Wide seedling strip wheat seeding machine and its seeding depth real-time measurement and control device and method

Abstract

A wide seedling strip wheat seeding machine and a seeding depth real-time measurement and control device and method thereof, the wide seedling strip wheat seeding machine comprising the seeding depth real-time measurement and control device, the device comprising: a seeding depth controller arranged in a cab of the wide seedling strip wheat seeding machine; a detection mechanism comprising a post-seeding soil layer height sensor, a pre-seeding roller displacement sensor and a data collector; the data collector being connected with the seeding depth controller, the post-seeding soil layer height sensor and the pre-seeding roller displacement sensor respectively; and an adjusting mechanism comprising an electric cylinder driver, a servo electric cylinder and a pre-seeding roller adjusting component, the electric cylinder driver being connected with the servo electric cylinder and the seeding depth controller respectively, and the pre-seeding roller adjusting component being connected with the servo electric cylinder and the pre-seeding roller respectively; the seeding depth controller controls the pre-seeding roller adjusting component through the electric cylinder driver to adjust the position of the pre-seeding roller and realize the adjustment of the seeding depth. The application also discloses a seeding depth real-time measurement and control method.

Description

TECHNICAL FIELD

[0001] The application relates to a wheat seeding machine measurement and control technology, in particular to a wide seedling belt wheat seeding machine and a self-adaptive seeding depth real-time measurement and control device and method thereof. BACKGROUND

[0002] Seeding operation is a key link of modern wheat full mechanization, which can improve yield and reduce production operation cost. Traditional wheat seeding machines are mostly densely distributed on thin and narrow seedling belts, which easily causes problems such as narrow single-row seeding width, small plant spacing and poor ventilation and light transmission. In order to reduce the population density structure of seedling belt wheat and improve the utilization rate of wheat single water, fertilizer, light, temperature, gas and soil, etc., the wide seeding of wheat has important significance for effectively improving the yield of wheat. At present, on the wheat seeding machine, the design profile mechanism of the seeding unit opener and the depth limiting wheel are mainly used to control the ditching depth, so as to ensure the consistency of the seeding depth. However, the two control methods are affected by the ground adhesion and soil conditions, and the profile ability is often insufficient, which easily causes the problem of poor consistency of the seeding depth, and cannot guarantee uniform and consistent seeding, and has problems of low production efficiency, high labor intensity and high operation cost.

[0003] The control of the seeding depth of wheat can be realized by controlling the seeding unit ditching depth and the depth limiting wheel through different types of sensors. The complex farmland environment and the whole wheat seeding machine in the wheat seeding process need to be considered comprehensively, and the seeding characteristics of wheat are different and special. It is difficult to ensure the stability and consistency of the seeding depth of wheat under the condition of poor soil flatness. In actual seeding, the seeding depth is adjusted by adjusting the design profile mechanism of the seeding unit opener and the depth limiting wheel before operation. Since the consistency of the seeding depth is not only affected by the single ditching depth and the depth limiting wheel, but also affected by a series of comprehensive influences such as soil covering and pressing, and the growth process of wheat is not only affected by the seeding depth, but also affected by the pressing force before and after seeding. Therefore, considering the influencing factors of the seeding depth of wheat in the whole seeding process, improving the precision level of wheat seeding is a technical problem to be solved in the field. SUMMARY

[0004] The technical problem to be solved by the application is to provide a wide seedling belt wheat seeding machine and a seeding depth real-time measurement and control device and method thereof, which can realize the detection and control of key working parameters, ensure the consistency and stability of the seeding depth of wheat, and accurately regulate the seeding depth of wheat.

