CN108521944B

CN108521944B - ditching seeder and seeding method thereof

Info

Publication number: CN108521944B
Application number: CN201810229034.6A
Authority: CN
Inventors: 孟庆华; 葛先科
Original assignee: HANGZHOU ELECTRONIC SCIENCE AND TECHNOLOGY UNIV
Current assignee: HANGZHOU ELECTRONIC SCIENCE AND TECHNOLOGY UNIV
Priority date: 2018-03-20
Filing date: 2018-03-20
Publication date: 2020-01-31
Anticipated expiration: 2038-03-20
Also published as: CN108521944A

Abstract

The invention discloses ditching seeders and a seeding method thereof.A grain and vegetable seeders used by farmers in the field in China at present use tractors for seeding, are suitable for large-area seeding work and are not suitable for greenhouse planting.A ditching seeders comprise soil leveling wheels, a frame, a ditching mechanism, a hub motor, a second soil leveling wheel, a support handrail, a soil scraping plate, a seeding mechanism and a stepping motor.

Description

ditching seeder and seeding method thereof

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to ditching and seeding machines and a seeding method thereof.

Background

The total area of the greenhouse in China currently reaches more than 200 ten thousand square kilometers, which is already at the level of in the world, although the planting area of greenhouse vegetables reaches in the world, the greenhouse vegetable planting management method has a lot of problems in the planting management aspect and other aspects of various greenhouse crops, and has a large gap with other developed countries in the world.

At present, grain and vegetable seeders used by farmers in fields in China are pulled by tractors to sow, are suitable for large-area sowing work and are not suitable for greenhouse planting, and meanwhile, the intelligent performance of the seeders is insufficient.

Disclosure of Invention

The invention aims to provide ditching seeders and seeding methods thereof.

The invention discloses an ditching and seeding machine, which comprises a soil leveling wheel, a frame, a ditching mechanism, a hub motor, a second soil leveling wheel, a support handrail, a soil scraping plate, a seeding mechanism and a stepping motor, wherein the soil leveling wheel and the second soil leveling wheel are respectively supported at two ends of the bottom of the frame, the two hub motors which are coaxially arranged are respectively arranged at two sides of the tail end of the frame, and the support handrail is fixed on the frame.

The seeding mechanism comprises a roller, a support plate and a seeding assembly, wherein the support plate is fixed on a rack, the roller is supported on the rack, the roller is driven by a stepping motor, the seeding assembly comprises a seeding roller, scrapers, a seeding box and a fluid director, the seeding box is detachably fixed with the support plate, a seed storage cavity is arranged inside the seeding box, an opening at the bottom of the seeding box is fixed and communicated with an inlet at the top of the fluid director, the horizontally arranged roller penetrates through the seeding box, the seeding roller is in key connection with the roller, the end surfaces at two ends of the seeding roller are respectively contacted with two opposite side walls of the seed storage cavity in the seeding box, the side surface of the seeding roller and the other two opposite side walls of the seed storage cavity in the seeding box are arranged at intervals, z seeding grooves uniformly distributed along the circumferential direction of the seeding roller are arranged on the side surface of the seeding roller, z is less than or equal to 8, the two scrapers are respectively arranged in the seeding box, the side edges of of the two scrapers are respectively abutted against the side surfaces of the seeding roller, the side surfaces of the two scrapers are respectively arranged on the side surfaces of the seeding roller, the other side surface of the two scrapers, and the second scraper assemblies are sequentially arranged between the rack and the soil scraping.

The ditching mechanism comprises a driving synchronous belt pulley, a synchronous belt, a driven synchronous belt pulley, an electromagnetic clutch, a crank, a T-shaped sliding rod, sliding rails, a transverse rail, a ditching plow, a sliding block and a transverse shaft, wherein the two sliding rails are respectively fixed on two sides of a rack, the transverse shaft is supported on the rack, the driving synchronous belt pulley is fixed on a rolling shaft, the driven synchronous belt pulley is connected with the transverse shaft through the electromagnetic clutch, the end of the crank is fixed with the transverse shaft, the other end is fixed with a sliding column, the T-shaped sliding rod comprises a transverse plate and a vertical rod, the top end of the vertical rod and the sliding rails are made of magnetic materials, a sliding groove is formed in the transverse plate, the groove width of the sliding groove is equal to the diameter of the sliding column, the sliding column extends into the sliding groove, the vertical rod and sliding rails form a sliding pair, the sliding block and the other sliding rails form a sliding pair, the two ends of the transverse rail are respectively fixed with the sliding block and the vertical rod in the T-shaped sliding rod, the top ends of m ditching plows and the transverse.

