Apparatus and method for in situ detection of ridge wheat seeds using ultrasound

Abstract

The application provides a device and method for in-situ ultrasonic detection of ridge wheat seeds, which comprises an industrial computer, an electric pulse signal generator, a power amplifier, an ultrasonic emission probe, an ultrasonic receiving probe, a preamplifier, an ultrasonic signal acquisition card, field soil, a ridge, wheat seeds, a soil compression device and a pressure sensor. The industrial computer controls the electric pulse signal generator to emit an electric pulse signal. The power amplifier is used for amplifying the electric pulse signal emitted by the electric pulse signal generator. The amplified electric pulse signal is used for powering the ultrasonic emission probe so that the ultrasonic emission probe emits an ultrasonic signal. Subsequently, the ultrasonic signal propagates into the compressed ridge soil of the soil compression device. The ultrasonic receiving probe receives the ultrasonic signal propagated through the soil and the seeds. The ultrasonic receiving probe converts the ultrasonic signal into an electric signal and transmits the electric signal to the preamplifier for amplification. The ultrasonic signal acquisition card collects the amplified signal and transmits the signal to the industrial computer.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to a device and method for ultrasonic in-situ detection of ridge-grown wheat seeds. Background Technology

[0002] Sowing quality significantly impacts early crop growth and yield. Monitoring sowing quality is crucial for early detection of issues such as broken seed stalks, seed accumulation, uneven sowing rate, and inconsistent sowing depth. However, current methods for detecting sowing quality primarily rely on seed metering devices, seed guides, manual measurement, and post-emergence observation. Methods using seed metering devices and seed guides are susceptible to interference from furrow openers, soil recirculation, and compaction by covering wheels. Manual measurement is prone to seed displacement due to disturbance and is labor-intensive, with poor timeliness in post-emergence observation. Therefore, we propose an ultrasonic in-situ detection device and method for ridge-planted wheat seeds. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings and difficulties existing in the prior art and provide an ultrasonic in-situ detection device for ridge-grown wheat seeds, including an industrial control computer 1, an electrical pulse signal generator 2, a power amplifier 3, an ultrasonic transmitting probe 4, an ultrasonic receiving probe 5, a preamplifier 6, an ultrasonic signal acquisition card 7, a soil compression device 11, and a pressure sensor 12. The industrial control computer 1 is connected to the electrical pulse signal generator 2 and controls the electrical pulse signal generator 2 to emit electrical pulse signals. The power amplifier 3 is connected to the electrical pulse signal generator 2 and is used to amplify the electrical pulses emitted by the electrical pulse signal generator 2. The ultrasonic transmitting probe 4 is connected to the power amplifier 3. The amplified electrical pulse signal powers the ultrasonic transmitting probe 4 to emit an ultrasonic signal. The ultrasonic signal then propagates to the ridged soil compressed by the soil compression device 11. The ultrasonic receiving probe 5 receives the ultrasonic signal after it has been propagated through the soil and seeds. The ultrasonic receiving probe 5 converts the ultrasonic signal into an electrical signal and transmits it to the preamplifier 6 for amplification. The ultrasonic signal acquisition card 7 acquires the amplified signal and transmits it to the industrial control computer 1. The pressure sensor 12 is installed at the bottom of the soil compression device 11 and connected to the industrial control computer 1. The industrial control computer 1 displays the pressure value in real time.

[0004] Preferably, the soil compression device 11 includes a frame 11-1, an upper side plate 11-2, a lower side plate 11-3, a sliding part 11-5, and an electric push rod 11-4. The frame 11-1 includes a left fixed plate 11-1-1, a right fixed plate 11-1-2, cylindrical guide rails I11-1-3 and II11-1-4, cutting edge guide rails I11-1-5 and II11-1-6, and the left fixed plate 11-1-2... The upper ends of the left fixed plate 11-1-1 and the right fixed plate 11-1-2 are respectively fixed to the two ends of the cylindrical guide rail I11-1-3 and the cylindrical guide rail II11-1-4. The lower ends of the left fixed plate 11-1-1 and the right fixed plate 11-1-2 are respectively fixed to the two ends of the cutting edge guide rail I11-1-5 and the cutting edge guide rail II11-1-6. The cutting edge of the cutting edge guide rail I11-1-5 and the cutting edge guide rail II11-1-6 is downward to break the soil.

