Cuttage crop seed stem sowing equipment and dynamic cooperative control method thereof

Abstract

The invention discloses cutting crop seed stem sowing equipment and a dynamic cooperative control method thereof. The equipment comprises a mobile machine body, a rotary tillage soil throwing mechanism, a soil conveying mechanism and a seed stem sowing mechanism, the soil conveying mechanism comprises a soil lifting mechanism, a soil conveying belt and a soil slideway; the seed stem sowing mechanism is located below the soil conveying mechanism and comprises a stock bin and a stirring mechanism located in the stock bin, and a discharge port is formed in the lower end of the stock bin; the seed stem sowing mechanism further comprises a waved plate which is located below the discharge port and can vibrate, and a blocking plate is arranged above the waved plate; the tail end of the waved plate is connected with a seed stem conveying mechanism; the tail end of the seed stem conveying mechanism is connected with a discharging sliding way, and a plurality of second partition plates which are arranged in parallel are arranged in the discharging sliding way. Vibration of the wave plate is matched with the blocking plate, so that the posture of seed stems is adjusted, and the seed stems are arranged orderly; during falling, the soil covering mechanism synchronously covers fine soil on the seed stems, so that the seed stems are prevented from bouncing and scattering, and the sowing uniformity and the operation efficiency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of crop stem sowing technology, and in particular to a stem sowing device for cutting crops and its dynamic collaborative control method. Background Technology

[0002] Cutting crops (such as Artemisia argyi) are a type of economic crop that uses stem segments as propagation material. The planting process mainly includes trenching, seeding, covering with soil, and compacting. Traditional planting methods mainly rely on manual cutting, which has problems such as high labor requirements, high seed consumption, low sowing efficiency, and inconsistent cutting standards, which seriously restrict the large-scale and standardized development of the cutting crop industry.

[0003] In the prior art, invention patent application CN115669336A discloses a reed strip-seeding and soil-covering planting machine. This machine achieves mechanized strip-seeding of reed seed segments by setting up components such as a soil divider, a seed metering device, a bin, a soil spreader, a soil covering device, and a compaction roller on a chassis frame. The seed metering device shakes the seed segments in the bin through rubber teeth to drop the seeds, which then slide out through a seed-limiting slide plate. The soil divider opens shallow furrows on the ground, and the seed segments fall into the furrows. The soil covering device and the soil spreader ridge up the soil on both sides and evenly cover the seed segments. Finally, the compaction roller flattens and compacts the soil.

[0004] However, the above-mentioned technical solutions still have the following shortcomings: First, the seed metering device relies solely on the mechanical movement of rubber teeth to dispose of seeds, lacking real-time monitoring and feedback adjustment methods for the uniformity of seed dispensing, which easily leads to local accumulation or material interruption, resulting in uneven sowing; Second, after being discharged from the seed metering device, the seed segments slide directly onto the ground via a sliding plate, lacking an effective mechanism for adjusting the posture of the seed segments, resulting in a high degree of randomness in the distribution posture of the seed segments on the ground, affecting the subsequent soil covering and seedling emergence effects; Third, the soil covering process and the seed metering process are independent of each other, lacking the coordinated cooperation between soil transport and seed segment transport, making it difficult to achieve timely covering after the seed segments are displaced, and the seed segments are easily displaced due to wind or terrain factors, affecting the uniformity of sowing and planting quality. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a cutting stem broadcasting equipment and its dynamic collaborative control method that can effectively adjust the posture of the cutting stem, realize the coordinated transport of the cutting stem and soil, and have real-time monitoring and dynamic adjustment capabilities.

[0006] Technical Solution: To achieve the above objectives, the present invention provides a cutting propagation stem broadcasting device, which includes a mobile body on which a rotary tillage and soil-throwing mechanism, a soil conveying mechanism, and a cutting propagation stem broadcasting mechanism are installed. The soil conveying mechanism includes a soil lifting mechanism, a soil conveying belt, and a soil chute. The soil chute has a first partition plate arranged in parallel, which divides the soil chute into multiple sub-soil chutes. The cutting propagation stem broadcasting mechanism is located below the soil conveying mechanism. The cutting propagation stem broadcasting mechanism includes a hopper and a stirring mechanism located within the hopper. The stirring mechanism is connected to a second motor, and the lower end of the hopper has a discharge port.

