Seeding depth real-time measurement and control adjusting device and measurement and control system of wheat seeder

Abstract

The invention relates to the technical field of wheat seeding measurement and control, and discloses a seeding depth real-time measurement and control adjusting device and a measurement and control system of a wheat seeding machine, and the device comprises a furrow opener assembly which comprises a replaceable disc-type furrow opener or a shoe-type furrow opener, and a blanking assembly which is installed through a bolt and a rack and comprises a storage tank and a blanking pipe; the press wheel and the depth limiting wheel are used for dynamically adjusting the pressure and the height through a first hydraulic cylinder and a second hydraulic cylinder connected with the press wheel; the sensor group comprises a height sensor, a pressure sensor and an ultrasonic ranging sensor; and the controller is fixed on the upper surface of the rack. By integrating height, pressure, ultrasonic wave and laser radar multi-dimensional sensors and combining with the corrected stroke adjusting quantity of a Kalman filtering algorithm, the pressure and height of a press wheel and a depth limiting wheel are adjusted, and the dynamic sowing depth is adjusted, so that the robustness and precision of depth control in a complex farmland environment are improved, and the wheat sowing depth consistency is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of wheat seeding measurement and control, and specifically to a real-time measurement, control and adjustment device and a measurement and control system for the seeding depth of a wheat seeder. Background Art

[0002] As a core agricultural equipment for improving seeding efficiency and quality, the uniformity of the seeding depth of a wheat seeder directly determines the crop emergence rate, root system development and stress resistance, and is a key link to ensure stable and high yields of grain. Aiming at the pain point that traditional mechanical depth-limiting devices are difficult to dynamically adapt to changes in soil conditions, traditional technologies still generally rely on fixed depth-limiting wheels or manual experience adjustment to adjust the seeding depth of wheat seeds.

[0003] However, in current technologies, there is a lack of real-time feedback and self-adaptive ability in adjusting the depth of fixed depth-limiting wheels and manually experienced depth-limiting wheels, resulting in fluctuations in the seeding depth of wheat seeds and affecting the consistency of wheat seeding. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a real-time measurement, control and adjustment device and a measurement and control system for the seeding depth of a wheat seeder, which solve the problem that the seeding depth of wheat seeds fluctuates greatly and affects the consistency of wheat seeding.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A real-time measurement, control and adjustment device for the seeding depth of a wheat seeder, comprising:

[0006] A furrow opener assembly, including a replaceable disc furrow opener or a boot furrow opener, which is installed on the frame by bolts

[0007] A feeding assembly, including a storage tank and a feeding pipe;

[0008] A press wheel and a depth-limiting wheel, whose pressure height is dynamically adjusted by a first hydraulic cylinder and a second hydraulic cylinder connected to the press wheel;

[0009] A sensor group, including a height sensor, a pressure sensor and an ultrasonic ranging sensor;

[0010] A controller, fixed on the upper surface of the frame, and receiving the data of the sensor group and generating control instructions;

[0011] The controller generates adjustment instructions through fusion processing of the data collected by the sensor group, and drives the electro-hydraulic proportional adjustment of the first hydraulic cylinder and the second hydraulic cylinder to adjust the height of the depth-limiting wheel and the pressure of the press wheel.

[0012] Preferably, the height sensor is arranged outside the depth-limiting wheel for collecting the height displacement data of the depth-limiting wheel.

[0013] Preferably, the pressure sensor is installed inside the bearing seats at both ends of the press wheel for monitoring the reaction force of the soil.

[0014] Preferably, the ultrasonic ranging sensor is arranged behind the furrow opener assembly and on the lower surface of the mounting frame, and the ultrasonic ranging sensor is used for measuring the distance from the bottom of the seed furrow to the sensor.

[0015] Preferably, the sensor group further includes a lidar, and the lidar is installed on the lower surface of the frame for generating 3D point cloud data of the seed furrow profile.