[0005] Preferably, the left fixed plate 11-1-1 has rectangular slide rails I11-1-7 and II11-1-8, and a transmitter probe mounting hole 11-1-9; the right side of the electric push rod 11-4 is fixedly connected to the right fixed plate 11-1-2, the movement direction of the electric push rod 11-4 is parallel to the cylindrical guide rail I11-1-3, and the right side of the electric push rod 11-4 is fixedly connected to the guard plate 11-5-3.

[0006] Preferably, the sliding part 11-5 includes a front side plate 11-5-1, a rear side plate 11-5-2, a guard plate 11-5-3, and a sliding plate 11-5-4. The front side plate 11-5-1 and the rear side plate 11-5-2 are placed parallel to each other and are perpendicularly fixed to the sliding plate 11-5-4 and the guard plate 11-5-3. The upper end of the sliding plate 11-5-4 is provided with cylindrical slide rails I11-5-5, cylindrical slide rail II11-5-6, and rectangular opening I11-5-7. The lower end of the sliding plate 11-5-4 is provided with blade-shaped slide rails I11-5-9, blade-shaped slide rail II11-5-10, and rectangular opening II11-5-8. The center of the sliding plate 11-5-4 is provided with a rectangular opening III11-5-11. The ultrasonic receiving probe 5 is mounted on the rectangular opening III11-5-11 facing to the left.

[0007] Preferably, the sliding part 11-5 is installed on cylindrical slide rail I11-5-5, cylindrical slide rail II11-5-6, blade slide rail I11-5-9 and blade slide rail II11-5-10 and slides with the electric push rod 11-4.

[0008] Preferably, the left side of the upper side plate 11-2 is fixedly connected to the left fixed plate 11-1-1, and the right side of the upper side plate 11-2 is slidably connected to the rectangular opening I11-5-7; the left side of the lower side plate 11-3 is fixedly connected to the left fixed plate 11-1-1, and the right side of the lower side plate 11-3 is slidably connected to the rectangular opening II11-5-8. The left fixed plate 11-1-1, the sliding plate 11-5-4, the upper side plate 11-2, the lower side plate 11-3, the front side plate 11-5-1, and the rear side plate 11-5-2 together form a closed three-dimensional space for holding the soil on the ridge 9 after sowing.

[0009] Preferably, the right side of the electric push rod 11-4 is fixedly connected to the right fixed plate 11-1-2, and the left side of the electric push rod 11-4 is fixedly connected to the guard plate 11-5-3. The extension and retraction of the electric push rod 11-4 is controlled by the industrial control computer 1. When the electric push rod 11-4 extends, it pushes the guard plate 11-5-3 to move, thereby causing the sliding part 11-5 to move to the left, thereby compressing the soil in the closed three-dimensional space to complete the soil compression. When the electric push rod 11-4 shortens, the sliding part 11-5 moves to the right.

[0010] Preferably, the ultrasonic transmitting probe 4 contains a rectangular transmitting crystal 4-1, which is connected to the power amplifier 3. The ultrasonic receiving probe 5 contains a row of receivers arranged from top to bottom with a side length of [missing information]. h The receiver chip 5-1 is 5 cm in size. The width and height of a row of receiver chips 5-1 are equal to those of the transmitter chip 4-1. Each receiver chip 5-1 is individually connected to the ultrasonic signal acquisition card 7.