[0005] In order to achieve the above object, the application provides a sowing depth real-time measurement and control device arranged on a wide seedling strip wheat seeding machine, wherein the sowing depth real-time measurement and control device comprises:

[0006] A sowing depth controller arranged in a cab of the wide seedling strip wheat seeding machine;

[0007] A detection mechanism arranged on the wide seedling strip wheat seeding machine, comprising a post-sowing soil layer height sensor, a pre-sowing roller displacement sensor and a data collector; the data collector is connected with the sowing depth controller, the post-sowing soil layer height sensor and the pre-sowing roller displacement sensor respectively; the data collector collects data detected by the post-sowing soil layer height sensor and the pre-sowing roller displacement sensor and sends the data to the sowing depth controller; the post-sowing soil layer height sensor is used to detect the height of a soil layer pressed after sowing of the wide seedling strip wheat seeding machine; the pre-sowing roller displacement sensor is used to detect displacement of a pre-sowing roller of the wide seedling strip wheat seeding machine; and

[0008] An adjusting mechanism comprising an electric cylinder driver, a servo electric cylinder and a pre-sowing roller adjusting component; the electric cylinder driver is connected with the servo electric cylinder and the sowing depth controller respectively; the pre-sowing roller adjusting component is connected with the servo electric cylinder and the pre-sowing roller of the wide seedling strip wheat seeding machine respectively;

[0009] The sowing depth controller controls the pre-sowing roller adjusting component through the electric cylinder driver to adjust the position of the pre-sowing roller and realize adjustment of the sowing depth.

[0010] The sowing depth real-time measurement and control device, wherein the servo electric cylinders are symmetrically arranged on rack side plates of the wide seedling strip wheat seeding machine and are used to simultaneously or unilaterally control the pre-sowing roller adjusting component to adjust the position of the pre-sowing roller.

[0011] The sowing depth real-time measurement and control device, wherein the adjusting mechanism further comprises a soil blocking adjusting component; the soil blocking adjusting component comprises a support rod and a soil blocking plate; two ends of the support rod are connected with the rack side plates of the wide seedling strip wheat seeding machine; the soil blocking plate is connected with the support rod and the angle of the soil blocking plate is adjusted through the support rod.

[0012] The sowing depth real-time measurement and control device, wherein the pre-sowing roller adjusting component comprises adjusting plates symmetrically arranged on rack side walls of the wide seedling strip wheat seeding machine; the adjusting plates are provided with grooves and pulleys matched with the grooves; pre-sowing arms of the wide seedling strip wheat seeding machine are connected with the pulleys and are driven by the pulleys to move along the grooves under the driving of the servo electric cylinders.

[0013] The sowing depth real-time measurement and control device, wherein the post-sowing soil layer height sensor is installed on the post-sowing arm of the wide-planting-zone wheat sowing machine and is parallel to the side edge of the post-sowing arm; and the pre-sowing roller displacement sensor is installed on the servo motor cylinder and is connected with the pre-sowing arm.

[0014] The sowing depth real-time measurement and control device, wherein the sowing depth controller calculates a sowing depth feedback value according to the post-sowing soil layer height value obtained by the data collector in real time, calculates a pre-sowing roller displacement target value based on the fuzzy adaptive PID control algorithm of incomplete differentiation, and controls the servo motor cylinder to adjust the displacement of the pre-sowing roller according to the pre-sowing roller displacement target value, so as to achieve the preset sowing depth target value.

[0015] In order to better achieve the above-mentioned purpose, the application further provides a sowing depth real-time measurement and control method for the sowing depth real-time measurement and control device, wherein the method comprises the following steps:

[0016] S100, when the wide-planting-zone wheat sowing machine is normally operated, a post-sowing soil layer height value is obtained by real-time continuous sampling of the data collector, the pre-sowing soil layer height is used as a reference height, a sowing depth feedback value is calculated according to the post-sowing soil layer height value and the pre-sowing soil layer reference height, and the sowing depth feedback value is transmitted to the sowing depth controller;

[0017] S200, the sowing depth controller compares the sowing depth feedback value with a preset sowing depth target value, obtains a sowing depth deviation e and a sowing depth deviation change rate ec as fuzzy language input variables of the sowing depth controller, and performs fuzzy processing based on incomplete differentiation to obtain corresponding input language variables E and EC;

[0018] S300, the sowing depth controller performs fuzzy reasoning and inverse fuzzy operation based on incomplete differentiation on the input language variables E and EC obtained by the fuzzy processing, finally outputs correction values kP, kI and kD of the sowing depth control parameters, so as to realize online automatic adjustment of the fuzzy adaptive PID parameters based on incomplete differentiation, and determine a pre-sowing roller displacement target value; and

[0019] S400, the pre-sowing roller displacement target value is transmitted to the motor cylinder driver, the motor cylinder driver controls the adjusting mechanism to adjust the position of the pre-sowing roller, until the sowing depth feedback value is stabilized at the preset sowing depth target value, and the adjustment of the sowing depth is completed.

