All-electric-drive plot precision seeding robot and seeding method

Abstract

The invention relates to a full-electric-drive plot precision seeding robot and a seeding method. The full-electric-drive plot precision seeding robot comprises a self-propelled chassis, an air conveying type seed separating device, a precision seed metering device, a seed cleaning device, a ditching seeding device and an automatic control system. According to the seeding method, satellite positioning and a robot automatic control system are used for coordinating and controlling all the devices, seed separation, seed arrangement and seed clearing operations of a plot are completed at a time, fixed-length seeding and an intelligent seeding process of the plot are realized, the precision of mechanical seeding operation of the plot is ensured, and the accuracy of a plot breeding test is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a fully electric precision seeding robot for small plots and a seeding method. Background Technology

[0002] Field breeding trials are a core small-scale experimental method for cultivating new crop varieties and propagating superior seeds, crucial for high-quality seed development, crop yield improvement, and food security. Sowing, as a core step, directly impacts the reliability of experimental data and breeding effectiveness due to its operational precision. Compared to large-scale field sowing, plot breeding sowing has stringent and unique requirements: it must meet the characteristics of "small quantity, multiple replicates," requiring small seed quantities per sowing, frequent variety changes, and thorough seed cleaning to prevent mixing. It also demands extremely high precision control over row and plant spacing, quantitative / length / interval sowing, and adaptability to small-scale precision operations and efficient switching between multiple varieties. These technical characteristics result in poor adaptability and high development costs for traditional plot sowing equipment.

[0003] Currently, the automation and intelligence levels of plot seeding operations in my country are generally low. Existing seeding equipment and operating modes suffer from numerous technical challenges that urgently need to be addressed, severely hindering the efficiency and quality improvement of breeding experiments. Firstly, the operating mode relies on manual coordination. The seeding area must be manually marked, and during operation, one person must drive the equipment while another observes the seeding line and manually activates the seed-dropping device. This not only demands extremely high operator skill and is labor-intensive but also easily leads to inaccurate seeding length and poor initial boundary uniformity due to human error, failing to meet the precision requirements of precision seeding. Secondly, the core transmission and control methods are outdated. Existing plot seeders mostly use mechanized drive control, with the seed metering device transmitted through ground wheels or drive wheels via sprockets, gearboxes, and other mechanical components. The seed metering volume and row spacing are limited. Matching the speed requires manual adjustment of the mechanical transmission ratio, which is cumbersome and has poor adaptability. It is also easily affected by environmental factors such as the looseness of the soil and the undulation of the terrain, resulting in problems such as slippage of the ground wheel and vibration of the chain wheel, which leads to a decrease in seeding accuracy and a high rate of missed and reseeding, seriously reducing seeding performance and seeding quality. Third, the cost-effectiveness and versatility of the equipment are insufficient. Most existing small-area seeders are used by research institutes and breeding companies, and their price is dozens of times that of general field seeders. They can only achieve small-scale single operation, resulting in low utilization and long-term waste of machinery resources due to long-term idleness. Fourth, the level of intelligence is insufficient. There is a lack of real-time monitoring and precise control of the seeding process, making it difficult to adapt to the characteristics of different crop seeds and the agronomic requirements of diversified small-area seeding, which is contrary to the trend of intelligent and precise development of modern agriculture. Summary of the Invention

[0004] To address the aforementioned technical problems, one objective of this invention is to provide a fully electric precision seeding robot and seeding method for small plots. The seeding robot can complete seed supply, sorting, arranging, and cleaning operations in a single operation, enabling switching between small plot seeding and continuous seeding modes, precise control of plot rows, and unmanned and intelligent operation of small plot seeding. This effectively reduces human involvement, lowers labor intensity, and ensures the quality of small plot seeding operations.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A fully electric precision seeding robot for small-area planting includes a self-propelled chassis, an air-pumped seed dispensing device, a precision seed metering device, a seed cleaning device, a furrowing and seeding device, and an automatic control system.

[0007] The pneumatic seeding device, precision seed metering device, seed cleaning device, furrowing and sowing device, and automatic control system are all mounted on a self-propelled chassis.

