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A method for measuring the bulk density of topsoil based on the sound wave penetration characteristics belongs to the field of intelligent agricultural sensing technology. In the sound wave penetration characteristic acquisition system of this invention, a digital power amplifier board is electrically connected to a subwoofer, a DC power supply, and a computer terminal; a data acquisition card is electrically connected to a microphone and the computer terminal; and a robotic arm is electrically connected to the DC power supply and the computer terminal. The robotic arm, through five servo motors in coordinated control, achieves automatic grasping, precise positioning, and vertical insertion of the ring cutter tube, ensuring consistent sample placement. The computer terminal is equipped with a soil bulk density measurement model based on an adaptive mutant particle swarm optimization variational mode decomposition model and an adaptive mutant particle swarm optimization BP neural network. This system can automatically acquire real-time soil penetration sound waves and realize soil bulk density inversion based on sound wave penetration characteristics. The soil bulk density measurement model of this invention has high timeliness and high accuracy.