[0011] A method for in-situ ultrasonic detection of ridge-grown wheat seeds, characterized by comprising the following steps:

[0012] Step 1: Remove the lower side plate 11-3 of the soil compression device 11;

[0013] Step 2: Place the soil compression device 11 after removing the side plate 11-3 on the ridge 9 of the ridged wheat. The placement method is as follows: the slide plate 11-5-4 is parallel to the direction of the ridge, the blades of the blade guide rail I 11-1-5 and the blade guide rail II 11-1-6 are perpendicular to the ridge 9, and the soil on the ridge 9 is between the left fixed plate 11-1-1 and the slide plate 11-5-4.

[0014] Step 3: Press the soil compression device 11 from above to make the soil on the ridge 9 completely enter the cavity composed of the upper side plate 11-2, the front side plate 11-5-1, and the rear side plate 11-5-2. Then install the lower side plate 11-3 to form a completely closed cavity.

[0015] Step 4: Start the industrial control computer 1 to control the electric push rod 11-4 to push the guard plate 11-5-3 to move to the left to compress the soil;

[0016] Step 5: Observe the pressure of pressure sensor 12. Stop compression after reaching the first step pressure value.

[0017] Step 6: The electrical pulse signal generator 2 emits an electrical pulse signal, which is amplified by the power amplifier 3 and then transmitted to the ultrasonic transmitting probe 4. The ultrasonic transmitting probe 4 excites an ultrasonic signal that propagates into the soil. The ultrasonic receiving probe 5 receives the ultrasonic signal and converts it into an electrical signal.

[0018] Step 7: The ultrasonic signal acquisition card 7 acquires the acoustic signals from multiple receiving chips 5-1, and simultaneously performs Fourier transform on the multiple time-domain signals to obtain the corresponding frequency-domain signals and stores them.

[0019] Step 8: Continue to increase the pressure and repeat steps 5-7 to measure and store the acoustic signals at three different pressure levels.

[0020] Step 9: Compare the time-frequency domain signal and frequency domain signal of the receiving chip 5-1 at different depths under different pressures. If the time-domain signal collected by the corresponding receiving chip 5-1 is distorted and multiple main frequencies appear in the frequency domain, it is determined that there is a seed at the depth of the receiving chip 5-1.

[0021] Preferably, during detection, the ultrasonic signal emitted by the transmitting chip 4-1 passes through the soil and seeds 10 and is received by the corresponding receiving chip 5-1. The receiving chip 5-1 converts the ultrasonic signal into an electrical signal, which is amplified by the preamplifier 6 and then acquired by the ultrasonic signal acquisition card 7. At this time, if there are seeds, the received signal will be distorted; if there are no seeds, the waveform remains unchanged. By observing the received signal, it is determined whether there are seeds at the location of the corresponding receiving chip 5-1, thereby determining the presence and depth of the seeds.

[0022] The formula for calculating the sowing depth H is:

[0023] When a chip changes:

[0024] H = h × nh / 2,

[0025] When the seed is between the nth and (n+1th)th chips, the signals received by both adjacent chips are distorted. At this time:

[0026] H = h × n,

[0027] Where n is the nth chip from top to bottom.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1) This application can avoid the influence of the furrow opener, soil recirculation and soil covering wheel compaction process on the seed position in the existing method. Without changing the seed position, it can determine the presence of seeds and the sowing depth. It is timely and simple to operate.

[0030] 2) This application addresses the problem of significant attenuation of ultrasound in soil by compressing the soil to enhance its ability to transmit signals. It also employs a through-beam detection method to increase the strength of the received signal, improve the signal-to-noise ratio, and enhance the reliability of signal detection. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of this application;

[0032] Figure 2 This is an isometric view of the soil compression device in this application;

[0033] Figure 3 This is an isometric drawing of the frame in this application;

[0034] Figure 4 This is an isometric view of the sliding portion in this application;

[0035] Figure 5 This is a schematic diagram showing the arrangement of the transmitting chip and the receiving chip in this application;

[0036] Figure 6 This is a schematic diagram illustrating the principle of wheat detection.

[0037] Figure 7 This is a flowchart of the wheat testing method.