step, ditching and seeding machines of the invention further comprise a control module, wherein the control module comprises a power switch, a 0 th relay, a second relay, a storage battery, a controller, a wheel speed sensor, a pressure sensor and a displacement sensor, the controller and the storage battery are all fixed on the frame, the controller, the wheel speed sensor, the pressure sensor, a power supply end of the displacement sensor, a 1 terminal of the electromagnet and a 3 contact of a 2 th relay are all connected with terminals of the power switch, the other terminal of the power switch is connected with an anode of the storage battery, the other contact of a th relay is connected with a power supply end of the electromagnetic clutch, the other terminals of the electromagnet are connected with contacts of the second relay, the controller, the wheel speed sensor, the pressure sensor, the displacement sensor, a ground terminal of the electromagnetic clutch and the other contact of the second relay are all connected with a cathode of the storage battery, a th relay, a coil of the second relay, motor control input interface of the two motor controllers, a rotating speed sensor, an output signal of the two output interfaces of the two pressure sensors, an output interface of the wheel speed sensor and an output signal output interface of the two stepping motor control interfaces of the hub control interface.

, the gear rings of two wheel speed sensors are fixed on two hub motors, the magnetic induction sensing heads of the two wheel speed sensors are fixed on the frame, the pressure sensor is fixed on the slide block and between the slide block and the corresponding slide rail, the displacement sensor is fixed on the frame, and the input slide bar of the displacement sensor is fixed with the T-shaped slide bar.

, the control module also includes an indication panel, a control panel and a signal receiver, the control signal output interface of the control panel is connected with the control signal input interface of the signal receiver, the power supply end of the indication panel, the control panel and the signal receiver is connected with the terminal of the power switch far away from the accumulator, the ground wire end is connected with the negative pole of the accumulator, the indication information input interface of the indication panel and the output interface of the signal receiver are connected with the controller, the control panel and the indication panel are both arranged on the handrail.

the fixed shafts of the two hub motors are fixed to the two sides of the tail end of the frame respectively and are arranged coaxially with the second earth wheel, and the outer edges of the hub motors are sleeved with tires.

the step motor is fixed on the frame, the output shaft of the step motor is fixed with end of the roller.

, the flow guider is in a funnel shape with a big top and a small bottom.

, a rotary handle is fixed to the external end of said screw, and a hook is arranged at the bottom of said digger plough and faces to soil levelling wheel.

The control process of the ditching and seeding machines is as follows:

and , moving the rack to a field to be sowed, sliding and fixing the sowing assemblies along the axial direction of the rolling shaft according to the preset sowing row spacing, so that the distance between the outlets of the fluid directors in two adjacent sowing assemblies is equal to the sowing row spacing, loosening the m set screws, and sliding the positions of the m ditching plows to align the outlets of the fluid directors of the m sowing assemblies respectively.

And step two, the rotating speed n of the stepping motor is a/(m · v), wherein a is a preset sowing interval a, and v is a preset advancing speed. The electromagnetic clutch is engaged to make the furrow plough slide up and down. After the ditching plow is inserted into the bottom surface by the depth h, the electromagnetic clutch is disconnected, and the electromagnet is electrified, wherein h is the preset sowing depth.

And step three, the two hub motors synchronously rotate at the rotating speed with the rim linear velocity v, the rack moves forwards, the m furrow plows all mark the gullies, the m sowing assemblies throw seeds for times at intervals of a distance, and the soil scraping plates scrape the gullies marked by the furrow plows flat, so that the seeds in the gullies are buried in the soil.

And step , in the third step, if the pressure sensor detects that the pressure is greater than the th pressure preset value and less than the second pressure preset value, the electromagnetic clutch is engaged, the electromagnet is powered off, the ditching plow slides up and down, the ditching depth is adjusted, the ditching plow avoids a hard object, ditching is continued, and when the pressure sensor detects that the pressure is less than the th pressure preset value and the ditching plow is inserted into the depth h below the ground, the electromagnetic clutch is disconnected, and the electromagnet is powered on.

And if the pressure sensor detects that the pressure is greater than the second pressure preset value, stopping the stepping motor and the two hub motors. Waiting for manual removal of the barrier.