[0016] Preferably, a real-time measurement and control system for wheat seeding depth includes:

[0017] Data acquisition module: used to synchronously acquire the real-time height of the depth-limiting wheel, the reaction force of the soil, the depth of the seed furrow, and the terrain profile data through the height sensor, pressure sensor, ultrasonic ranging sensor, and lidar;

[0018] Data fusion processing module: based on the Kalman filtering algorithm, fuse multi-source sensor data, calculate the seeding depth deviation value, and generate a depth correction instruction;

[0019] Position navigation module: through Beidou or GPS positioning, and through mapping the depth data, generate a seeding depth heat map;

[0020] Real-time adjustment and control module: dynamically adjust the strokes of the first hydraulic cylinder and the second hydraulic cylinder through the depth correction instruction to adjust the height of the depth-limiting wheel and the pressure of the press wheel;

[0021] Human-computer interaction display module: generate a 3D image of the depth of the seeding area based on the lidar through a remote terminal.

[0022] Preferably, the data fusion processing module includes:

[0023] Sensor data preprocessing unit: align the input signals of the sensor group and the lidar through timestamp synchronization and noise filtering circuit;

[0024] Kalman filtering fusion calculation unit: dynamically weight and fuse multi-sensor data based on the state space model;

[0025] Depth correction instruction generation unit: used to map the depth deviation value to the stroke adjustment amounts of the first hydraulic cylinder and the second hydraulic cylinder by adopting PD control logic.

[0026] Preferably, the position navigation module includes:

[0027] Positioning signal receiving and parsing unit: integrate Beidou and GPS dual-mode receivers, and obtain satellite signals of the seeding position through a multi-band antenna;

[0028] The geographic coordinate and depth data binding unit uses timestamp synchronization to associate the positioning coordinates with the sowing depth acquisition data, generates grid data through a spatial interpolation algorithm, and maps the grid data into a color-gradient heat map.

[0029] Preferably, the real-time adjustment control module is based on an electro-hydraulic proportional valve and a PID closed-loop control logic;

[0030] Among them, according to the target stroke value of the sowing depth, the vertical height of the depth-limiting wheel is adjusted by the first hydraulic cylinder;

[0031] According to the pressure value of the soil reaction force, the grounding pressure of the pressing wheel is adjusted by the second hydraulic cylinder.

[0032] Preferably, the human-computer interaction display module further includes a depth anomaly marking mechanism, which automatically marks the early warning area where the depth exceeds the limit on the map when the depth exceeds the limit is continuously detected.

[0033] The present invention provides a real-time measurement, control and adjustment device and a measurement and control system for the sowing depth of a wheat seeder. It has the following beneficial effects:

[0034] 1. By integrating multi-dimensional sensors such as height, pressure, ultrasonic and lidar, and combining the Kalman filter algorithm to correct the stroke adjustment amount, the present invention adjusts the pressure and height of the pressing wheel and the depth-limiting wheel, realizes the dynamic adjustment of the sowing depth, thereby improving the robustness and accuracy of depth control in complex farmland environments, and ensuring the consistency of wheat sowing depth.

[0035] 2. By integrating high-precision positioning of Beidou and GPS and lidar three-dimensional point cloud data, the present invention binds the sowing depth with geographic coordinates through spatio-temporal synchronization technology, generates a rasterized heat map and dynamically associates hydraulic adjustment parameters, realizes the control of row spacing consistency and rapid positioning of abnormal areas, and supports the digital traceability of the sowing quality of the whole field and the optimization of reseeding decision-making.

[0036] 3. By real-time rendering the three-dimensional shape of the seed furrow with lidar point cloud data, the present invention realizes the three-dimensional monitoring of the depth distribution through the touch screen and the cloud platform, and synchronously triggers the marking of the depth limit early warning area, improving the efficiency of human-machine collaboration and the transparency of operation management. Description of the Drawings

[0037] Figure 1 It is a schematic structural diagram of the real-time measurement, control and adjustment device for the sowing depth of the wheat seeder of the present invention;

[0038] Figure 2 It is a partial structural schematic diagram of the first hydraulic cylinder of the real-time measurement, control and adjustment device for the sowing depth of the wheat seeder of the present invention;

[0039] Figure 3Partial structural schematic diagram of the furrow opener assembly of the sowing depth real-time measurement and control adjustment device of the wheat seeder of the present invention;

[0040] Figure 4 System architecture diagram of a real-time measurement and control system for wheat sowing depth of the present invention.