[0007] The seed sowing mechanism also includes a corrugated plate located below the discharge port and arranged at an angle, with the front of the corrugated plate being higher than the back; the corrugated plate is driven by a vibration mechanism to reciprocate in the front-back direction; and there is a height-adjustable baffle plate above the corrugated plate, with a corrugated part at the lower end of the baffle plate that matches the cross section of the corrugated plate.

[0008] The seed sowing mechanism also includes a seed conveying mechanism connected to the end of the corrugated plate, the seed conveying mechanism including a first conveyor belt and a separating mechanism located above the first conveyor belt;

[0009] The end of the seed tuber conveying mechanism is connected to a discharge chute, which has multiple parallel second partition plates, dividing the discharge chute into multiple sub-discharge chutes. The seed tubers conveyed by the seed tuber conveying mechanism and the soil sliding down the soil chute both return to the ground via the discharge chutes.

[0010] The aforementioned corrugated plate has multiple V-shaped grooves arranged in a linear array. The lower edge of the barrier plate has a protrusion embedded in each V-shaped groove, and a channel for the seed stem to pass through is formed between the protrusion and the bottom of the corresponding V-shaped groove. The separating mechanism divides the upper surface of the seed stem conveying mechanism into conveyor strips that correspond one-to-one with the number of V-shaped grooves. Each conveyor strip has a corresponding sub-discharge chute and sub-soil chute.

[0011] During operation, the rotary tillage and soil-throwing mechanism breaks up the soil in front for seedbed treatment, while simultaneously throwing some of the broken soil onto the soil lifting mechanism. The soil lifted by the soil lifting mechanism falls onto the soil conveyor belt, then drops from the end of the conveyor belt into the soil chute, and slides down from the chute. Simultaneously, the mixing mechanism agitates the crop seedlings in the hopper, ensuring that the seedlings are evenly discharged from the outlet and fall onto the corrugated plate. Under the action of the vibration mechanism, the corrugated plate vibrates back and forth, causing the seedlings to pass through the channel between the protrusion and the bottom of the corresponding V-shaped trough in a forward-backward direction, and move along the V-shaped trough until they fall into the corresponding conveyor belt of the seedling conveying mechanism. The first conveyor belt transports the crop seedlings to the sub-discharge chute of the discharge chute. At the same time, the soil sliding down from the corresponding sub-soil chute will slide down to the sub-discharge chute, which on the one hand assists the crop seedlings to leave the discharge chute, and on the other hand covers the crop seedlings in time when they fall to the ground, so that the crop seedlings are kept in the falling position and do not scatter, ensuring the uniformity of sowing.

[0012] Furthermore, the barrier plate is equipped with multiple jet nozzles arranged in a linear array, all of which are connected to an air source via air valves. Additionally, a first monitoring camera is installed above the front side of the barrier plate. Both the air valves and the first monitoring camera are connected to a control system. The first monitoring camera monitors whether there is material accumulation in front of the barrier plate. If so, the control system controls the air valve to open, causing the jet nozzles to spray airflow, blowing and dispersing the accumulated material forward, allowing the crop seedlings to enter the V-shaped trough in the correct posture under vibration. Furthermore, the stirring mechanism can be simultaneously controlled to reduce its speed or stop rotating, thereby reducing or stopping the discharge of crop seedlings.

[0013] Furthermore, the vibration mechanism includes guide plates and a power mechanism disposed on the front and rear sides of the wave plate respectively; the guide plates have transverse guide grooves, and the front end of the wave plate has a guide pin inserted into the guide groove; the power mechanism includes a first motor, and also includes a connecting rod connecting the output shaft of the first motor to the rear end of the wave plate.

[0014] The above structure allows the crop seedlings to move backward while simultaneously undergoing a certain degree of tossing and jumping motion, facilitating their entry into the V-shaped trough and adjustment of their posture. The distance between the drop point of the crop seedlings from the discharge port and the baffle plate provides ample time for the seedlings to enter the V-shaped trough and adjust their posture.

[0015] Furthermore, the partitioning mechanism includes a plurality of partitions arranged in a linear array, and at least two crossbars connecting all the partitions, with each crossbar connected to the moving body at both ends via a connecting seat.

[0016] Furthermore, a partition net is installed on the rear side of the rotary tillage and soil-throwing mechanism. The partition net is used to block larger clods of soil, allowing finer clods to pass through, ensuring that the soil used to cover the seed tubers is relatively fine.