The invention has the beneficial effects that:

1. the invention can control the sowing row spacing and the sowing spacing of the seeds according to requirements.

2. The ditching depth can be adjusted in real time, so that the ditching machine has stronger adaptability to fields with different hardness.

3. The invention drives the bicycle to advance through the hub motor, thereby greatly liberating the manpower and reducing the working strength.

4. The power source of the invention adopts a storage battery power supply, and is more environment-friendly compared with the traditional fuel seeder.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a sowing mechanism in the present invention;

FIG. 3 is a schematic view showing the structure of a sowing roller in the present invention;

FIG. 4 is a schematic structural view of the ditching mechanism of the present invention;

FIG. 5 is a system block diagram of a control module of the present invention.

Detailed Description

The invention is further described with reference to the following figures.

As shown in figure 1, ditching and seeding machines comprise a soil leveling wheel 1, a frame 2, a ditching mechanism 3, a hub motor 4, a second soil leveling wheel 5, support handrails 6, a soil scraping plate 10, a seeding mechanism 11, a stepping motor 12 and a control module, wherein the soil leveling wheel 1 and the second soil leveling wheel 5 are respectively supported at two ends of the bottom of the frame 2, fixing shafts of the two coaxially arranged hub motors 4 are respectively fixed with two sides of the tail end of the frame and are respectively coaxially arranged with the second soil leveling wheel 5, tires are sleeved on the outer edges of the hub motors 4, the support handrails 6 are fixed on the frame 2 through bolts, and the support handrails 6 are positioned at the tail end of the frame.

As shown in fig. 1, 2 and 3, the sowing mechanism 11 comprises a roller 11-4, a support plate 11-5 and a sowing assembly, wherein the horizontally arranged support plate 11-5 is fixed at the middle part of the frame, the horizontally arranged roller 11-4 is supported at the middle part of the frame, a stepping motor 12 is fixed on the frame, and an output shaft of the stepping motor is fixed with ends of the roller 11-4.

As shown in figures 1 and 4, the sowing assembly comprises a sowing roller 11-1, a scraper 11-2, a sowing box 11-3 and a deflector 11-6, the sowing box 11-3 and a support plate 11-5 are detachably fixed through a G-shaped fixing clamp, a seed storage cavity is arranged inside the sowing box 11-3, the top and the bottom of the sowing box are both open, the bottom opening of the sowing box 11-3 is fixed and communicated with the top inlet of the deflector 11-6, the deflector 11-6 is in a funnel shape with a large upper part and a small lower part, a horizontally arranged roller 11-4 penetrates through the sowing box 11-3, the sowing roller 11-1 is connected with the roller 11-4 through a flat key, the end surfaces of both ends of the sowing roller 11-1 are respectively contacted with two opposite side walls of the seed storage cavity in the sowing box 11-3, the side surface of the sowing roller 11-1 and two opposite side walls of the seed storage cavity in the sowing box 11-3 are both spaced apart, four sowing grooves circumferentially distributed along the side surfaces of the sowing roller 11-1 are arranged on the side surface of the sowing roller 11-1, the sowing roller 11-1 are both fixed in the sowing box 11-3, and only the two side walls of the sowing box 11-1-11-3 of the sowing box are connected with the sowing roller 11-2 and the sowing box from the side surface of the sowing box along the sowing groove, when the sowing roller 11-11, the sowing box, the sowing roller 11-3, the sowing box, the two side surfaces of the sowing roller 11-2, the sowing box, the two sowing roller 11-3, the.

The seeding assembly has four seeding assemblies. The four sowing assemblies are sequentially arranged along the axial direction of the rolling shaft 11-4. As the sowing roller 11-1 and the rolling shaft 11-4 can slide relatively and the sowing box 11-3 and the supporting plate 11-5 are fixed by the G-shaped fixing clamp, the fixing position of the sowing box 11-3 on the supporting plate 11-5 can be adjusted along the axial direction of the rolling shaft 11-4 according to sowing requirements, and further the relative positions of the four sowing components are adjusted to change the sowing distance.

The two ends of the scraper 10 are fixed with the two sides of the bottom of the frame respectively and are positioned between the second soil leveling wheel 5 and the sowing mechanism 11, and the bottom edge of the scraper 10 is aligned with the bottom edge of the th soil leveling wheel.

