjust the torque of the first power unit based on the forward speed, target sowing density, and real-time filling rate, thereby improving the uneven plant spacing caused by the traditional fixed rotational speed and enhancing the uniformity of seed distribution in the ridge. It can also form dynamic compensation based on the filling rate to reduce the deviation between the actual seeding amount and the theoretical value. By calculating the global target phase angle of the third power unit and cooperating with PID phase control, the deviation between the opening of the sowing beak and the arrival time of the seeds can be reduced, improving the sowing accuracy. At the same time, by calculating the missed sowing rate, an alarm signal is output in real time when the threshold is exceeded, reducing the yield loss caused by salt return in the missed sowing area in saline-alkali land.

[0051] Example 3: On the other hand, the present invention also provides a method for ridging and mulching seeding in saline-alkali land, which employs the aforementioned saline-alkali land ridging and mulching seeding machine, and the seeding method includes: The entire seeder is driven forward by the locomotive. During the forward movement, the rotary tillage module continuously breaks up the soil, the ridging module gathers the soil towards the center to form ridges, and the film pressing wheel presses down the edge of the film so that the film rolling cylinder of the film covering module continuously releases the film as it moves forward. The soil covering disc covers the soil to the edge of the film. Seeds are evenly distributed from the temporary storage bin to the conveying screw via the diversion plate. The rotating conveying screw moves the seeds to the connection between the interface and the temporary storage bin. Under the action of gravity, the seeds fall into the interface. The second power device drives the seed metering turbine to rotate, sending the seeds one by one into the seed metering pipe. Finally, the seeds move into the seed hopper. The third power device drives the seed hopper to descend. When the duckbill opens at the lowest point of insertion into the soil, the seeds fall into the soil under the action of gravity, completing the hole-drilling and sowing process. During the sowing process, the sowing control module acquires the forward speed and real-time filling rate of the seeder in real time. Based on the forward speed and real-time filling rate, it calculates the target rotational speed of the conveying screw and controls the power output of the first power unit according to the target rotational speed of the conveying screw. It also acquires the rotational phase angle and angular velocity of the seed metering turbine and matches the seed conveying delay time from the seed metering turbine to the duckbill according to the seed type. Based on the rotational phase angle and angular velocity of the seed metering turbine and the conveying delay time, it calculates the global target phase angle of the third power unit and controls the output of the third power unit according to the global target phase angle. Finally, it acquires the actual number of seeds sown and calculates the missed sowing rate based on the actual number of seeds sown. When the missed sowing rate exceeds a threshold, an alarm signal is output.

[0052] Specifically, based on the seeder's forward speed and real-time filling rate, the target rotational speed of the conveying screw is calculated as follows: ; in, n l The target rotational speed of the conveyor screw, measured in revolutions per second; v The forward speed of the seeder is measured in meters per second. ρ The target seeding density is expressed in seeds per square meter. η The real-time filling rate of the seed turbine; N The number of grooves in the seed turbine; V The volume of a single recess is in cubic meters. ω The width covered by a single sowing operation, in meters; V S This represents the average volume of the seeds, expressed in cubic meters per seed.

[0053] The controller sends the target rotational speed of the conveying screw as a setpoint to the electronic speed controller (ESC) or frequency converter (VFD) of the first power unit. The ESC / VFD controls the motor's output torque by changing the input voltage, current, or frequency. A speed sensor (such as an encoder) mounted on the conveying screw or motor shaft continuously measures the actual rotational speed of the screw and feeds this signal back to the controller in real time. The controller compares the target speed with the actual speed and calculates the speed error between the two. Then, a PID control algorithm is used to dynamically adjust the motor's output power (torque) based on this error.

[0054] The specific method for calculating the global target phase angle of the third power unit based on the rotational phase angle and angular velocity of the seeding turbine and the delivery delay time is as follows: φ 1= φ 0- ω 0 τ-∆φ 2; in, φ1 represents the global target phase angle; φ 0 represents the rotational phase angle of the seed turbine; ω 0 represents the angular velocity of the seed turbine, measured in seconds; τ The seed delivery delay time, in seconds; ∆φ 2 is the comprehensive compensation angle.