[0038] The attached figures are labeled as follows:

[0039] 1: Industrial control computer; 2: Electrical pulse signal generator; 3: Power amplifier; 4: Ultrasonic transmitting probe; 5: Ultrasonic receiving probe; 6: Preamplifier; 7: Ultrasonic signal acquisition card; 8: Field soil; 9: Ridge; 10: Wheat seeds; 11: Soil compression device; 12: Pressure sensor.

[0040] 11-1: Frame; 11-2: Upper side plate; 11-3: Lower side plate; 11-4: Electric push rod; 11-5: Sliding part;

[0041] 11-1-1: Left fixed plate; 11-1-2: Right fixed plate; 11-1-3: Cylindrical guide rail I; 11-1-4: Cylindrical guide rail II; 11-1-5: Blade guide rail I; 11-1-6: Blade guide rail II; 11-1-7: Rectangular slide rail I; 11-1-8: Rectangular slide rail II; 11-1-9: Transmitter probe mounting hole;

[0042] 11-5-1: Front side panel, 11-5-2: Rear side panel, 11-5-3: Guard panel, 11-5-4: Slide board, 11-5-5: Cylindrical slide I, 11-5-6: Cylindrical slide II, 11-5-7: Rectangular opening I, 11-5-8: Rectangular opening II, 11-5-9: Blade-shaped slide I, 11-5-10: Blade-shaped slide II, 11-5-11: Rectangular opening III;

[0043] 4-1: Transmitter chip, 5-1: Receiver chip. Detailed Implementation

[0044] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, and the present invention will be further described in detail.

[0045] Reference Figure 1-5 An ultrasonic in-situ detection device for ridge-grown wheat seeds includes an industrial control computer 1, an electrical pulse signal generator 2, a power amplifier 3, an ultrasonic transmitting probe 4, an ultrasonic receiving probe 5, a preamplifier 6, an ultrasonic signal acquisition card 7, a soil compression device 11, and a pressure sensor 12. The industrial control computer 1 is connected to the electrical pulse signal generator 2, controlling it to emit electrical pulse signals. The power amplifier 3 is connected to the electrical pulse signal generator 2, amplifying the emitted electrical pulse signals. The ultrasonic transmitting probe 4 is connected to the power amplifier 3, and the amplified electrical pulse signal powers the ultrasonic transmitting probe 4 to emit ultrasonic signals. These ultrasonic signals then propagate to the ridge-grown soil compressed by the soil compression device 11. The ultrasonic receiving probe 5 receives the ultrasonic signals propagated through the soil and seeds, converting them into electrical signals that are then amplified by the preamplifier 6. The ultrasonic signal acquisition card 7 acquires the amplified signals and transmits them to the industrial control computer 1. The pressure sensor 12 is installed at the bottom of the soil compression device 11 and connected to the industrial control computer 1, which displays the pressure value in real time. ,

[0046] The soil compression device 11 includes a frame 11-1, an upper side plate 11-2, a lower side plate 11-3, a sliding part 11-5, and an electric push rod 11-4.

[0047] The frame 11-1 includes a left fixed plate 11-1-1, a right fixed plate 11-1-2, cylindrical guide rails I11-1-3 and II11-1-4, a cutting edge guide rail I11-1-5, and a cutting edge guide rail II11-1-6. The upper ends of the left fixed plate 11-1-1 and the right fixed plate 11-1-2 are respectively fixed to the two ends of the cylindrical guide rails I11-1-3 and II11-1-4. The lower ends of the left fixed plate 11-1-1 and the right fixed plate 11-1-2 are respectively fixed to the two ends of the cutting edge guide rails I11-1-5 and II11-1-6. The cutting edges of the cutting edge guide rails I11-1-5 and II11-1-6 face downwards to break the soil.