The ditching mechanism 3 arranged between the soil leveling wheel 1 and the seeding mechanism 11 of the comprises a driving synchronous belt wheel 3-1, a synchronous belt 3-2, a driven synchronous belt wheel 3-3, an electromagnetic clutch 3-4, a crank 3-5, a T-shaped sliding rod 3-6, a sliding rail 3-7, a cross rail 3-8, a ditching plow 3-9, a sliding block 3-10 and a cross shaft 3-11, two vertically arranged sliding rails 3-7 are respectively fixed on two sides of the middle part of the rack, a horizontally arranged cross shaft 3-11 is supported on the rack, the driving synchronous belt wheel 3-1 is fixed on a rolling shaft 11-4, the driven synchronous belt wheel 3-3 and the cross shaft 3-11 are connected through the electromagnetic clutch 3-4, the end of the crank 3-5 is fixed with the cross shaft 3-11, a sliding column is fixed at the other end, the T-shaped sliding rod 3-6 is composed of a transverse plate and a vertical rod, the vertical rod 3-7 and the vertical rod are composed of magnetic materials (i.e., materials which can be magnetized and adsorbed by magnets and the transverse plates, the vertical rods 3-7 and the vertical rods 3-7 can be aligned with the sliding resistance when the transverse grooves 3-7 of the transverse grooves 3-7, the transverse grooves 3-7 are aligned, the transverse grooves 3-7 are aligned, the transverse grooves 3-7 can be aligned with the transverse grooves 3-7, the transverse grooves 3-7 are aligned, the transverse grooves 3-7 are fixed by the transverse grooves 3-7, the transverse grooves 3-7 are aligned, the transverse grooves 3-7 are fixed with the transverse grooves 3-7.

As shown in fig. 1 and 5, the control module comprises a power switch S1, a relay K1, a second relay K2, a control panel 7, a storage battery 8, a controller 9, an indication panel 14, a wheel speed sensor 15, a pressure sensor 16, a displacement sensor 17 and a signal receiver 18, wherein the controller 9 and the storage battery 8 are both fixed on the frame 2, the control panel 7, the controller 9, the indication panel 14, the wheel speed sensor 15, the pressure sensor 16, the displacement sensor 17, a power supply end of the signal receiver 18, terminals of the electromagnet 19 and contacts of the relay K1 are all connected with terminals of the power switch S1, another terminals of the power switch S1 are connected with a positive pole of the storage battery, another contacts of the K1 are connected with power supply ends of the electromagnetic clutches 3-4, another terminals of the electromagnet 19 are connected with contacts of the second relay K5, the controller contacts 397, the control interface 9, the indication panel 14, the pressure sensor 17, the displacement sensor 17 and the signal receiver 18, the output interface of the stepping relay K16 are connected with the input interface of the motor control panel input and the stepping motor control panel input interface of the stepping motor control panel 14, the wheel speed sensor input interface of the stepping motor input interface of the control panel 14, the control panel input interface of the stepping motor input and the stepping motor control panel 14, the stepping motor control panel input interface of the stepping motor control panel input signal receiver 18, the stepping motor input interface of the stepping motor control panel input interface of the stepping motor input signal input interface of the stepping motor control panel 16, the stepping motor control panel input interface of the stepping motor.

The ring gears of the two wheel speed sensors 15 are fixed to the two in-wheel motors 4, respectively. The magnetic induction sensing heads of the two wheel speed sensors 15 are respectively fixed on the frame 2. The pressure sensor 16 is fixed on the sliding blocks 3-10 and is positioned between the sliding blocks 3-10 and the corresponding sliding rails 3-7. The displacement sensor 17 is fixed on the frame. An input slide bar of the displacement sensor 17 is fixed with the T-shaped slide bars 3-6. The control panel 7 and the indication panel 14 are both provided on the armrest 6. The control panel 7 is used for inputting the rotating speed information of the hub motor 4 and the sowing interval. The steering of the frame can be realized by arranging two hub motors 4 to rotate at different speeds. The indication panel 14 is used for displaying the remaining capacity of the battery, the vehicle speed and the height information of the furrow plough.