[0017] Furthermore, the soil lifting mechanism includes an inclined lifting belt with equidistant plates on the lifting belt.

[0018] Furthermore, a scraper is installed above the soil conveyor belt. The scraper is used to level the soil above the soil conveyor belt, ensuring the continuity of soil flow and the stability of the flow rate under the soil slide.

[0019] Furthermore, the mobile body is also equipped with a second monitoring camera that collects images of the material distribution on the first conveyor belt. The second monitoring camera is connected to the control system. The images collected by the second monitoring camera can obtain information on the spacing between crop seed stalks and whether material breakage has occurred. Based on this, the rotational speeds of the first and second motors, as well as the operating speed of the first conveyor belt, can be adjusted to ensure a reasonable distribution spacing of crop seed stalks and to resolve issues such as material breakage.

[0020] The mobile body has a mounting mechanism on the front and wheels on the rear.

[0021] The dynamic collaborative control method for the cutting propagation stem broadcasting equipment described above includes the following steps:

[0022] Step S1: The first monitoring camera captures a real-time image of the material distribution in front of the barrier plate, and the second monitoring camera captures a real-time image of the material distribution on the first conveyor belt.

[0023] Step S2: The control system analyzes the image captured by the first monitoring camera to determine whether there is material accumulation in front of the barrier plate; if there is material accumulation, it controls the air valve to open, so that the air nozzle sprays air forward to blow away the accumulated material, and at the same time controls the second motor to reduce the speed to reduce the output.

[0024] Step S3: The control system analyzes the images captured by the second monitoring camera to obtain the distribution spacing information of crop stems on the first conveyor belt and whether there is a material breakage.

[0025] Step S4: The control system, based on the distribution spacing information and material breakage information obtained in step S3, coordinates and adjusts the rotation speed of the first motor, the rotation speed of the second motor, and the operating speed of the first conveyor belt; when the distribution spacing of the seed stems is greater than the preset spacing threshold or a material breakage occurs, the rotation speed of the second motor is increased to increase the output, and the operating speed of the first conveyor belt is reduced; when the distribution spacing of the seed stems is less than the preset spacing threshold, the rotation speed of the second motor is reduced to decrease the output, and the operating speed of the first conveyor belt is increased.

[0026] Furthermore, in step S2, the analysis of the image captured by the first monitoring camera by the control system further includes: identifying the area ratio of the accumulated material; when the area ratio exceeds a first preset threshold, controlling the second motor to stop rotating to stop discharging the material; when the area ratio decreases to below a second preset threshold, controlling the second motor to resume rotation; the first preset threshold is greater than the second preset threshold.

[0027] Step S4 further includes: the control system calculates the actual spacing between adjacent crop stems on the first conveyor belt based on the image captured by the second monitoring camera, compares the actual spacing with the preset target spacing, and dynamically adjusts the rotation speed of the first motor and the operating speed of the first conveyor belt through a PID control algorithm, so that the actual distribution spacing of crop stems approaches the preset target spacing.

[0028] Beneficial effects: The cutting propagation stem broadcasting equipment and its dynamic collaborative control method of the present invention have the following beneficial effects:

[0029] (1) By rationally arranging the components and designing the seed sowing mechanism, this invention enables the combined operation of seed bed treatment, seed sorting and covering. The vibration of the wave plate and the cooperation of the barrier plate adjust the posture of the seed stems and arrange them in an orderly manner, and limit the amount of seed stems passing through. When falling, the soil covering mechanism simultaneously covers them with fine soil to prevent the seed stems from bouncing and scattering, which significantly improves the uniformity of sowing and the efficiency of operation.

[0030] (2) By analyzing the image information of the first monitoring camera and the second monitoring camera together, the rotation speed of the stirring mechanism, the frequency of the vibration mechanism and the speed of the conveyor belt are adjusted in a coordinated manner, so that the components of the sowing equipment work together to ensure that the distribution spacing of crop seed stems is reasonable and improve the uniformity and stability of sowing. Attached Figure Description

[0031] Figure 1 Side view of equipment for broadcasting cuttings of crops;

[0032] Figure 2 A first three-dimensional diagram of equipment for broadcasting cuttings of crops;

[0033] Figure 3 A second perspective view of the equipment for broadcasting cuttings of crops;

[0034] Figure 4 This is a structural diagram of the seed-spreading mechanism;

[0035] Figure 5 Structural diagram of the wave plate and vibration mechanism;

[0036] Figure 6 This is a structural diagram of a combination of a wave plate and a barrier plate.