[0008] The automatic control system is used to control the self-propelled chassis to travel according to a preset travel plan, which includes the translation speed and the timing of turning and U-turn; the automatic control system is also used to control the precision seed metering device and the seed cleaning device to perform seed metering and seed cleaning according to a preset sowing plan, which includes the seed metering speed, the start and stop time of the seed metering device and the start and stop time of the seed cleaning device.

[0009] The self-propelled chassis is used to drive the robot to move.

[0010] The pneumatic seeding device is used to transport seeds from the seed box outlet to multiple precision seed metering devices.

[0011] The precision seeding device is used for precision seeding;

[0012] The seed cleaning device includes a seed cleaning fan, a collection tank, a connecting plate, a cyclone separator, a 1 / 10 connector, a hose, and an L-shaped fixing bracket. The negative pressure port of the seed cleaning fan is connected to the upper port of the cyclone separator via a hose. The collection tank, used to collect remaining seeds, is threadedly fixed to the lower part of the cyclone separator. The 1 / 10 connector, used to collect seeds from multiple pipelines, is installed at the air inlet of the cyclone separator. The L-shaped fixing bracket is used to fix the seed cleaning fan and the seed discharging fan to the self-propelled chassis. The cyclone separator is fixed to the self-propelled chassis via the connecting plate.

[0013] The trenching device is used to trench along with the self-propelled chassis.

[0014] Furthermore, the self-propelled chassis includes a frame, support frame, steering wheel, three-point suspension, control cabinet, lithium battery, solar panel, lifting mechanism, navigation module, and electric actuators; the steering wheel for realizing four-wheel independent steering and four-wheel independent drive of the self-propelled chassis is connected to the frame; the three-point suspension for facilitating tractor field transport is connected to the frame; the lithium battery for providing power to the control cabinet is installed at the center of the frame; the solar panel is located directly above the frame to provide clean and renewable energy to the lithium battery; two sets of lifting mechanisms for vertical movement and the control cabinet are connected to the front beam of the frame; two sets of electric actuators are connected to two sets of lifting mechanisms composed of parallel four-bar linkages.

[0015] Furthermore, the precision seed metering device includes a seed metering base, a seed supply port, a seed cleaning port, a positive pressure port, a negative pressure port, a seed metering wheel, a seed dropping port, and seed metering fans; the positive and negative pressure ports of the three seed metering fans installed on the central beam of the frame are connected to the positive and negative pressure ports of the precision seed metering device through 1-to-3 and 1-to-4 pressure dividing connectors, respectively; the seed metering wheel used for precision seed metering is installed in the air chamber of the sealed seed metering base and connected to the seed metering motor; the seed supply port is connected to the distribution head of the air-feeding seed distributor through a PVC hose.

[0016] Furthermore, the automatic control system includes a main controller and a GNSS integrated navigation system; the automatic control system also includes a conversion module for identifiable signals and a camera; the main controller is also connected to the chassis driving module; the lifting control module, the seeding motor module, the seeding fan module, the seed metering motor module, the seed metering fan module, the seed cleaning fan module, and the display screen via wires; the main controller is also connected to a handheld terminal via remote Wi-Fi.

[0017] The chassis driving module is used to control the steering wheel and drive the independent movement of the servo motor;

[0018] The lifting control module is used to control the electric actuator to realize the lifting mechanism's raising and lowering;

[0019] The seeding motor module and seeding fan module control the air pressure and seed supply speed of the pneumatic seeding device to improve seeding uniformity;

[0020] The seed metering motor module and seed metering fan module are used to control the rotation speed and positive and negative air pressure of the precision seed metering device to achieve seed spacing control and precision seed metering.

[0021] The seed cleaning fan module is used to control the air pressure of the seed cleaning device to remove the remaining seeds in the precision seed metering device.

[0022] A method for seeding using the aforementioned all-electric precision seeding robot in a small area includes the following steps:

[0023] Step S1: After the tractor-mounted land preparation machine finishes processing the soil plots, it forms a fine soil seedbed area.