[0055] The seeding control module compares the calculated target phase angle with the actual phase angle fed back by the encoder to calculate the angle error. The seeding control module uses a PID control algorithm to handle this angle error. Based on the magnitude and trend of the error, the PID algorithm accurately calculates the torque, speed, and direction to be applied to the motor. The seeding control module sends the calculated commands to the motor driver (such as a servo driver or stepper driver). The driver precisely controls the magnitude and direction of the current input to the motor, thereby controlling the motor's output torque and speed, enabling it to rotate quickly, smoothly, and accurately to the target phase angle. In this embodiment, the comprehensive compensation angle is the phase compensation caused by factors such as transmission chain clearance, elastic deformation, and soil resistance.

[0056] The method for calculating the under-seeding rate based on the actual number of seeds sown is as follows: ; Where P is the under-seeding rate; N1 is the actual number of seeds sown; and N0 is the expected number of seeds sown.

[0057] In this embodiment, the forward speed of the seeder can be obtained by measuring the GPS satellite positioning system in conjunction with the inertial measurement unit (IMU); the real-time filling rate of the seed metering turbine can be obtained by measuring the real-time filling rate of the seed metering turbine in conjunction with the machine vision algorithm or the infrared photoelectric sensor array; the rotational phase angle and angular velocity of the seed metering turbine can be obtained by measuring the rotational phase angle and angular velocity of the seed metering turbine in conjunction with the incremental encoder or the absolute rotary encoder; and the actual number of seeds dropped can be obtained by measuring the number of seeds dropped in conjunction with the infrared photoelectric sensor array or the high-speed proximity sensor.

[0058] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A seeding machine for ridging and mulching saline-alkali land, characterized in that, It includes a ridging and mulching mechanism and a sowing mechanism. The ridging and mulching mechanism is connected to the locomotive, and the sowing mechanism is located on the side of the ridging and mulching mechanism away from the locomotive. The ridging and mulching mechanism includes a rotary tillage module, a ridging module, and a mulching module arranged in sequence. The seeding mechanism includes: a seed delivery module and a seeding module; The seed delivery module includes: The temporary storage bin has a V-shaped diversion plate at its lower part. A conveying screw is located in the lower part of the area enclosed by the diversion plate and the temporary storage bin. An external first power device drives the conveying screw to rotate. The interface is fixed to the bottom of the outer side of the temporary storage bin and communicates with the inside of the temporary storage bin. The interface is equipped with a seeding turbine with multiple grooves on its circumference. The external second power device drives the seeding turbine to rotate. Seeding pipeline; The seeding module includes a duckbill unit, which is connected to a third power device via an eccentric wheel and connecting rod transmission mechanism. The third power device drives the duckbill unit to move vertically. The duckbill unit includes: The seed hopper is connected to an interface via a seed dispensing pipe; Two sets of duckbill are arranged opposite each other and pivotally mounted on the lower part of the seed hopper. The two sets of duckbill are connected by a spring. The seeding module also includes: The cam is driven to rotate by a third power device; The stop rod can rotate around one end, and the stop rod remains in contact with the cam. One end of the steel wire is connected to the non-rotating end of the abutment, and the other end is connected to the upper part of one of the sets of duckbill. A flexible bushing is wrapped around the outside of the steel wire, and one end of the flexible bushing is connected to the upper part of another set of duckbill. Seeders also include: The data acquisition module is used to collect data on the seeder's forward speed, the real-time filling rate of the seed metering turbine, the rotational phase angle and angular velocity of the seed metering turbine, and the actual number of seeds dropped. The seeding control module is configured to acquire the forward speed and real-time filling rate of the seeder in real time; calculate the target rotational speed of the conveying screw based on the forward speed and real-time filling rate; control the power output of the first power unit according to the target rotational speed of the conveying screw; acquire the rotational phase angle and angular velocity of the seed metering turbine; match the seed conveying delay time from the seed metering turbine to the duckbill according to the seed type; calculate the global target phase angle of the third power unit based on the rotational phase angle and angular velocity of the seed metering turbine and the conveying delay time; control the output of the third power unit according to the global target phase angle of the third power unit; acquire the actual number of seeds dropped; calculate the missed seeding rate based on the actual number of seeds dropped; and output an alarm signal when the missed seeding rate exceeds a threshold.