[0041] Among them, 1. Furrow opener assembly; 2. Material storage tank; 3. Feeding pipe; 4. Pressing wheel; 5. Depth-limiting wheel; 6. First hydraulic cylinder; 7. Second hydraulic cylinder; 8. Height sensor; 9. Pressure sensor; 10. Ultrasonic ranging sensor; 11. Frame; 12. Lidar; 13. Controller. Specific embodiments

[0042] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to the attached Figures 1-3 , The present invention provides a sowing depth real-time measurement and control adjustment device for a wheat seeder, including:

[0044] The furrow opener assembly 1 includes a replaceable disc-type furrow opener or a boot-type furrow opener, and is installed on the frame 11 through bolts;

[0045] The feeding assembly includes a material storage tank 2 and a feeding pipe 3;

[0046] The pressing wheel 4 and the depth-limiting wheel 5 are dynamically adjusted in pressure and height through the first hydraulic cylinder 6 and the second hydraulic cylinder 7 connected to the pressing wheel 4;

[0047] The sensor group includes a height sensor 8, a pressure sensor 9, and an ultrasonic ranging sensor 10;

[0048] The controller 13 is fixed on the upper surface of the frame 11, and receives the data of the sensor group and generates control instructions;

[0049] After the controller 13 processes the data collected by the sensor group through fusion, it generates adjustment instructions to drive the electro-hydraulic proportional valves of the first hydraulic cylinder 6 and the second hydraulic cylinder 7 to adjust the height of the depth-limiting wheel 5 and the pressure of the pressing wheel 4.

[0050] Specifically, for the furrow opener assembly 1, the disk furrow opener adopts a double-disk structure and breaks through hard soil by rolling cutting. Its arc-shaped blade can reduce the resistance to soil entry. At the same time, the disk inclination angle is used to control the digging depth of the seed furrow, ensuring the stability of the sowing depth under hard soil conditions. The boot-type furrow opener is designed by combining a wedge-shaped shovel tip and a depth-limiting plate, which is suitable for soft or stubble-covered soil. The depth-limiting plate compacts the bottom of the seed furrow to prevent over-depth, and the streamlined structure of the shovel tip reduces soil disturbance and the risk of seed-fertilizer mixed sowing. The two are installed in the field through bolted interfaces, enabling the seeder to flexibly adapt to changes in soil hardness and humidity, comprehensively improving the uniformity of seedling emergence and the lodging resistance ability.

[0051] In the feeding component, during the sowing process, after the furrow opener assembly 1 opens the slot, the storage tank 2 sows the stored wheat seeds through the feeding pipe 3. The press wheel 4 and the depth-limiting wheel 5 achieve dynamic adjustment of height and pressure through hydraulic regulation. The depth-limiting wheel 5 sets the reference depth, and the press wheel 4 compacts the seed furrow and ensures uniform contact between the seeds and the soil. In the sensor group, the height sensor 8 monitors the height of the depth-limiting wheel 5 to indirectly calculate the depth, the pressure sensor 9 feeds back the ground pressure of the press wheel 4 to evaluate the soil compactness, and the ultrasonic ranging sensor 10 directly measures the distance to the bottom of the seed furrow. The data of the three complement each other to form multi-dimensional depth perception. After the controller 13 receives the sensor data, it generates a height correction instruction for the depth-limiting wheel 5 and a pressure adjustment instruction for the press wheel 4 through multi-source information fusion. The first hydraulic cylinder 6 and the second hydraulic cylinder 7 respond to the instructions respectively, and achieve millimeter-level height adjustment of the depth-limiting wheel 5 and pressure adaptive matching of the press wheel 4 through electro-hydraulic proportional control. The entire device significantly improves the uniformity of sowing depth through a "perception - decision - execution" closed-loop feedback mechanism, ensuring the emergence rate and crop stress resistance.

[0052] The height sensor 8 is arranged outside the depth-limiting wheel 5 for collecting the height displacement data of the depth-limiting wheel 5.