[0024] Step S2: Based on the length L and width N of the sowing plot and the width S of the isolation strip, determine the starting and ending points of each sowing plot. The satellite navigation module obtains the geographical location information of the starting and ending points of the sowing plot. The camera avoids obstacles and identifies boundaries, and transmits the data to the main controller through the data conversion module.

[0025] Step S3: The handheld terminal remotely sends a working command to the robot's main controller, the self-propelled chassis switches to working mode, and the main controller controls the lifting mechanism to complete the ditching and sowing device's descent.

[0026] Step S4: The seed supply device supplies seeds to the pneumatic seed distribution device. The seed distribution fan and seed distribution motor work according to the preset air pressure and speed until all the seeds in the seed bin are evenly distributed into the seed supply port of the precision seed metering device, and then the seed distribution fan and seed distribution motor are turned off.

[0027] Step S5: The GNSS integrated navigation system drives the self-propelled chassis to travel in a straight line along the furrows on both sides at a preset speed. At the same time, the main controller starts the seed metering motor and seed metering fan to precisely meter the seeds according to the predetermined plant spacing. The furrowing and sowing device and the precision seed metering device complete the furrowing, sowing and soil covering operations.

[0028] Step S6: After the steering wheel servo motor sensor of the self-propelled chassis detects the length L of the driving zone, it immediately shuts down the seeding motor and seeding fan.

[0029] Step S7; The main controller then starts the seed cleaning fan until all seeds in the seed cleaning port of the precision seed metering device are removed, and then immediately shuts off the seed cleaning fan;

[0030] Step S8: After the self-propelled chassis continues to detect the length S of the driving isolation strip, it stops entering the next planting area.

[0031] Step S9: After completing all the plots in a seedbed, the main controller raises the furrowing and sowing device by controlling the lifting mechanism. The self-propelled chassis first switches to the lateral movement mode to travel the width of the seedbed, then switches to the in-situ turning mode to turn around, and then completes the sowing of the next plot in the seedbed.

[0032] Step S10: The robot repeats steps S3-S9 to complete the sowing of each seedbed;

[0033] Step S11: When the servo motor sensor of the self-propelled chassis detects that the robot has traveled a width N and determines that the robot has reached the positioning point of the last cell of the last seedbed, the robot stops working.

[0034] The beneficial effects of this invention are as follows:

[0035] In breeding, scientific research experiments, and precision agriculture in communities, "plot sowing" requires extremely high accuracy and repeatability. Each plot (small field) needs to be sown with a predetermined number of seeds, and there must be no mixing. Existing mechanical (such as brushes, scrapers) or simple pneumatic seed cleaning devices are inadequate in cleaning residual seeds in the seed box and seed metering device after sowing. When switching varieties, residual seeds can lead to serious variety mixing, affecting the accuracy of experimental data. Manual seed cleaning is inefficient and prone to errors. This invention is the first to systematically apply "cyclone separation" technology to the "post-harvest seed cleaning" stage of agricultural plot sowing machines, changing passive cleaning to active separation. High-speed rotating airflow generates centrifugal force to separate and collect seeds from the airflow.

[0036] This invention, tailored to the requirements of small-plot sowing, designs a fully electric self-propelled sowing robot. For the first time, it proposes a pneumatic seeding principle, a positive and negative air pressure combined for precise seeding in small plots, and a high-efficiency seed cleaning device, all mounted on a robot platform to complete the seed supply, seeding, and seed cleaning operations in a single operation. The robot first sows ten rows, then performs single-row seeding, and removes any remaining seeds after each plot is sown, preventing mixing of different varieties. This enables continuous sowing operations in both large fields and small plots, improving the efficiency of the sowing robot. The proposed automatic sowing method based on a GNSS integrated navigation system effectively enhances the automation level of small-plot operations and reduces labor intensity. Furthermore, this invention uses lithium iron phosphate batteries as the primary energy source, supplemented by a solar power system as an auxiliary clean energy source. By integrating solar power generation technology with the robot's power system, a multi-source complementary energy supply system is constructed, providing clean and renewable energy replenishment and ensuring the robot's stable operation over long periods in complex field environments.