[0037] Figure 7 for Figure 3 Enlarged structural diagram of part A in the middle.

[0038] In the diagram: 1-Mobile body; 11-Hanging mechanism; 12-Walking wheel; 2-Rotary tillage and soil-throwing mechanism; 3-Soil conveying mechanism; 31-Soil lifting mechanism; 311-Lifting belt; 312-Plate body; 32-Soil conveying belt; 33-Soil chute; 33a-First partition plate; 34-Soil scraper; 4-Seed spreading mechanism; 41-Bag; 42-Stirring mechanism; 43-Wave plate; 43a-V-shaped trough; 43b-Guide pin; 44-Vibration mechanism; 441-Guide plate; 44a-Guide groove; 442-First motor; 443-Connecting rod; 45-Seed conveying mechanism; 451-First conveyor belt; 452-Partition plate; 453-Crossbar; 454-Connecting seat; 46-Discharge chute; 46a-Second partition plate; 47-Blocking plate; 47a-Protrusion; 48-Second motor; 49-First monitoring motor; 410-Second monitoring motor; 420-Air nozzle; 5-Partition net. Detailed Implementation

[0039] The invention will now be further described with reference to the accompanying drawings.

[0040] like Figures 1 to 3 The cutting propagation stem broadcasting equipment shown includes a mobile body 1, on which a rotary tillage and soil-throwing mechanism 2, a soil conveying mechanism 3, and a stem broadcasting mechanism 4 are installed. The soil conveying mechanism 3 includes a soil lifting mechanism 31, a soil conveying belt 32, and a soil chute 33. The soil chute 33 has parallelly arranged first partition plates 33a, dividing the soil chute 33 into multiple sub-soil chute sections. The stem broadcasting mechanism 4 is located below the soil conveying mechanism 3. Figure 4 As shown, the seed sowing mechanism 4 includes a hopper 41 and a stirring mechanism 42 located inside the hopper 41. The stirring mechanism 42 is connected to a second motor 48, and the lower end of the hopper 41 has a discharge port.

[0041] The seed sowing mechanism 4 also includes a corrugated plate 43 located below the discharge port and arranged at an angle. The corrugated plate 43 is arranged with the front higher than the back. The corrugated plate 43 is driven by the vibration mechanism 44 to reciprocate in the front-back direction. The corrugated plate 43 has a height-adjustable baffle plate 47 above it. The lower end of the baffle plate 47 has a corrugated part that matches the cross section of the corrugated plate 43.

[0042] The seed sowing mechanism 4 also includes a seed conveying mechanism 45 connected to the end of the corrugated plate 43. The seed conveying mechanism 45 includes a first conveyor belt 451 and a separating mechanism located above the first conveyor belt 451.

[0043] The end of the seed tuber conveying mechanism 45 is connected to a discharge chute 46, which has multiple parallelly arranged second partition plates 46a, dividing the discharge chute 46 into multiple sub-discharge chutes; each second partition plate 46a has a first partition plate 33a connected to it, such as... Figure 7 As shown. The seed stems conveyed by the seed stem conveying mechanism 45 and the soil sliding down the soil slide 33 both return to the ground via the discharge slide 46.

[0044] like Figure 6 As shown, the aforementioned wave plate 43 has multiple V-shaped grooves 43a arranged in a linear array. The lower edge of the baffle plate 47 has a protrusion 47a embedded in each V-shaped groove 43a. A channel for the seed stem to pass through is formed between the protrusion 47a and the bottom of the corresponding V-shaped groove 43a. The baffle plate 47 is used to limit the flow rate of the seed stem. By changing the height of the baffle plate 47, the flow rate of the seed stem can be adjusted. The separating mechanism divides the upper surface of the seed stem conveying mechanism 45 into conveyor strips of the same number and one-to-one correspondence with the V-shaped grooves 43a. Each conveyor strip has a corresponding sub-discharge chute and sub-soil chute.