[0048] The left fixed plate 11-1-1 is provided with rectangular slide rails I11-1-7 and II11-1-8, and a transmitter probe mounting hole 11-1-9; the right side of the electric push rod 11-4 is fixedly connected to the right fixed plate 11-1-2, the movement direction of the electric push rod 11-4 is parallel to the cylindrical guide rail I11-1-3, and the right side of the electric push rod 11-4 is fixedly connected to the guard plate 11-5-3.

[0049] Preferably, the sliding part 11-5 includes a front side plate 11-5-1, a rear side plate 11-5-2, a guard plate 11-5-3, and a sliding plate 11-5-4. The front side plate 11-5-1 and the rear side plate 11-5-2 are placed parallel to each other and are perpendicularly fixed to the sliding plate 11-5-4 and the guard plate 11-5-3. The upper end of the sliding plate 11-5-4 is provided with cylindrical slide rails I11-5-5, cylindrical slide rail II11-5-6, and rectangular opening I11-5-7. The lower end of the sliding plate 11-5-4 is provided with blade-shaped slide rails I11-5-9, blade-shaped slide rail II11-5-10, and rectangular opening II11-5-8. The center of the sliding plate 11-5-4 is provided with a rectangular opening III11-5-11. The ultrasonic receiving probe 5 is mounted on the rectangular opening III11-5-11 facing to the left.

[0050] Preferably, the sliding part 11-5 is installed on cylindrical slide rail I11-5-5, cylindrical slide rail II11-5-6, blade slide rail I11-5-9 and blade slide rail II11-5-10 and slides with the electric push rod 11-4.

[0051] Preferably, the left side of the upper side plate 11-2 is fixedly connected to the left fixed plate 11-1-1, and the right side of the upper side plate 11-2 is slidably connected to the rectangular opening I11-5-7; the left side of the lower side plate 11-3 is fixedly connected to the left fixed plate 11-1-1, and the right side of the lower side plate 11-3 is slidably connected to the rectangular opening II11-5-8. The left fixed plate 11-1-1, the sliding plate 11-5-4, the upper side plate 11-2, the lower side plate 11-3, the front side plate 11-5-1, and the rear side plate 11-5-2 together form a closed three-dimensional space for holding the soil on the ridge 9 after sowing.

[0052] Preferably, the right side of the electric push rod 11-4 is fixedly connected to the right fixed plate 11-1-2, and the left side of the electric push rod 11-4 is fixedly connected to the guard plate 11-5-3. The extension and retraction of the electric push rod 11-4 is controlled by the industrial control computer 1. When the electric push rod 11-4 extends, it pushes the guard plate 11-5-3 to move, thereby causing the sliding part 11-5 to move to the left, thereby compressing the soil in the closed three-dimensional space to complete the soil compression. When the electric push rod 11-4 shortens, the sliding part 11-5 moves to the right.

[0053] Preferably, the ultrasonic transmitting probe 4 contains a rectangular transmitting chip 4-1, which is connected to the power amplifier 3. The ultrasonic receiving probe 5 contains a row of receiving chips 5-1 arranged from top to bottom with a side length of h cm. The width and height of the row of receiving chips 5-1 are equal to those of the transmitting chip 4-1. Each receiving chip 5-1 is individually connected to the ultrasonic signal acquisition card 7.

[0054] like Figure 6-7 The method for in-situ ultrasonic testing of ridge-grown wheat seeds includes the following steps:

[0055] Step 1: Move the device into the field soil 8 and remove the lower side plate 11-3 of the soil compression device 11;

[0056] Step 2: Place the soil compression device 11 after removing the side plate 11-3 on the ridge 9 of the ridge-planted wheat seeds 10. The placement method is as follows: the slide plate 11-5-4 is parallel to the direction of the ridge, the blades of the blade guide rail I 11-1-5 and the blade guide rail II 11-1-6 are perpendicular to the ridge 9, and the soil on the ridge 9 is between the left fixed plate 11-1-1 and the slide plate 11-5-4.

[0057] Step 3: Press the soil compression device 11 from above to make the soil on the ridge 9 completely enter the cavity composed of the upper side plate 11-2, the front side plate 11-5-1, and the rear side plate 11-5-2. Then install the lower side plate 11-3 to form a completely closed cavity.