[0037] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the all-electric precision seeding robot for small-scale planting according to the present invention;

[0039] Figure 2 This is a rear view of a fully electric precision seeding robot for residential communities.

[0040] Figure 3 This is a schematic diagram of the overall seeding system;

[0041] Figure 4 This is a schematic diagram of the seed division and seed cleaning structure;

[0042] Figure 5 This is a schematic diagram of a precision seeding device;

[0043] Figure 6This is a schematic diagram of the single structure of the furrowing and seeding device;

[0044] Figure 7 It is a block diagram of the principle of an automatic control system;

[0045] Figure 8 This is a schematic diagram of agronomy and sowing in a rapeseed field.

[0046] Figure 9 This is a schematic diagram of the cell distribution in an embodiment.

[0047] The components represented by the numbers in the attached diagram are as follows:

[0048] 1. Self-propelled chassis; 2. Pneumatic seed dispensing device; 3. Precision seed metering device; 4. Seed cleaning device; 5. Furrowing and sowing device; 6. Automatic control system;

[0049] 101. Frame, 102. Support frame, 103. Steering wheel, 104. Three-point suspension, 105. Control cabinet, 106. Lithium battery, 107. Solar panel, 108. Lifting mechanism, 109. Satellite navigation module, 110. Electric actuator;

[0050] 201. Distributor head; 202. Fixed bracket; 203. Seed box; 204. Seed supply wheel; 25. Seeding fan; 26. Seeding motor; 205. Bevel gear; 206. Venturi tube; 207. Corrugated pipe;

[0051] 30. Seed metering base; 31. Seed supply port; 32. Seed cleaning port; 33. Positive pressure port; 34. Negative pressure port; 35. Seed metering wheel; 36. Seed dropping port; 52. Seed metering fan;

[0052] 41. Seed cleaning blower; 401. Storage tank; 402. Connecting plate; 403. Cyclone separator; 404. 1-to-10 connector; 405. Hose; 406. L-shaped fixing bracket;

[0053] 51. Seeding motor; 503. Four-bar linkage; 504. Adjustable bolt; 505. Sliding knife furrow opener; 506. Seed guide tube; 507. Soil covering plate; 508. Hexagonal bearing; 509. Seeding machine frame; 510. Pressing roller; 511. Hexagonal shaft;

[0054] 601. GNSS integrated navigation system; 602. Conversion module; 603. Camera; 604. Main controller; 605. Chassis driving module; 606. Lifting control module; 607. Seeding motor module; 608. Seeding fan module; 609. Seeding motor module; 610. Seeding fan module; 611. Seeding fan module; 612. Display screen; 613. Tablet. Detailed Implementation

[0055] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0056] like Figure 1 and Figure 2 The fully electric precision seeding robot for small-area planting shown includes a self-propelled chassis 1, an air-pumped seeding device 2, a precision seed metering device 3, a seed cleaning device 4, a furrowing and seeding device 5, and an automatic control system 6.

[0057] The self-propelled chassis 1 is connected to a solar panel 107 via a support frame 102; the solar panel 107 is connected to a lithium battery 106; the pneumatic seeding device 2 is installed on the uppermost support frame 102 of the self-propelled chassis 1; the precision seed metering device 3 and the furrowing and sowing device 5 are installed on the lifting mechanism 108 below the self-propelled chassis 1; the seed cleaning device 4 is installed in the middle of the rear beam of the self-propelled chassis 1; the satellite navigation module 109 is installed on the left and right sides of the support frame 102.

[0058] The self-propelled chassis 1 includes a frame 101, a support frame 102, steering wheels 103, a three-point suspension 104, a control cabinet 105, a lithium battery 106, a solar panel 107, a lifting mechanism 108, a navigation module 109, and electric actuators 110. The four steering wheels 103, used to realize independent steering and independent drive of the self-propelled chassis, are connected to the frame 101. The three-point suspension 104, used to facilitate tractor transport in the field, is connected to the frame 101. The lithium battery 106, which provides power to the control cabinet 105, is installed at the center of the frame 101. The two sets of lifting mechanisms 108 and the control cabinet 105 are connected to the front beam of the frame 101. The two sets of electric actuators 110 are connected to the two sets of lifting mechanisms 108 composed of parallel four-bar linkages.