[0045] During operation, the rotary tillage and soil-throwing mechanism 2 breaks up the soil in front for seedbed treatment, and at the same time throws a portion of the broken soil onto the soil lifting mechanism 31. The soil lifted by the soil lifting mechanism 31 falls onto the soil conveyor belt 32, and then falls from the end of the soil conveyor belt 32 to the soil chute 33, and slides down from the soil chute 33. Meanwhile, the mixing mechanism 42 mixes the crop seedlings in the hopper 41, so that the crop seedlings in the hopper 41 are discharged from the outlet and fall onto the corrugated plate 43 more evenly. The corrugated plate 43 vibrates back and forth under the action of the vibration mechanism 44, so that the seedlings pass through the channel between the protrusion 47a and the bottom of the corresponding V-shaped trough 43a in a forward and backward direction, and move along the V-shaped trough 43a until they fall into the corresponding conveyor belt of the seedling conveying mechanism 45. The first conveyor belt 451 conveys the crop seedlings to the sub-discharge chute of the discharge chute 46. At the same time, the soil that slides down from the corresponding sub-soil chute will slide down to the sub-discharge chute. On the one hand, it helps the crop seedlings leave the discharge chute 46, and on the other hand, it covers the crop seedlings in time when they fall to the ground, so that the crop seedlings are kept in the falling position and do not scatter, thus ensuring the uniformity of sowing.

[0046] This invention, through the rational layout of its components and the rational design of the seed-spreading mechanism 4, enables the combined operation of seed bed treatment, seed sorting, and covering. The vibration of the wave plate, combined with the blocking plate, adjusts the posture of the seed stems and arranges them in an orderly manner; as they fall, the soil-covering mechanism simultaneously covers them with fine soil, preventing the seed stems from bouncing and scattering, significantly improving the uniformity of spreading and operational efficiency.

[0047] Preferably, the barrier plate 47 is equipped with a plurality of jet nozzles 420 arranged in a linear array, and all the jet nozzles 420 are connected to an air source via air valves. Furthermore, a first monitoring camera 49 is installed above the front side of the barrier plate 47. Both the air valve and the first monitoring camera 49 are connected to a control system. The first monitoring camera 49 monitors whether there is material accumulation in front of the barrier plate 47. If so, the control system controls the air valve to open, causing the jet nozzles 420 to spray airflow, blowing and dispersing the accumulated material forward, allowing the crop stalks to enter the V-shaped trough 43a in the correct posture under vibration. Additionally, the stirring mechanism 42 can be simultaneously controlled to reduce its rotation speed or stop rotating, thereby reducing or stopping the discharge of crop stalks.

[0048] Preferably, such as Figure 5 As shown, the vibration mechanism 44 includes guide plates 441 disposed on the front and rear sides of the wave plate 43 and a power mechanism; the guide plate 441 has a transverse guide groove 44a, and the front end of the wave plate 43 has a guide pin 43b inserted into the guide groove 44a; the power mechanism includes a first motor 442, and also includes a connecting rod 443 connecting the output shaft of the first motor 442 and the rear end of the wave plate 43.

[0049] The above structure allows the crop seedlings to move backward while simultaneously undergoing a certain degree of tossing and jumping motion, facilitating their entry into the V-shaped trough 43a and adjustment of their posture. A distance exists between the drop position of the crop seedlings from the discharge port and the baffle plate 47, providing ample time for the seedlings to enter the V-shaped trough 43a and adjust their posture.

[0050] Preferably, the partitioning mechanism includes a plurality of partitions 452 arranged in a linear array, and at least two crossbars 453 connecting all the partitions 452, with each end of the crossbar 453 connected to the moving body 1 via a connecting seat 454.

[0051] The above structure effectively prevents the seed stalks from rolling and crossing during the transportation process, ensuring that each seed stalk can fall accurately into the corresponding seed discharge chute, thus guaranteeing the independence and accuracy of multi-row synchronous sowing.

[0052] Preferably, a partition net 5 is installed on the rear side of the rotary tillage and soil-throwing mechanism 2. The partition net 5 is used to block larger soil clods, allowing finer soil clods to pass through, ensuring that the soil used to cover the seed tubers is relatively fine.

[0053] Preferably, the soil lifting mechanism 31 includes an inclined lifting belt 311, on which plates 312 are arranged at equal intervals.

[0054] Preferably, a scraper 34 is provided above the soil conveyor belt 32. The scraper 34 is used to level the soil above the soil conveyor belt 32 to ensure the continuity and flow stability of the soil in the soil chute 33.