[0058] Step 4: Start the industrial control computer 1 to control the electric push rod 11-4 to push the guard plate 11-5-3 to move to the left to compress the soil;

[0059] Step 5: Observe the pressure of pressure sensor 12. Stop compression after reaching the first step pressure value.

[0060] Step 6: The electrical pulse signal generator 2 emits an electrical pulse signal, which is amplified by the power amplifier 3 and then transmitted to the ultrasonic transmitting probe 4. The ultrasonic transmitting probe 4 excites an ultrasonic signal that propagates into the soil. The ultrasonic receiving probe 5 receives the ultrasonic signal and converts it into an electrical signal.

[0061] Step 7: The ultrasonic signal acquisition card 7 acquires the acoustic signals from multiple receiving chips 5-1, and simultaneously performs Fourier transform on the multiple time-domain signals to obtain the corresponding frequency-domain signals and stores them.

[0062] Step 8: Continue to increase the pressure and repeat steps 5-7 to measure and store the acoustic signals at three different pressure levels.

[0063] Step 9: Compare the time-frequency domain signal and frequency domain signal of the receiving chip 5-1 at different depths under different pressures. If the time-domain signal collected by the corresponding receiving chip 5-1 is distorted and multiple main frequencies appear in the frequency domain, it is determined that there is a seed at the depth of the receiving chip 5-1.

[0064] Furthermore, during detection, the ultrasonic signal emitted by the transmitting chip 4-1 passes through the soil and seeds 10 and is received by the corresponding receiving chip 5-1. The receiving chip 5-1 converts the ultrasonic signal into an electrical signal, which is amplified by the preamplifier 6 and then acquired by the ultrasonic signal acquisition card 7. At this time, if there are seeds, the received signal will be distorted; if there are no seeds, the waveform remains unchanged. By observing the received signal, it is determined whether there are seeds at the location of the corresponding receiving chip 5-1, thereby determining the presence and depth of the seeds.

[0065] The formula for calculating the sowing depth H is:

[0066] When a chip changes:

[0067] H = h × nh / 2,

[0068] When the seed is between the nth and (n+1th)th chips, the signals received by both adjacent chips are distorted. At this time:

[0069] H = h × n,

[0070] Where n is the nth chip from top to bottom.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An apparatus for detecting the seeds of ridge wheat in situ by ultrasonic waves, comprising an industrial computer (1), an electric pulse signal generator (2), a power amplifier (3), an ultrasonic transmitting probe (4), an ultrasonic receiving probe (5), a preamplifier (6), an ultrasonic signal acquisition card (7), a soil compression device (11) and a pressure sensor (12), characterized in that, The industrial computer (1) is connected with the electric pulse signal generator (2), the industrial computer (1) controls the electric pulse signal generator (2) to send out the electric pulse signal, the power amplifier (3) is connected with the electric pulse signal generator (2), the power amplifier (3) is used for amplifying the electric pulse signal sent by the electric pulse signal generator (2), the ultrasonic emission probe (4) is connected with the power amplifier (3), the amplified electric pulse signal is powered to the ultrasonic emission probe (4) to make the ultrasonic emission probe (4) send ultrasonic signals, then the ultrasonic signals propagate to the ridge soil compressed by the soil compression device (11), the ultrasonic receiving probe (5) receives the ultrasonic signals propagated through the soil and the seed, the ultrasonic receiving probe (5) converts the ultrasonic signals into electric signals and transmits to the preamplifier (6) to amplify, the ultrasonic signal acquisition card (7) collects the amplified signals and transmits to the industrial computer (1); The pressure sensor (12) is installed at the bottom of the soil compression device (11) and connected with the industrial computer (1), and the industrial computer (1) displays the pressure value in real time.