[0059] like Figure 3 and Figure 4 As shown, the pneumatic seeding device 2 for the seed distribution area includes a distribution head 201, a fixed bracket 202, a seed box 203, a seed supply wheel 204, a seeding fan 25, a seeding motor 26, a bevel gear 205, a venturi tube 206, and a corrugated pipe 207. The fixed bracket 202 is connected to the support frame 102 and the corrugated pipe 207. The corrugated pipe 207 is connected to the distribution head 201 and the venturi tube 206. The positive pressure port of the seeding fan 25 is connected to one end of the venturi tube 206. The seeding motor 26, which drives the seed supply wheel 204, is connected to the bevel gear 205 via a shaft. The seed box 203 is installed directly above the seed supply wheel 204.

[0060] like Figure 3 and Figure 5The precision seed metering device 3 shown includes a seed metering base 30, a seed supply port 31, a seed cleaning port 32, a positive pressure port 33, a negative pressure port 34, a seed metering wheel 35, a seed dropping port 36, and a seed metering fan 52. The positive and negative pressure ports of the three seed metering fans 52 installed on the central beam of the frame 101 are connected to the positive pressure port 33 and the negative pressure port 34 of the seed metering device 3 through pressure dividing connectors 308 that are divided into three and four parts, respectively. The seed metering wheel 35 used for precision seed metering is installed in the air chamber of the sealed seed metering base 30 and connected to the seed metering motor 51. The seed supply port 31 is connected to the distribution head 201 of the air-feeding seed distributor 2 through a PVC hose.

[0061] like Figure 2 and Figure 4 As shown, the seed cleaning device 4 includes a seed cleaning fan 41, a collection tank 401, a connecting plate 402, a cyclone separator 403, a 1 / 10 connector 404, a hose 405, and an L-shaped fixing bracket 406. The negative pressure port of the seed cleaning fan 41 is connected to the upper port of the cyclone separator 403 through the hose 405. The collection tank 401, used to collect remaining seeds, is fixed to the bottom of the cyclone separator 403 by threads. The 1 / 10 connector 404, used to collect seeds from multiple pipelines, is installed at the air inlet of the cyclone separator 403. The L-shaped fixing bracket 406, used to fix the seed cleaning fan 41 and the seed discharging fan 52, is connected to the three-point suspension 104. The connecting plate 402, used to fix the cyclone separator 403, is connected to the rear beam of the frame 101.

[0062] like Figure 2 and Figure 6 As shown, the furrowing and sowing device 5 includes a seed metering motor 51, a four-bar linkage mechanism 503, an adjustable bolt 504, a sliding blade furrow opener 505, a seed guide tube 506, a soil covering plate 507, a hexagonal bearing 508, a seed metering frame 509, a pressing roller 510, and a hexagonal shaft 511; the precision seed metering device 3 is fixed to the top of the seed metering frame 509 by bolts; the four-bar linkage mechanism 503 is connected to the seed metering frame 509 and fixed to the lifting mechanism 108; The press roller 510 is connected to the hexagonal shaft and two sets of hexagonal bearings 508 mounted on both sides of the seed metering frame 509; the adjustable bolt 504 for adjusting the furrowing depth is connected to the sliding blade furrow opener 505 and the seed metering frame 509; the seed guide tube 506 for guiding the seed position is fixed below the seed drop port 36 of the precision seed metering device 3; the adjustable soil covering plate 507 is fixed on the sliding blade furrow opener 505; the seed metering motor 51 drives the precision seed metering device 3 through the hexagonal shaft 511.

[0063] The seeding device differs from the traditional conical grid type by using an air-pumped seeding device 2, which is advantageous for distributing seeds of multiple crops.

[0064] The precision seed metering device 3 differs from traditional plot sowing by using a combination of positive and negative air pressure to achieve precision seed metering through negative pressure seed suction and positive pressure seed cleaning; by changing the seed metering wheel 35-shaped hole of the precision seed metering device 3, precision seeding of various crops can be completed; the precision seed metering device 3 also includes a seed supply port 31 and a seed cleaning port 32.