The control process of the ditching and seeding machines is as follows:

and , moving the rack to the field to be sowed, sliding and fixing the sowing assemblies along the axial direction of the rolling shaft 11-4 according to the preset sowing row spacing (namely the spacing between two adjacent rows of seeds), so that the spacing between the outlets of the fluid directors in two adjacent sowing assemblies is equal to the sowing row spacing, loosening the four set screws, and sliding the positions of the four ditching plows so that the outlets of the fluid directors of the four ditching plows and the four sowing assemblies are respectively aligned.

And step two, turning on a power switch S1, and inputting the sowing depth h, the advancing speed v and the sowing distance a of two adjacent seeds on a control panel. The stepping motor rotates, and the rotating speed n of the stepping motor is equal to a/(4 · v). The electromagnetic clutch is engaged to make the furrow plough slide up and down. After the ditching plow is inserted into the bottom surface h for a depth, the electromagnetic clutch is disconnected. The electromagnet 19 is electrified, and the ditching plow can not slide up and down in the ditching process.

And step three, synchronously rotating the two hub motors at the rotating speed with the rim linear velocity v, advancing the rack forwards, and drawing gullies by the four furrow plows, throwing times of seeds by the four sowing assemblies every a distance, and striking the gullies by the soil scraping plate to be flat so that the seeds in the gullies are buried in the soil.

When the pressure sensor 16 detects that the pressure is less than the pressure preset value and the ditching plow is inserted into the depth h below the ground, the electromagnetic clutch is separated, and the electromagnet 19 is powered on (the hard object is avoided at this time and seeding is continued at the depth h).

If the pressure sensor 16 detects that the pressure is greater than the second preset pressure value, the furrow plough is considered to be incapable of working normally. The stepping motor and the two hub motors stop rotating. Waiting for manual removal of the barrier.

Claims

The ditching and seeding machine comprises a soil leveling wheel, a frame, a ditching mechanism, a hub motor, a second soil leveling wheel, a support handrail, a soil scraping plate, a seeding mechanism and a stepping motor, and is characterized in that the soil leveling wheel and the second soil leveling wheel are respectively supported at two ends of the bottom of the frame;

the seeding mechanism comprises a roller, a support plate and a seeding assembly, wherein the support plate is fixed on a rack, the roller is supported on the rack and driven by a stepping motor, the seeding assembly comprises a seeding roller, scrapers, a seeding box and a fluid director, the seeding box is detachably fixed with the support plate, a seed storage cavity is arranged inside the seeding box, an opening at the bottom of the seeding box is fixed and communicated with an inlet at the top of the fluid director, the horizontally arranged roller penetrates through the seeding box, the seeding roller is in key connection with the roller, the end surfaces at two ends of the seeding roller are respectively contacted with two opposite side walls of the seed storage cavity in the seeding box, the side surface of the seeding roller and the other two opposite side walls of the seed storage cavity in the seeding box are arranged at intervals, z seeding grooves uniformly distributed along the circumferential direction of the seeding roller are arranged on the side surface of the seeding roller, the two scrapers are fixed in the seeding box and are respectively arranged at two sides of the seeding roller, the side edges of the two scrapers are respectively abutted against the side surfaces of the seeding roller, the other side edges and the two ends of the scrapers are respectively connected with the side walls of the seed storage cavity in the seeding box, the m seeding assemblies are sequentially arranged on the rack, and the second soil scraping mechanism, and;

