The hole forming device is an important element of the buckwheat hill-drop planter, and its design level directly affects the seeding quality of the hill-drop planter. A hole forming device with a duckbill structure is widely used in hill-drop planters for wheat, cotton, peanuts, etc. According to the requirements of buckwheat seeding operations, this study designs the components of the duckbill hole forming device. It is determined that the duckbill upper jaw length is 65 mm, the duckbills number is 10, the pressure plate on the spring side length is 90 mm, the duckbill opening size is 8.79 mm, and the duckbill effective opening time is 0.1 s. Through co-simulation analysis of discrete element software EDEM (DEM-Solutions, Edinburgh, United Kingdom) and multi-body dynamics software RecurDyn (FunctionBay, Inc., Seongnam-si, South Korea), it is measured that when the pressure plate on the spring side is directly below the rotation axis of the dibber wheel, the spring compression is 33.3 mm, the pressure on the pressure plate is 95–102.6 N, and the contact time of a single duckbill with the soil is 0.2 s at a speed of 40 r/min. Based on the results of the design and simulation analysis, the large end diameter, small end diameter, original length and wire diameter of the duckbill spring are 36 mm, 26 mm, 60 mm, and 1.8 mm, respectively. An experimental bench for the seeding wheel of a buckwheat hill-drop planter was built, and three wire diameter duckbill springs of 1.6 mm, 1.8 mm and 2.0 mm were tested to verify the simulation and calculation results. The experimental results show that the optimal wire diameter of the duckbill spring is 1.8 mm. Finally, a single factor experiment of the dibber wheel rotation speed was carried out. The experimental results show that when the rotation speed of the dibber wheel is 40–65 r/min, the seeding qualification rate, seeding void hole rate and seeding damage rate of the buckwheat hill-drop planter are ≥85.3%, 0, and <0.3%, respectively. This study provides a basis and reference for the hole forming device design of a buckwheat hill-drop planter.

In response to the complex working conditions and poor driving stability of high-clearance self-propelled sprayers, a nonlinear model of the chassis power system was established based on the independently controllable torque of each wheel of the developed electric sprayer. A layered-architecture chassis drive control strategy was formulated, and a stability control framework comprising an instability judgment module, an upper controller, and a lower controller was constructed based on the analysis of the impact of the centroid slip angle, the yaw rate, and the wheel slip rate on driving stability. An ideal reference model was established based on the seven-degree-of-freedom model of the sprayer, and the current state of the sprayer body was determined using the instability judgment module. A drive anti-slip controller and a yaw moment controller based on fuzzy PID theory and sliding mode control theory were designed. Additionally, an optimal torque distribution algorithm was developed based on tire characteristics to rationally allocate drive torque to each wheel, ensuring the stability of the sprayer during operation. Simulation tests were conducted using MATLAB/Simulink to evaluate the sprayer under four different driving conditions during transport and field operations. The test results showed that the “SMC + optimal distribution” control method in the chassis stability control strategy reduced the maximum deviations of the yaw rate and centroid slip angle by an average of 89.5% and 13.6%, respectively, compared to no control. The wheel slip rate during straight driving was well maintained at around 15%, enhancing the driving stability of the sprayer.