[0065] like Figures 7-9 As shown, the automatic control system 6 includes a main controller 604 and a GNSS integrated navigation system 601; the automatic control system 6 also includes a conversion module 602 for identifiable signals and a camera 603; the main controller 604 is also wiredly connected to the chassis driving module 605; the lifting control module 606, the seeding motor module 607, the seeding fan module 608, the seed metering motor module 609, the seed metering fan module 610, the seed cleaning fan module 611, and the display screen 612; the main controller 604 is also remotely connected to the tablet 613 via Wi-Fi.

[0066] The chassis driving module 605 is used to control the steering wheel 103 and drive the independent movement of the servo motor;

[0067] The lifting control module 606 is used to control the electric push rod 110 to realize the lifting mechanism 108 rising and falling.

[0068] The seeding motor module 607 and the seeding fan module 607 control the air pressure and seed supply speed of the pneumatic seeding device 2 to improve the uniformity of seeding.

[0069] The seed metering motor module 609 and the seed metering fan module 610 are used to control the rotation speed and positive and negative air pressure of the precision seed metering device 3, so as to realize seed spacing control and precision seed metering.

[0070] The seed cleaning fan module 611 is used to control the wind pressure of the seed cleaning device 4 to clean up the remaining seeds in the precision seed metering device 3.

[0071] A seeding method for a fully electric precision seeding robot for small-area planting, comprising the following steps:

[0072] Step S1: After the tractor-mounted land preparation machine finishes processing the soil plots, it forms fine soil seedbed plots;

[0073] Step S2: Based on the length and width of the sowing plot and the width of the isolation strip, determine the starting and ending points of each sowing plot. The satellite navigation module 109 obtains the geographical location information of the starting and ending points of the sowing plot. The camera 603 avoids obstacles and identifies boundaries and transmits the data to the main controller 604 through the data conversion module 602.

[0074] Step S3: The tablet 613 remotely sends a working command to the robot main controller 604, the self-propelled chassis 1 switches to working mode, and the main controller 604 controls the lifting mechanism 108 to complete the ditching and sowing device 5 to fall.

[0075] Step S4: The seed supply device supplies seeds to the pneumatic seed distribution device 2. The seed distribution fan 25 and the seed distribution motor 26 work according to the preset air pressure and speed until all the seeds in the seed bin 203 are evenly distributed into the seed supply port 31 of the precision seed metering device 3, and then the seed distribution fan 25 and the seed distribution motor 26 are turned off.

[0076] Step S5: The GNSS integrated navigation system 601 drives the self-propelled chassis 1 to travel in a straight line along the furrows on both sides at a preset speed. At the same time, the main controller 604 starts the seed metering motor 51 and the seed metering fan 52 to precisely meter the seeds according to the predetermined plant spacing. The furrowing and sowing device 5 completes the furrowing, sowing and covering operations.

[0077] Step S6: After the steering wheel servo motor sensor of the self-propelled chassis 1 detects the length L of the driving zone, it immediately shuts down the seeding motor 51 and the seeding fan 52.

[0078] Step S7; The main controller 604 then starts the seed cleaning fan 41 until all seeds in the seed cleaning port 32 of the precision seed metering device 3 are removed, and then immediately shuts off the seed cleaning fan 41.

[0079] Step S8: After the steering wheel servo motor sensor of the self-propelled chassis 1 continues to detect the length S of the driving isolation strip, it stops entering the next planting area.

[0080] Step S8: After completing all the plots in a seedbed, the main controller 604 controls the lifting mechanism 108 to raise the trenching and sowing device 5. The self-propelled chassis 1 first switches to the lateral movement mode to travel the width of the seedbed, then switches to the stationary turning mode to turn around, and then completes the sowing of the plots in the next seedbed.

[0081] Step S9; The robot repeats steps S3-S8 to complete the sowing of each seedbed;

[0082] Step S10: When the robot reaches the endpoint of the last cell of the last seedbed, it stops operating.