[0020] The sowing depth real-time measurement and control method, wherein in step S100, the sowing depth feedback value is obtained by calculation as follows:

[0021] Detect the pitch angle conversion between the post-sowing support arm and the post-sowing soil layer to obtain the post-sowing soil layer height value:

[0022] h=Lsin[S×(I out -I offset )]+R;

[0023] Wherein, h is the vertical height of the post-sowing support arm from the center of rotation to the surface of the soil layer, in mm; L is the cantilever length of the post-sowing support arm, in mm; S is the proportion of the current change corresponding to the sensor inclination change of the post-sowing soil layer height sensor; I out is the current value output by the post-sowing soil layer height sensor, in A; I offset is the current value output by the post-sowing soil layer height sensor at zero position, in A; R is the radius of the post-sowing roller, in mm.

[0024] The above sowing depth real-time measurement and control method, wherein in step S400, after the electric cylinder driver receives the displacement information of the servo electric cylinder, the servo electric cylinder drives the electric push rod to adjust the pre-sowing compression roller to reach the pre-sowing compression roller displacement target value through the adjusting mechanism in the sowing operation process, so that the sowing depth reaches the sowing depth target value.

[0025] In order to better achieve the above purpose, the application also provides a wide seedling belt wheat seeding machine, which comprises the above sowing depth real-time measurement and control device.

[0026] The technical effect of the application is:

[0027] The application realizes the accurate regulation and control of the sowing depth of the wide seedling belt wheat seeding machine, improves the consistency and stability of the sowing depth, and improves the sowing efficiency. Compared with the prior art, the application adjusts the post-sowing soil layer height by adjusting the position of the pre-sowing compression roller, realizes the accurate adjustment of the position of the pre-sowing compression roller by introducing the incomplete differential fuzzy adaptive PID control algorithm, realizes the real-time adjustment of the sowing depth of the wide seedling belt wheat seeding machine, improves the accuracy and response speed of the sowing depth control of the wide seedling belt wheat seeding machine during sowing. Even if the sowing depth cannot be directly detected, the problem of sowing depth control of the no-tillage seeding machine can also be solved, the continuous and stable sowing depth is ensured, the sowing efficiency is improved, the sowing efficiency is improved, and the sowing efficiency is improved. The sowing efficiency is improved, which is beneficial to improve the wheat emergence rate and improve the overall yield.

[0028] The application will be described in detail below in combination with the drawings and specific embodiments, but not as a limitation on the application. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1Structure schematic diagram of wide seedling belt wheat seeding machine of an embodiment of the present application;

[0030] Figure 2 Working principle diagram of seeding depth real-time measurement and control device of an embodiment of the present application;

[0031] Figure 3 Structure schematic diagram of pre-seeding rolling roller adjusting part of an embodiment of the present application;

[0032] Figure 4 Structure schematic diagram of soil blocking adjusting part of an embodiment of the present application;

[0033] Figure 5 Control method principle diagram of an embodiment of the present application.

[0034] Among them, the reference signs

[0035] 1 frame

[0036] 2 suspension frame

[0037] 3 traction machine

[0038] 4 cab

[0039] 5 seeding depth real-time measurement and control device

[0040] 51 seeding depth controller

[0041] 52 post-seeding soil layer height sensor

[0042] 53 pre-seeding rolling roller displacement sensor

[0043] 54 data collector

[0044] 55 pre-seeding rolling roller adjusting part

[0045] 551 electric cylinder driver

[0046] 552 servo electric cylinder

[0047] 553 sliding groove

[0048] 554 pulley

[0049] 555 adjusting plate

[0050] 56 soil blocking adjusting part

[0051] 561 soil blocking plate

[0052] 562 support rod

[0053] 6 pre-seeding rolling roller

[0054] 61 pre-seeding support arm

[0055] 7 post-seeding rolling roller

[0056] 71 post arm DETAILED DESCRIPTION

[0057] The structural principle and working principle of the present application will be described in detail below in combination with the drawings:

[0058] Referring to Figure 1 , Figure 1 The structural schematic diagram of the wide seedling strip wheat seeding machine of an embodiment of the present application. The wide seedling strip wheat seeding machine of the present application comprises a frame 1, a suspension frame 2, a traction machine 3 and a seeding depth real-time measurement and control device 5, the frame 1 is connected with the traction machine 3 through the suspension frame 2, the seeding depth real-time measurement and control device 5 is arranged in a cab 4 of the frame 1 and the traction machine 3, a vehicle terminal can be arranged in the cab 4, and a seeding depth controller 51 of the seeding depth real-time measurement and control device 5 can be integrated in the vehicle terminal. The composition, structure, mutual positional relationship, connection relationship and functions of other parts of the wide seedling strip wheat seeding machine are all mature prior art, and thus will not be described here in detail, and only the seeding depth real-time measurement and control device 5 of the present application will be described in detail below.

[0059] Referring to Figures 2-4 , Figure 2 The working principle diagram of the seeding depth real-time measurement and control device 5 of an embodiment of the present application, Figure 3 The structural schematic diagram of a pre-seeding roller adjusting part 55 of an embodiment of the present application, Figure 4The structure schematic diagram of the soil retaining adjusting component 56 of an embodiment of the present application. The sowing depth real-time measurement and control device 5 of the present application is arranged on a wide seed strip wheat seeding machine, and the sowing depth real-time measurement and control device 5 comprises: a sowing depth controller 51 arranged in a cab 4 of the wide seed strip wheat seeding machine; a detection mechanism arranged on the wide seed strip wheat seeding machine, comprising a post-sowing soil layer height sensor 52, a pre-sowing press roller displacement sensor 53 and a data collector 54; the data collector 54 is connected with the sowing depth controller 51, the post-sowing soil layer height sensor 52 and the pre-sowing press roller displacement sensor 53 respectively, and the data collector 54 is preferably connected with the sowing depth controller 51 through a data bus; the data collector 54 collects data detected by the post-sowing soil layer height sensor 52 and the pre-sowing press roller displacement sensor 53 and sends the data to the sowing depth controller 51; the data collector 54 obtains the information of the wheat sowing soil covering amount and the moving distance of the pre-sowing press roller 6 in the operation process through the post-sowing soil layer height sensor 52 and the pre-sowing press roller displacement sensor 53, and the information is transmitted to the sowing depth controller 51 through the data bus and can also be transmitted to the host computer of the vehicle-mounted terminal; the post-sowing soil layer height sensor 52 is used for detecting the height of the soil layer pressed after sowing of the wide seed strip wheat seeding machine; the pre-sowing press roller displacement sensor 53 is used for detecting the displacement of the pre-sowing press roller 6 of the wide seed strip wheat seeding machine; and an adjusting mechanism comprising an electric cylinder driver 551, a servo electric cylinder 552 and a pre-sowing press roller adjusting component 55, the electric cylinder driver 551 is connected with the servo electric cylinder 552 and the sowing depth controller 51 respectively, and the pre-sowing press roller adjusting component 55 is connected with the servo electric cylinder 552 and the pre-sowing press roller 6 of the wide seed strip wheat seeding machine respectively; wherein the sowing depth controller 51 controls the pre-sowing press roller adjusting component 55 through the electric cylinder driver 551 to adjust the position of the pre-sowing press roller 6. The servo electric cylinder 552 is installed on the side plate of the machine frame 1 through a fixed support, and the control signal of the servo electric cylinder 552 is taken from the electric cylinder driver 551, and the electric cylinder driver 551 is connected with the sowing depth controller 51 through a cable line. The position of the pre-sowing press roller 6 is adjusted by controlling the action of the servo electric cylinder 552, so as to adjust the soil amount passing through the pre-sowing press roller 6, and further adjust the sowing depth of the wide seed strip wheat seeding machine.