[0055] Preferably, the mobile body 1 is further equipped with a second monitoring camera 410 that collects images of the material distribution on the first conveyor belt 451. The second monitoring camera 410 is connected to the control system. The images collected by the second monitoring camera 410 can obtain information on the spacing of crop seed stalks and whether material breakage has occurred. Based on this, the rotational speeds of the first motor 442 and the second motor 48, as well as the operating speed of the first conveyor belt 451, can be adjusted to ensure a reasonable distribution spacing of crop seed stalks and to resolve issues such as material breakage.

[0056] The mobile body 1 has a mounting mechanism 11 on the front and a walking wheel 12 on the rear.

[0057] The dynamic collaborative control method for the cutting propagation stem broadcasting equipment described above includes the following steps:

[0058] Step S1: The first monitoring camera 49 acquires material distribution images in front of the barrier plate 47 in real time, and the second monitoring camera 410 acquires material distribution images on the first conveyor belt 451 in real time.

[0059] Step S2: The control system analyzes the image captured by the first monitoring camera 49 to determine whether there is material accumulation in front of the barrier plate 47; if there is material accumulation, the control system controls the air valve to open, so that the air nozzle 420 sprays air forward to blow away the accumulated material, and at the same time controls the second motor 48 to reduce the speed to reduce the output.

[0060] Step S3: The control system analyzes the images captured by the second monitoring camera 410 to obtain the distribution spacing information of crop stems on the first conveyor belt 451 and whether there is a material breakage.

[0061] Step S4: The control system, based on the distribution spacing information and material breakage information obtained in step S3, coordinates and adjusts the rotation speed of the first motor 442, the rotation speed of the second motor 48, and the operating speed of the first conveyor belt 451; when the distribution spacing of the seed stems is greater than the preset spacing threshold or a material breakage occurs, the rotation speed of the second motor 48 is increased to increase the output, and the operating speed of the first conveyor belt 451 is decreased; when the distribution spacing of the seed stems is less than the preset spacing threshold, the rotation speed of the second motor 48 is decreased to reduce the output, and the operating speed of the first conveyor belt 451 is increased.

[0062] By collaboratively analyzing the image information from the first monitoring camera 49 and the second monitoring camera 410, the rotation speed of the stirring mechanism, the frequency of the vibration mechanism, and the speed of the conveyor belt are adjusted in a coordinated manner, so that the components of the sowing equipment work together to ensure a reasonable spacing between crop seedlings and improve the uniformity and stability of sowing.

[0063] Preferably, in step S2, the analysis of the image acquired by the first monitoring camera 49 by the control system further includes: identifying the area ratio of the accumulated material; when the area ratio exceeds a first preset threshold, controlling the second motor 48 to stop rotating to stop discharging the material; when the area ratio decreases to below a second preset threshold, controlling the second motor 48 to resume rotation; the first preset threshold is greater than the second preset threshold.

[0064] Step S4 further includes: the control system calculates the actual spacing between adjacent crop stems on the first conveyor belt 451 based on the image collected by the second monitoring camera 410, compares the actual spacing with the preset target spacing, and dynamically adjusts the rotation speed of the first motor 442 and the operating speed of the first conveyor belt 451 through a PID control algorithm, so that the actual distribution spacing of crop stems approaches the preset target spacing.

[0065] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A cutting propagation stem broadcasting device, comprising a mobile body (1), wherein the mobile body (1) is equipped with a rotary tillage and soil-throwing mechanism (2), a soil conveying mechanism (3), and a stem broadcasting mechanism (4); the soil conveying mechanism (3) comprises a soil lifting mechanism (31), a soil conveying belt (32), and a soil chute (33), wherein the soil chute (33) has a first partition plate (33a) arranged in parallel; the stem broadcasting mechanism (4) is located below the soil conveying mechanism (3); the stem broadcasting mechanism (4) comprises a hopper (41) and a stirring mechanism (42) located in the hopper (41), wherein the stirring mechanism (42) is connected to a second motor (48), and the lower end of the hopper (41) has a discharge port; Its features are: The seed sowing mechanism (4) also includes a wave plate (43) located below the discharge port and arranged at an incline. The wave plate (43) is driven by the vibration mechanism (44) to reciprocate in the front-back direction. The wave plate (43) has a height-adjustable baffle plate (47) above it. The lower end of the baffle plate (47) has a corrugated part that matches the cross section of the wave plate (43). The seed sowing mechanism (4) further includes a seed conveying mechanism (45) connected to the end of the corrugated plate (43), the seed conveying mechanism (45) including a first conveyor belt (451) and a separating mechanism located above the first conveyor belt (451); The end of the seed stem conveying mechanism (45) is connected to a feeding chute (46), which has a plurality of parallel second partition plates (46a).