[0083] The above description provides examples of the preferred embodiments of the present invention. Parts not detailed herein are common knowledge to those skilled in the art. The scope of protection of the present invention is determined by the claims. Any equivalent modifications based on the technical teachings of the present invention are also within the scope of protection of the present invention.

Claims

1. A fully electric precision seeding robot for small-scale planting, characterized in that, It includes a self-propelled chassis (1), an air-driven seed distribution device (2), a precision seed metering device (3), a seed cleaning device (4), a furrowing and sowing device (5), and an automatic control system (6). The pneumatic seeding device (2), precision seed metering device (3), seed cleaning device (4), furrowing seeding device (5) and automatic control system (6) are all mounted on a self-propelled chassis (1); The automatic control system (6) is used to control the self-propelled chassis (1) to travel according to a preset travel plan, the travel plan including the translation speed and the turning and turning time; the automatic control system (6) is also used to control the precision seed metering device (3) and the seed cleaning device (4) to perform seed metering and seed cleaning according to a preset sowing plan, the sowing plan including the seed metering speed, the start and stop time of the seed metering device and the start and stop time of the seed cleaning device (4); The self-propelled chassis (1) is used to drive the robot to walk; The air-pumped seed distribution device (2) is used to transport seeds from the seed box (203) outlet to multiple precision seed metering devices (3). The precision seed metering device (3) is used for seed metering; The seed cleaning device (4) includes a seed cleaning fan (41), a collection tank (401), a connecting plate (402), a cyclone separator (403), a 1 / 10 connector (404), a hose (405), and an L-shaped fixing bracket (406). The negative pressure port of the seed cleaning fan (41) is connected to the upper port of the cyclone separator (403) through the hose (405). The collection tank (401) for collecting the remaining seeds is fixed to the bottom of the cyclone separator (403) by threads. The 1 / 10 connector (404) for collecting seeds from multiple pipelines is installed at the air inlet of the cyclone separator (403). The L-shaped fixing bracket (406) is used to fix the seed cleaning fan (41) and the seed discharging fan (52) on the self-propelled chassis (1). The cyclone separator (403) is fixed on the self-propelled chassis (1) through the connecting plate (402). The trenching device (5) is used to trench along with the self-propelled chassis (1).

2. The all-electric precision seeding robot for small-scale planting according to claim 1, characterized in that, The self-propelled chassis (1) includes a frame (101), a support frame (102), steering wheels (103), a three-point suspension (104), a control cabinet (105), a lithium battery (106), a solar panel (107), a lifting mechanism (108), a navigation module (109), and an electric actuator (110); the four sets of steering wheels (103) used to realize four-wheel independent steering and four-wheel independent drive of the self-propelled chassis are connected to the frame (101); the three-point suspension (104) used to facilitate tractor field transportation includes a support frame (102), a support frame (103), a steering wheel (104), a control cabinet (105), a lithium battery (106), a solar panel (107), a lifting mechanism (108), a navigation module (109), and an electric actuator (110); 04) Connected to the rack (101); the lithium battery (106) that provides power to the control cabinet (105) is installed at the center of the rack (101); the solar panel (107) is located directly above the rack (101) to provide clean and renewable energy to the lithium battery (106); two sets of lifting mechanisms (108) for vertical movement and the control cabinet (105) are connected to the front beam of the rack (101); two sets of electric push rods (110) are connected to the lifting mechanism (108) composed of two sets of parallel four-bar linkages.

3. The all-electric precision seeding robot for small-scale planting according to claim 1, characterized in that, The precision seed metering device (3) includes a seed metering base (30), a seed supply port (31), a seed cleaning port (32), a positive pressure port (33), a negative pressure port (34), a seed metering wheel (35), a seed dropping port (36), and a seed metering fan (52); the positive pressure port and negative pressure port of the three seed metering fans (52) installed on the central beam of the frame (101) are respectively connected to the positive pressure port (33) and negative pressure port (34) of the precision seed metering device (3) through pressure dividing connectors (308) that are divided into three and four parts respectively; the seed metering wheel (35) used for precision seed metering is installed in the air chamber of the sealed seed metering base (30) and connected to the seed metering motor (51); the seed supply port (31) is connected to the distribution head (201) of the air-delivered seed metering device (2) through a PVC hose.