[0053] Specifically, the height sensor 8 directly obtains the actual height data during the furrow opening operation by monitoring the displacement change of the depth-limiting wheel 5 in real time, providing reference depth feedback for the controller 13. When the height of the depth-limiting wheel 5 deviates due to soil resistance or terrain undulation, the height sensor 8 transmits the displacement signal to the controller 13, and the lifting stroke of the depth-limiting wheel 5 is dynamically adjusted in combination with the first hydraulic cylinder 6 to compensate for the depth deviation during the operation, ensuring the long-term stability and uniformity of the seed furrow depth.

[0054] The pressure sensor 9 is installed inside the bearing seats at both ends of the press wheel, for monitoring the reaction force of the soil.

[0055] Specifically, the pressing wheel 4 fixedly supports the pressure sensor 9, and the pressure sensor 9 is symmetrically arranged on the bearing structure of the pressing wheel 4 to real-time monitor the reaction force generated when the pressing wheel 4 contacts the soil, directly reflecting the soil compactness and pressing effect.

[0056] The ultrasonic ranging sensor 10 is arranged behind the furrow opener assembly 1 and on the lower surface of the mounting frame 11. The ultrasonic ranging sensor 10 is used to measure the distance from the bottom of the seed furrow to the sensor.

[0057] Specifically, the ultrasonic ranging sensor 10 directly measures the vertical distance from the bottom of the seed furrow to the sensor by emitting ultrasonic signals to the bottom of the seed furrow and receiving the reflected waves, and real-time feedbacks the actual sowing depth. Compared with the indirect calculation of the height sensor 8, the ultrasonic ranging sensor 10 provides more direct depth detection data, effectively eliminating the cumulative error caused by soil type changes or furrow opener wear.

[0058] The sensor group further includes a lidar 12. The lidar 12 is installed on the lower surface of the frame 11 and is used to generate 3D point cloud data of the seed furrow profile.

[0059] Specifically, the lidar 12 generates three-dimensional point cloud data by high-speed scanning the seed furrow area, completely restoring the geometric shape and spatial characteristics of the seed furrow profile, synchronously obtaining information such as the width, depth and cross-sectional shape of the seed furrow, accurately identifying local collapse or depth mutation areas, and dynamically correcting the control parameters of the hydraulic adjustment module for the depth-limiting wheel 5 and the pressing wheel 4 by comparing the three-dimensional point cloud data with the preset seed furrow model in the controller 13, realizing the full-dimensional closed-loop optimization of the seed furrow shape.

[0060] Please refer to the appendix Figure 4 , a real-time measurement and control system for wheat sowing depth, including:

[0061] Data acquisition module: used to synchronously collect the real-time height of the depth-limiting wheel 5, soil reaction force, seed furrow depth and terrain profile data through the height sensor 8, pressure sensor 9, ultrasonic ranging sensor 10 and lidar 12;

[0062] Data fusion processing module: based on the Kalman filter algorithm, fuse multi-source sensor data, calculate the sowing depth deviation value and generate a depth correction instruction;

[0063] Position navigation module: through Beidou or GPS positioning, generate a sowing depth heat map by mapping the depth data;

[0064] Real-time adjustment and control module: dynamically adjust the stroke of the first hydraulic cylinder 6 and the second hydraulic cylinder 7 through the depth correction instruction to adjust the height of the depth-limiting wheel 5 and the pressure of the pressing wheel 4;

[0065] Human-computer interaction display module: Based on a remote terminal, a 3D image of the depth of the sowing area is generated using lidar 12.

[0066] Specifically, the data acquisition module realizes multi-dimensional data synchronous acquisition through an integrated sensor group and lidar 12, and ensures the spatio-temporal consistency of data acquisition through a timing synchronization interface, providing all-round perception information of the furrow opener attitude, soil mechanical properties, furrow morphology, and terrain undulation for the data fusion processing module, forming a data basis for real-time regulation of sowing depth, and ultimately improving the depth control accuracy and operation reliability under complex working conditions;