the ditching mechanism comprises a driving synchronous belt wheel, a synchronous belt, a driven synchronous belt wheel, an electromagnetic clutch, a crank, a T-shaped sliding rod, sliding rails, a transverse rail, a ditching plow, a sliding block and a transverse shaft, wherein the two sliding rails are respectively fixed on two sides of a rack, the transverse shaft is supported on the rack, the driving synchronous belt wheel is fixed on a rolling shaft, the driven synchronous belt wheel is connected with the transverse shaft through the electromagnetic clutch, the end of the crank is fixed with the transverse shaft, the other end of the crank is fixed with a sliding column, the T-shaped sliding rod is composed of a transverse rod and a vertical rod, the vertical rod and the sliding rails are made of magnetic materials, the top end of the vertical rod is fixed with the transverse rod, the transverse rod is provided with a sliding groove, the groove width of the sliding groove is equal to the diameter of the sliding column, the sliding column extends into the sliding groove, the vertical rod and the sliding pair is composed of sliding rails, the sliding block and the other sliding rails are composed of sliding pairs, the two ends of the transverse rail are respectively fixed with the sliding block and the vertical rod in.
2. The ditching and seeding machine according to claim 1, further comprising a control module, wherein the control module comprises a power switch, a th relay, a second relay, a storage battery, a controller, a wheel speed sensor, a pressure sensor and a displacement sensor, the controller and the storage battery are fixed on the frame, power supply terminals of the controller, the wheel speed sensor, the pressure sensor, the displacement sensor, 0 terminals of the electromagnet and 2 contacts of the 1 th relay are all connected with terminals of the power switch, other terminals of the power switch are connected with an anode of the storage battery, other contacts of a th relay are connected with a power supply terminal of the electromagnetic clutch, other terminals of the electromagnet are connected with contacts of the second relay, the controller, the wheel speed sensor, the pressure sensor, the displacement sensor, a ground terminal of the electromagnetic relay and other contacts of the second relay are all connected with a cathode of the storage battery, a th relay, a coil of the second relay, a motor control input interface of the two motor controllers, a signal output interface of the two motor control interfaces of the pressure sensor and an output signal output interface of the two stepping motor control interfaces are all connected with an output interface of the motor control interface.
3. The seed and trench furrow drill as claimed in claim 2, wherein the gear rings of two wheel speed sensors are fixed on two hub motors respectively, the magnetic induction sensing heads of the two wheel speed sensors are fixed on the frame respectively, the pressure sensors are fixed on the slide blocks and located between the slide blocks and the corresponding slide rails, the displacement sensors are fixed on the frame, and the input slide bars of the displacement sensors are fixed with the T-shaped slide bars.
4. The seed and trench drill of claim 2, wherein the control module further comprises an indication panel, a control panel and a signal receiver, the control signal output interface of the control panel is connected to the control signal input interface of the signal receiver, the power supply terminals of the indication panel, the control panel and the signal receiver are connected to the terminal of the power switch away from the battery, the ground terminal is connected to the negative electrode of the battery, the indication information input interface of the indication panel and the output interface of the signal receiver are connected to the controller, and the control panel and the indication panel are both disposed on the armrest.
5. The seed and trench planter as claimed in claim 1, wherein the fixed shafts of the two hub motors are fixed to the two sides of the tail end of the frame respectively and are coaxially arranged with the second soil leveling wheel, and the outer side edges of the hub motors are sleeved with tires.
6. The seed and trench planter as claimed in claim 1, wherein the stepping motor is fixed on the frame, and the output shaft of the stepping motor is fixed with end of the roller.
7. The seed and trench drill of claim 1, wherein the deflector is funnel-shaped with a large top and a small bottom.
8. The seed and trench drill of claim 1, wherein a rotary handle is fixed to the outer end of the set screw, and a hook facing the soil leveling wheel is arranged at the bottom end of the furrow plow.
9. The seeding method of kinds of ditching seeding machines according to the step , moving the frame to the field to be seeded, sliding and fixing the seeding assemblies along the axial direction of the roller according to the preset seeding row spacing, so that the distance between the outlets of the deflectors in two adjacent seeding assemblies is equal to the seeding row spacing, loosening m set screws, sliding the positions of m ditching plows, so that the outlets of the m ditching plows are respectively aligned with the outlets of the deflectors of the m seeding assemblies;

step two, the rotating speed n of the stepping motor is a/(m · v), wherein a is a preset sowing interval a, and v is a preset advancing speed; the electromagnetic clutch is engaged, so that the ditching plow slides up and down; after the ditching plow is inserted into the bottom surface by a depth h, the electromagnetic clutch is disconnected, and the electromagnet is electrified, wherein h is the preset sowing depth;

and step three, the two hub motors synchronously rotate at the rotating speed with the rim linear velocity v, the rack moves forwards, the m furrow plows all mark the gullies, the m sowing assemblies throw seeds for times at intervals of a distance, and the soil scraping plate scrapes the gullies marked by the furrow plows flat, so that the seeds in the gullies are buried in the soil.
10. The seeding method of ditching and seeding machines as claimed in claim 9, wherein in the third step, if the pressure sensor detects that the pressure is greater than the th preset pressure value and less than the second preset pressure value, the electromagnetic clutch is engaged, the electromagnet is de-energized, the ditching plow slides up and down, the ditching depth is adjusted, the ditching plow avoids the hard object, and ditching is continued;

if the pressure sensor detects that the pressure is greater than a second pressure preset value, the stepping motor and the two hub motors stop rotating; waiting for manual removal of the barrier.