4. The all-electric precision seeding robot for small-scale planting according to claim 1, characterized in that, The automatic control system (6) includes a main controller (604) and a GNSS integrated navigation system (601); the automatic control system (6) also includes a conversion module (602) for identifiable signals and a camera (603); the main controller (604) is also wired to the chassis driving module (605); the lifting control module (606), the seeding motor module (607), the seeding fan module (608), the seed metering motor module (609), the seed metering fan module (610), the seed cleaning fan module (611), and the display screen (612); the main controller (604) is also connected to a handheld terminal (613) via remote Wi-Fi. The chassis driving module (605) is used to control the steering wheel (103) and drive the independent movement of the servo motor; The lifting control module (606) is used to control the electric push rod (110) to realize the lifting mechanism (108) rising and falling; The seeding motor module (607) and the seeding fan module (607) control the air pressure and seed supply speed of the pneumatic seeding device (2) to improve the uniformity of seeding; The seed metering motor module (609) and seed metering fan module (610) are used to control the rotation speed and positive and negative air pressure of the precision seed metering device (3) to realize seed spacing control and precision seed metering; The seed cleaning fan module (611) is used to control the wind pressure of the seed cleaning device (4) to clean up the remaining seeds in the precision seed metering device (3).

5. A method for seeding using the all-electric precision seeding robot according to any one of claims 1-4, characterized in that, Includes the following steps: Step S1: After the tractor-mounted land preparation machine processes the soil plots, it forms fine soil seedbed plots; Step S2: Based on the length L and width N of the sowing plot and the width S of the isolation strip, determine the starting and ending points of each sowing plot. The satellite navigation module (109) obtains the geographical location information of the starting and ending points of the sowing plot. The camera (603) avoids obstacles and identifies the boundary, and transmits the data to the main controller (604) through the data conversion module (602). Step S3: The handheld terminal (613) remotely sends a work command to the robot main controller (604), the self-propelled chassis (1) switches to working mode, and the main controller (604) completes the ditching and sowing device (5) by controlling the lifting mechanism (108); Step S4: The seed supply device supplies seeds to the air-feeding seed distribution device (2). The seed distribution fan (25) and the seed distribution motor (26) work according to the preset air pressure and speed until all the seeds in the seed bin (203) are evenly distributed into the seed supply port (31) of the precision seed metering device (3), and then the seed distribution fan (25) and the seed distribution motor (26) are turned off. Step S5: The GNSS integrated navigation system (601) drives the self-propelled chassis (1) to walk in a straight line along the furrows on both sides at a preset speed. At the same time, the main controller (604) starts the seed metering motor (51) and the seed metering fan (52) to make the seeds be precisely metered according to the predetermined plant spacing. The furrowing and sowing device (5) and the precision seed metering device (3) complete the furrowing, sowing and soil covering operations. Step S6: After the steering wheel servo motor sensor of the self-propelled chassis (1) detects the length L of the driving area, it immediately shuts down the seeding motor (51) and the seeding fan (52). Step S7; The main controller (604) then starts the seed cleaning fan (41) until all seeds in the seed cleaning port (32) of the precision seed metering device (3) are removed, and then immediately shuts off the seed cleaning fan (41). Step S8; After the steering wheel servo motor sensor of the self-propelled chassis (1) continues to detect the length S of the driving isolation strip, it stops entering the next cell for sowing; Step S8; After completing all the plots in a seedbed, the main controller (604) controls the lifting mechanism (108) to raise the furrowing and sowing device (5). The self-propelled chassis (1) first switches to the lateral movement mode to travel the width of the seedbed, then switches to the stationary turning mode to turn around, and then completes the sowing of the next seedbed plot. Step S9; The robot repeats steps S3-S8 to complete the sowing of each seedbed; Step S10: When the steering wheel servo motor sensor of the self-propelled chassis (1) detects that the robot has traveled a width N and determines that the robot has reached the positioning point of the last cell of the last seed bed, the robot stops working.

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