2. The saline-alkali land ridging and mulching seeder according to claim 1, characterized in that, The ridging module includes at least one pair of ridging components. Each pair of ridging components consists of two sets of oppositely arranged ridging structures. The ridging structure includes a disc body, and the two sets of disc bodies of each pair of ridging components are set at a preset angle.

3. The saline-alkali land ridging and mulching seeder according to claim 2, characterized in that, The ridging assembly also includes: A movable rod, with the disc body mounted at the end of the movable rod; A fixed rod is partially enclosed within a movable rod, which can slide relative to the fixed rod. Multiple fixing holes are provided on the sides of both the fixed rod and the movable rod. Bolts are passed through the fixing holes of the fixed rod and the movable rod to keep the fixed rod and the movable rod fixed.

4. A soil ridging and mulching seeder for saline-alkali land according to claim 3, characterized in that, The ridging assembly also includes a connecting part, with connecting holes provided at both the end of the fixed rod away from the movable rod and the end of the connecting part. The connecting holes are arranged in a circular array, and bolts are passed through the connecting holes to keep the connecting part and the fixed rod fixed.

5. A soil ridging and mulching seeder for saline-alkali land according to any one of claims 1-4, characterized in that, The coating module includes: A film winding drum that can rotate around its own circumference; A pressure roller, which is located on the rear side of the film roll, presses the edge of the film that is released from the film roll onto the ground; A soil covering disc is positioned behind the pressing roller and is used to cover the soil to the edge of the film.

6. A method for ridging, mulching, and sowing in saline-alkali land, characterized in that, The sowing method employs the saline-alkali land ridging and mulching sowing machine as described in claim 5, and the sowing method includes: The entire seeder is driven forward by the locomotive. During the forward movement, the rotary tillage module continuously breaks up the soil, the ridging module gathers the soil towards the center to form ridges, and the film pressing wheel presses down the edge of the film so that the film rolling cylinder of the film covering module continuously releases the film as it moves forward. The soil covering disc covers the soil to the edge of the film. Seeds are evenly distributed from the temporary storage bin to the conveying screw via the diversion plate. The rotating conveying screw moves the seeds to the connection between the interface and the temporary storage bin. Under the action of gravity, the seeds fall into the interface. The second power device drives the seed metering turbine to rotate, sending the seeds one by one into the seed metering pipe. Finally, the seeds move into the seed hopper. The third power device drives the seed hopper to descend. When the duckbill opens at the lowest point of insertion into the soil, the seeds fall into the soil under the action of gravity, completing the hole-drilling and sowing process. During the sowing process, the sowing control module acquires the forward speed and real-time filling rate of the seeder in real time. Based on the forward speed and real-time filling rate, it calculates the target rotational speed of the conveying screw and controls the power output of the first power unit according to the target rotational speed of the conveying screw. It also acquires the rotational phase angle and angular velocity of the seed metering turbine and matches the seed conveying delay time from the seed metering turbine to the duckbill according to the seed type. Based on the rotational phase angle and angular velocity of the seed metering turbine and the conveying delay time, it calculates the global target phase angle of the third power unit and controls the output of the third power unit according to the global target phase angle. Finally, it acquires the actual number of seeds sown and calculates the missed sowing rate based on the actual number of seeds sown. When the missed sowing rate exceeds a threshold, an alarm signal is output.

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