[0067] The data fusion processing module dynamically fuses multi-source sensor data based on the Kalman filter algorithm, eliminates errors caused by sudden soil changes or mechanical vibrations in a single sensor, generates height correction instructions for the depth-limiting wheel 5 and pressure adjustment instructions for the press wheel 4 through the controller 13, and drives the first hydraulic cylinder 6 and the second hydraulic cylinder 7 to dynamically adjust the operation parameters, significantly improving the robustness and control accuracy of depth detection, and ensuring the uniformity and consistency of furrow depth under all terrain conditions;

[0068] The position navigation module realizes precise operation management by integrating a Beidou or GPS positioning unit and depth data mapping technology, ensures the consistency of the spacing between adjacent sowing rows, and provides real-time positioning of depth anomalies and decision-making basis for reseeding for operators through spatial data visualization and navigation assistance, effectively avoiding problems of repeated sowing or missed sowing, and realizing digital traceability and precise regulation of the sowing quality of the entire field;

[0069] The real-time adjustment and control module dynamically adjusts the hydraulic actuator through a closed-loop control logic, receives the depth correction instructions generated by the data fusion processing module, realizes the adaptive closed-loop adjustment of the sowing depth according to the terrain and soil conditions, suppresses the instantaneous deviation caused by mechanical vibration or external impact, ensures the depth uniformity and pressure stability of the furrow opening and pressing operations, and ultimately improves the furrow forming quality and the consistency of the seed germination environment;

[0070] The human-computer interaction display module combines with the lidar 12 through a remote terminal. Based on the 3D point cloud data of the furrow profile generated by the lidar 12, it uses a graphics rendering engine to display a three-dimensional stereoscopic image of the sowing area depth on the touch screen in real time, intuitively presenting the furrow morphology and depth distribution characteristics;

[0071] The data fusion processing module includes:

[0072] A sensor data preprocessing unit that aligns the input signals of the sensor group and lidar 12 through a timestamp synchronization and noise filtering circuit;

[0073] A Kalman filter fusion calculation unit that dynamically weights and fuses multi-sensor data based on a state space model;

[0074] A depth correction instruction generation unit, which uses PD control logic to map the depth deviation value to the stroke adjustment amounts of the first hydraulic cylinder 6 and the second hydraulic cylinder 7.

[0075] Specifically, the sensor data preprocessing unit aligns and purifies each sensor signal through a timestamp synchronization and noise filtering circuit. By receiving the data of the sensor group and the three-dimensional point cloud information of the lidar 12, it synchronously eliminates the timing differences of multi-source signals, and uses the filtering circuit to filter out high-frequency mechanical vibration noise and electromagnetic interference, providing spatio-temporally consistent and denoised standardized data for subsequent fusion calculations, avoiding control misjudgments caused by signal delays or noise accumulation, and ensuring the overall input reliability of the data fusion processing module.

[0076] The Kalman filter fusion calculation unit realizes the dynamic fusion of multi-sensor data based on the state space model. It estimates the current sowing depth state in the prediction stage, and in the update stage, combines the inclination calculation value of the height sensor 8, the direct measurement value of the ultrasonic ranging sensor 10, and the contour shape data of the lidar 12 for weighted fusion of multi-source data. By dynamically adjusting the weight coefficients of each sensor, it suppresses the errors of a single data source caused by soil mutations or mechanical wear, and outputs the optimal depth deviation estimation value and its change trend, providing a high-confidence decision basis for the real-time adjustment control module.

[0077] The depth correction instruction generation unit uses PD control logic to convert the depth deviation into a hydraulic adjustment instruction. The output depth deviation value and its change rate generate the height adjustment amount of the depth-limiting wheel 5 and the pressure compensation amount of the press wheel 4 through the proportional-derivative control algorithm, and are converted into the stroke control instructions of the first hydraulic cylinder 6 and the second hydraulic cylinder 7, realizing the dynamic closed-loop compensation of the sowing depth, and ensuring the millimeter-level positioning accuracy of the depth-limiting wheel 5 and the adaptive matching of the pressure of the press wheel 4.

[0078] The position navigation module includes:

[0079] A positioning signal receiving and parsing unit, which integrates Beidou and GPS dual-mode receivers and obtains satellite signals of the sowing position through a multi-band antenna.