2. The cutting propagation stem broadcasting equipment according to claim 1, characterized in that, The barrier plate (47) is equipped with a plurality of jet nozzles (420) arranged in a linear array, and all the jet nozzles (420) are connected to an air source through an air valve; in addition, a first monitoring camera (49) is installed on the upper front side of the barrier plate (47); the air valve and the first monitoring camera (49) are both connected to the control system.

3. The cutting propagation stem broadcasting equipment according to claim 1, characterized in that, The vibration mechanism (44) includes a guide plate (441) placed on the front and rear sides of the wave plate (43) and a power mechanism; the guide plate (441) has a transverse guide groove (44a), and the front end of the wave plate (43) has a guide pin (43b) inserted into the guide groove (44a); the power mechanism includes a first motor (442) and a connecting rod (443) connecting the output shaft of the first motor (442) to the rear end of the wave plate (43).

4. The cutting propagation stem broadcasting equipment according to claim 2, characterized in that, The separating mechanism on the first conveyor belt (451) includes a plurality of partitions (452) arranged in a linear array, and at least two crossbars (453) connecting all the partitions (452), with each crossbar (453) having its two ends connected to the moving body (1) via a connecting seat (454).

5. The cutting propagation stem broadcasting equipment according to claim 1, characterized in that, A mesh (5) is installed on the rear side of the rotary tillage and soil-throwing mechanism (2).

6. The cutting propagation stem broadcasting equipment according to claim 1, characterized in that, The soil lifting mechanism (31) includes an inclined lifting belt (311) with equidistant plates (312) on the lifting belt (311).

7. The cutting propagation stem broadcasting equipment according to claim 1, characterized in that, A scraper (34) is provided above the soil conveying belt (32).

8. The cutting propagation stem broadcasting equipment according to claim 2, characterized in that, The mobile body (1) is also equipped with a second monitoring camera (410) that collects images of the material distribution on the first conveyor belt (451). The second monitoring camera (410) is connected to the control system.

9. A dynamic collaborative control method for the cutting propagation stem broadcasting equipment according to claim 8, characterized in that, Includes the following steps: Step S1: The first monitoring camera (49) collects material distribution images in front of the barrier plate (47) in real time, and the second monitoring camera (410) collects material distribution images on the first conveyor belt (451) in real time. Step S2: The control system analyzes the image captured by the first monitoring camera (49) to determine whether there is material accumulation in front of the barrier plate (47); If there is material accumulation, the air valve is controlled to open, so that the air nozzle (420) sprays air forward to blow away the accumulated material, and at the same time the second motor (48) is controlled to reduce the speed to reduce the output. Step S3: The control system analyzes the images captured by the second monitoring camera (410) to obtain the distribution spacing information of crop stems on the first conveyor belt (451) and whether there is a material breakage. Step S4: The control system adjusts the rotation speed of the first motor (442), the rotation speed of the second motor (48), and the operating speed of the first conveyor belt (451) in coordination with the distribution spacing information and material breakage information obtained in step S3. When the distribution spacing of the seed stems is greater than the preset spacing threshold or material breakage occurs, the rotation speed of the second motor (48) is increased to increase the output and the operating speed of the first conveyor belt (451) is reduced. When the distribution spacing of the seed stems is less than the preset spacing threshold, the rotation speed of the second motor (48) is reduced to decrease the output and the operating speed of the first conveyor belt (451) is increased.

10. The dynamic cooperative control method according to claim 9, characterized in that, In step S2, the analysis of the image collected by the first monitoring camera (49) by the control system further includes: identifying the area ratio of the accumulated material; when the area ratio exceeds a first preset threshold, controlling the second motor (48) to stop rotating to stop discharging the material; when the area ratio decreases to below a second preset threshold, controlling the second motor (48) to resume rotation; the first preset threshold is greater than the second preset threshold. Step S4 further includes: the control system calculates the actual spacing between adjacent crop stems on the first conveyor belt (451) based on the image collected by the second monitoring camera (410), compares the actual spacing with the preset target spacing, and dynamically adjusts the rotation speed of the first motor (442) and the operating speed of the first conveyor belt (451) through a PID control algorithm so that the actual distribution spacing of crop stems approaches the preset target spacing.

Images