2. The apparatus for in situ detection of ridge wheat seeds by ultrasound according to claim 1, characterized in that, The soil compression device (11) comprises a rack (11-1), an upper side plate (11-2), a lower side plate (11-3), a sliding part (11-5) and an electric push rod (11-4). The rack (11-1) comprises a left fixed plate (11-1-1), a right fixed plate (11-1-2), a cylindrical guide rail I (11-1-3), a cylindrical guide rail II (11-1-4), a blade guide rail I (11-1-5) and a blade guide rail II (11-1-6). The upper ends of the left fixed plate (11-1-1) and the right fixed plate (11-1-2) are fixedly connected with the two ends of the cylindrical guide rail I (11-1-3) and the cylindrical guide rail II (11-1-4) respectively. The lower ends of the left fixed plate (11-1-1) and the right fixed plate (11-1-2) are fixedly connected with the two ends of the blade guide rail I (11-1-5) and the blade guide rail II (11-1-6) respectively. The blade guide rail I (11-1-5) and the blade guide rail II (11-1-6) are downwardly provided with blade edges for breaking the soil.

3. The apparatus for in situ detection of the seeds of the ridge wheat by ultrasound according to claim 2, characterized in that, A rectangular sliding channel I (11-1-7), a rectangular sliding channel II (11-1-8) and an emission probe mounting hole (11-1-9) are formed in the left fixed plate (11-1-1). The movement direction of the electric push rod (11-4) is parallel to the cylindrical guide rail I (11-1-3).

4. The apparatus for in situ detection of the seeds of the ridge wheat by ultrasound according to claim 3, characterized in that, The sliding part (11-5) comprises a front side plate (11-5-1), a rear side plate (11-5-2), a guard plate (11-5-3) and a sliding plate (11-5-4), the front side plate (11-5-1) and the rear side plate (11-5-2) are placed in parallel and are fixedly connected with the sliding plate (11-5-4) and the guard plate (11-5-3) vertically, the upper end of the sliding plate (11-5-4) is provided with a cylindrical slide I (11-5-5), a cylindrical slide II (11-5-6) and a rectangular port I (11-5-7), the lower end of the sliding plate (11-5-4) is provided with a blade type slide I (11-5-9), a blade type slide II (11-5-10) and a rectangular port II (11-5-8), the central part of the sliding plate (11-5-4) is provided with a rectangular port III (11-5-11), and the ultrasonic receiving probe (5) is installed on the rectangular port III (11-5-11) towards the left side.

5. The apparatus for in situ detection of the seeds of the ridge wheat by ultrasound according to claim 4, characterized in that, The sliding part (11-5) is installed on the cylindrical slide I (11-5-5), the cylindrical slide II (11-5-6), the blade type slide I (11-5-9) and the blade type slide II (11-5-10) and slides with the electric push rod (11-4).

6. The apparatus for in situ detection of the seeds of the ridge wheat by ultrasound according to claim 5, characterized in that, The left side of the upper side plate (11-2) is fixedly connected with the left fixed plate (11-1-1), and the right side of the upper side plate (11-2) is slidably connected with the rectangular port I (11-5-7); the left side of the lower side plate (11-3) is fixedly connected with the left fixed plate (11-1-1), and the right side of the lower side plate (11-3) is slidably connected with the rectangular port II (11-5-8), and the left fixed plate (11-1-1), the sliding plate (11-5-4), the upper side plate (11-2), the lower side plate (11-3), the front side plate (11-5-1) and the rear side plate (11-5-2) jointly form a closed three-dimensional space for containing the soil on the ridge (9) after sowing.

7. The apparatus for in situ detection of the seeds of the ridge wheat by ultrasound according to claim 6, characterized in that, The right side of the electric push rod (11-4) is fixedly connected with the right fixed plate (11-1-2), the left side of the electric push rod (11-4) is fixedly connected with the guard plate (11-5-3), the extension and retraction of the electric push rod (11-4) are controlled by the industrial computer (1), when the electric push rod (11-4) is extended, the guard plate (11-5-3) is driven to move, so that the sliding part (11-5) moves leftward together, and the soil in the closed three-dimensional space is compressed to complete the compression of the soil; when the electric push rod (11-4) is retracted, the sliding part (11-5) moves rightward together.