[0080] A geographic coordinate and depth data binding unit, which uses timestamp synchronization to associate the positioning coordinates with the sowing depth acquisition data, generates grid data through a spatial interpolation algorithm, and maps the grid data into a color-gradient heat map.

[0081] Specifically, the positioning signal receiving and parsing unit receives satellite signals through a multi-band antenna, and real-time calculates the geographic coordinates (longitude, latitude and elevation) of the seeder, providing a high-precision position reference for the geographic coordinate and depth data binding unit, ensuring the spatial consistency and traceability of the sowing track.

[0082] The geographic coordinate and depth data binding unit aligns the Beidou / GPS positioning coordinates with the seeding depth data collected by the ultrasonic ranging sensor 10 and the lidar 12 in terms of time, eliminates the timing error between mechanical movement and data transmission, fills in the missing data points through an interpolation algorithm, generates a grid-like depth distribution data set, and maps it into a color-gradient heat map. Combining with the real-time adjustment instructions of the controller 13, it dynamically associates the heat map with the operating parameters of the hydraulic adjustment module to achieve full-area digital monitoring and closed-loop control of seeding quality.

[0083] The real-time adjustment control module drives the actuator to make adjustments based on the electro-hydraulic proportional valve and the PID closed-loop control logic;

[0084] Among them, according to the target travel value of the seeding depth, the vertical height of the depth-limiting wheel 5 is adjusted by the first hydraulic cylinder 6;

[0085] According to the pressure value of the soil reaction force, the grounding pressure of the pressing wheel 4 is adjusted by the second hydraulic cylinder 7.

[0086] Specifically, the real-time adjustment control module drives the actuator to make dynamic adjustments based on the electro-hydraulic proportional valve and the PID closed-loop control logic. According to the target travel value of the seeding depth output by the data fusion processing module, it adjusts the vertical height of the depth-limiting wheel 5 through the first hydraulic cylinder 6 to compensate for the depth deviation caused by terrain undulation. At the same time, based on the soil reaction force value feedback by the pressure sensor 9, it adjusts the grounding pressure of the pressing wheel 4 through the second hydraulic cylinder 7 to balance the seed covering compactness and soil air permeability. The PID closed-loop control logic, through the fast response characteristics of the electro-hydraulic proportional valve and combined with the oil circuit distribution accuracy of the hydraulic adjustment module, realizes millimeter-level height positioning of the depth-limiting wheel 5 and adaptive matching of the pressure of the pressing wheel 4, suppresses the instantaneous disturbance caused by soil mutation or mechanical vibration, and ensures the stability and consistency of the seed furrow depth and pressing effect, ultimately improving the all-terrain adaptability and seedling emergence uniformity of seeding operations.

[0087] The human-machine interaction display module also includes a depth anomaly marking mechanism, which automatically marks the early warning area with depth exceeding the limit on the map when continuously detecting that the depth exceeds the limit.

[0088] Specifically, when the ultrasonic ranging sensor 10 or the lidar 12 detects that the seed furrow depth continuously deviates from the preset range, through the anomaly determination logic of the data fusion processing module, it automatically marks the red early warning area on the seeding depth heat map and superimposes it on the geographic grid map generated by the Beidou / GPS positioning module, and displays the position of the early warning area in real time through the touch screen to improve the uniformity and traceability of the seeding quality of the entire field.

[0089] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The real-time measurement and control adjustment device for the sowing depth of a wheat seeder, characterized in that, Comprising: A furrow opener assembly (1), including a replaceable disc furrow opener or a boot furrow opener, which is installed on the frame (11) by bolts A material feeding assembly, including a material storage tank (2) and a material feeding pipe (3); A press wheel (4) and a depth-limiting wheel (5), whose pressure height is dynamically adjusted by a first hydraulic cylinder (6) and a second hydraulic cylinder (7) connected to the press wheel (4); A sensor group, including a height sensor (8), a pressure sensor (9) and an ultrasonic ranging sensor (10); A controller (13), fixed on the upper surface of the frame (11), and receiving the data of the sensor group and generating control instructions; After the controller (13) performs fusion processing on the data collected by the sensor group, it generates adjustment instructions to drive the electro-hydraulic proportional valves of the first hydraulic cylinder (6) and the second hydraulic cylinder (7) to adjust the height of the depth-limiting wheel (5) and the pressure of the press wheel (4).