8. The apparatus for in situ detection of the seeds of the ridge wheat by ultrasound according to claim 7, characterized in that, The ultrasonic transmitting probe (4) contains a rectangular transmitting wafer (4-1), the transmitting wafer (4-1) is connected with the power amplifier (3), the ultrasonic receiving probe (5) contains a column of receiving wafers (5-1) arranged from top to bottom and having an edge length of h cm, the width and height of the column of receiving wafers (5-1) are equal to those of the transmitting wafer (4-1), and each receiving wafer (5-1) is separately connected with the ultrasonic signal acquisition card (7).

9. A method for in situ ultrasonic detection of seeds of a wheat in a furrow, implemented on the basis of the device for in situ ultrasonic detection of seeds of a wheat in a furrow according to claim 8, characterized by the fact that, The method comprises the following steps: Step 1, disassemble the lower side plate (11-3) of the soil compression device (11); Step 2, place the soil compaction device (11) after the disassembly of the lower side plate (11-3) on the ridge (9) of the ridge wheat, and place it in the following way: the sliding plate (11-5-4) is parallel to the direction of the ridge, the blade of the blade guide I (11-1-5) and the blade guide II (11-1-6) is perpendicular to the ridge (9), and the soil on the ridge (9) is between the left fixed plate (11-1-1) and the sliding plate (11-5-4); Step 3, press the soil compaction device (11) from above, so that the soil on the ridge (9) enters the cavity composed of the upper side plate (11-2), the front side plate (11-5-1) and the rear side plate (11-5-2), and then install the lower side plate (11-3) to form a completely enclosed cavity; Step 4, start the industrial computer (1) to control the electric push rod (11-4) to push the baffle (11-5-3) to move left to compress the soil; Step 5, observe the pressure of the pressure sensor (12), and stop compression when the first step pressure value is reached; Step 6, the electric pulse signal generator (2) sends out an electric pulse signal, which is amplified by the power amplifier (3) and then transmitted to the ultrasonic emission probe (4). The ultrasonic emission probe (4) emits ultrasonic signals into the soil, and the ultrasonic receiving probe (5) receives the ultrasonic signals and converts them into electric signals; Step 7, the ultrasonic signal acquisition card (7) respectively collects the sound wave signals of multiple receiving chips (5-1), and simultaneously performs Fourier transform on the multiple time domain signals to obtain the corresponding frequency domain signals and stores them; Step 8, continue to increase the pressure, repeat steps 5-7, and measure and store the sound wave signals under 3 different step pressures; Step 9, compare the time-frequency domain signals and frequency domain signals of the corresponding receiving chips (5-1) at different depths under different pressures. If the time domain signals collected by the corresponding receiving chips (5-1) are distorted and multiple main frequencies appear in the frequency domain, it is determined that there is a seed at the depth of the receiving chip (5-1).

10. The method of in situ detection of ridge-grown wheat seeds by ultrasound according to claim 9, characterized in that, During detection, the ultrasonic signal emitted by the transmitting chip (4-1) passes through the soil and the seed (10) and is received by the corresponding receiving chip (5-1). The receiving chip (5-1) converts the ultrasonic signal into an electric signal, which is amplified by the preamplifier (6) and then collected by the ultrasonic signal acquisition card (7). At this time, if there is a seed, the received signal will be distorted, and if there is no seed, the waveform will not change. By observing the received signal, it can be determined whether there is a seed at the position of the corresponding receiving chip (5-1), thereby determining the presence or absence of the seed and its depth, wherein: The calculation formula of the seeding depth H is: When a chip changes: H = h × n - h / 2, When the seed is between the nth and (n+1)th chips, the signals received by the adjacent two chips are distorted, and at this time: H = h × n, Where n is the nth chip counted from top to bottom, and h is the height of the chip.

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