2. The real-time measurement and control and adjustment device for the sowing depth of the wheat seeder according to claim 1, characterized in that The height sensor (8) is arranged outside the depth-limiting wheel (5) for collecting the height displacement data of the depth-limiting wheel (5).

3. The real-time measurement and control and adjustment device for the seeding depth of the wheat seeder according to claim 1, characterized in that, The pressure sensor (9) is installed inside the bearing seats at both ends of the press wheel (4) for monitoring the reaction force of the soil.

4. The real-time measurement and control adjustment device for the sowing depth of the wheat seeder according to claim 1, characterized in that, The ultrasonic ranging sensor (10) is arranged behind the furrow opener assembly (1) and installed on the lower surface of the mounting frame (11). The ultrasonic ranging sensor (10) is used to measure the distance from the bottom of the seed furrow to the sensor.

5. The real-time measurement and control and adjustment device for the sowing depth of the wheat seeder according to claim 1, characterized in that, The sensor group further includes a lidar (12), and the lidar (12) is installed on the lower surface of the frame (11) for generating 3D point cloud data of the seed furrow profile.

6. A real-time measurement and control system for wheat seeding depth, characterized in that, A real-time measurement and control adjustment device for the sowing depth of the wheat seeder according to any one of claims 1-5, comprising: A data acquisition module: for synchronously collecting the real-time height of the depth-limiting wheel (5), the soil reaction force, the seed furrow depth and the terrain contour data through the height sensor (8), the pressure sensor (9), the ultrasonic ranging sensor (10) and the lidar (12); A data fusion processing module: based on the Kalman filter algorithm, fusing multi-source sensor data, calculating the sowing depth deviation value and generating a depth correction instruction; A position navigation module: through Beidou or GPS positioning, and through mapping the depth data, generating a sowing depth heat map; A real-time adjustment control module: dynamically adjusting the strokes of the first hydraulic cylinder (6) and the second hydraulic cylinder (7) through the depth correction instruction to adjust the height of the depth-limiting wheel (5) and the pressure of the press wheel (4); A man-machine interaction display module: generating a 3D image of the depth of the sowing area based on the lidar through a remote terminal.

7. The real-time measurement and control system for wheat seeding depth according to claim 6, characterized in that, The data fusion processing module includes: A sensor data preprocessing unit, aligning the input signals of the sensor group and the lidar (12) through timestamp synchronization and a noise filtering circuit; A Kalman filter fusion calculation unit, dynamically weighting and fusing multi-sensor data based on a state space model; A depth correction instruction generation unit, for adopting a PD control logic to map the depth deviation value to the stroke adjustment amounts of the first hydraulic cylinder (6) and the second hydraulic cylinder (7).

8. The real-time measurement and control system for wheat seeding depth according to claim 6, characterized in that, The position navigation module includes: A positioning signal receiving and parsing unit, integrating Beidou and GPS dual-mode receivers, and obtaining satellite signals of the sowing position through a multi-band antenna; The geographic coordinate and depth data binding unit uses timestamp synchronization to associate the positioning coordinates with the sowing depth acquisition data, generates grid data through a spatial interpolation algorithm, and maps the grid data into a color-gradient heat map.

9. The real-time measurement and control system for wheat seeding depth according to claim 6, characterized in that The real-time adjustment and control module is based on an electro-hydraulic proportional valve and a PID closed-loop control logic; Among them, according to the target stroke value of the sowing depth, the vertical height of the depth-limiting wheel (5) is adjusted by the first hydraulic cylinder (6); According to the pressure value of the soil reaction force, the grounding pressure of the pressing wheel (4) is adjusted by the second hydraulic cylinder (7).

10. A real-time measurement and control system for wheat seeding depth according to claim 6, characterized in that, The human-computer interaction display module further includes a depth anomaly marking mechanism, which automatically marks the early warning area with depth overrun on the map when the depth overrun is continuously detected.

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