[0060] Referring to Figure 2, the present application adjusts the distance of the pre-sowing roller adjusting part 55 moving forward and backward, so as to change the amount of soil thrown backward by the secondary rotary tillage knife group over the pre-sowing roller 6, which is blocked by the soil blocking plate 561 and then falls down. The moving distance l of the pre-sowing roller adjusting part 55 is inversely proportional to the seeding depth, that is, the greater the moving distance l, the thinner the soil layer formed by the secondary rotary tillage knife group throwing soil backward to cover the seeds, and the shallower the seeding depth, and vice versa. The post-sowing soil layer height sensor 52 is installed on the post-sowing arm 71 and is used to detect the post-sowing soil layer height, and the feedback value is transmitted to the seeding depth measurement controller through the data collector 54. Firstly, the post-sowing soil layer height is subtracted from the reference value, and the obtained value is the feedback value of the seeding depth. The seeding depth measurement controller is preferably ECU, which runs the incomplete differential fuzzy self-adaptive PID control algorithm in the internal, and calculates the target control amount of the servo motor cylinder 552 according to the deviation between the feedback value of the seeding depth and the preset value, and outputs the target control amount to the servo motor cylinder 552. The servo motor cylinder 552 drives the pre-sowing roller adjusting part 55 to move a certain distance until the feedback value of the seeding depth is stable at the preset value. The pre-sowing roller displacement sensor 53 is used to detect the moving distance of the pre-sowing roller 6 and is transmitted to the seeding depth measurement controller through the data collector 54.

[0061] Referring to Figure 3 , the servo motor cylinder 552 is symmetrically arranged on the side plate of the frame 1 of the wide seedling belt wheat seeding machine, and is used to control the position of the pre-sowing roller 6 by adjusting the pre-sowing roller adjusting part 55 simultaneously or on one side. The pre-sowing roller adjusting part 55 of the embodiment comprises an adjusting plate 555 symmetrically arranged on the side wall of the frame 1 of the wide seedling belt wheat seeding machine, and the adjusting plate 555 is provided with a sliding groove 553 and a pulley 554 matched with the sliding groove 553. The pre-sowing roller 6 is connected with the frame 1 through a pre-sowing arm 61, the pre-sowing arm 61 is connected with the pulley 554, and is driven by the pulley 554 to move along the sliding groove 553 under the drive of the servo motor cylinder 552. The pre-sowing roller displacement sensor 53 is installed on the servo motor cylinder 552 and is connected with the pre-sowing arm 61 through a pull rope, and is used to measure the moving distance of the pre-sowing roller 6. The post-sowing roller 7 is connected with the frame 1 through a post-sowing arm 71, the post-sowing soil layer height sensor 52 is installed on the post-sowing arm 71 of the wide seedling belt wheat seeding machine and is parallel to the side edge of the post-sowing arm 71, and the installation needs to be strictly parallel to the side edge of the post-sowing arm 71. The pre-sowing roller displacement sensor 53 is installed on the servo motor cylinder 552 and is connected with the pre-sowing arm 61.

[0062] Referring to Figure 4The adjusting mechanism further comprises a soil blocking adjusting component 56, which comprises a support rod 562 and a soil blocking plate 561, two ends of the support rod 562 are connected with the side plate of the frame 1 of the wide-planting-strip wheat seeding machine, the soil blocking plate 561 is connected with the support rod 562 and fixed with the frame 1, and the angle of the soil blocking plate 561 is adjusted through the support rod 562.

[0063] In the embodiment, the sowing depth controller 51 obtains the sowing depth feedback value according to the post-sowing soil layer height value obtained by the data collector 54 in real time, and obtains the pre-rolling displacement target value of the pre-rolling roller based on the fuzzy adaptive PID control algorithm of incomplete differentiation, and the sowing depth controller 51 controls the servo electric cylinder 552 to adjust the displacement of the pre-rolling roller 6 according to the pre-rolling displacement target value of the pre-rolling roller, so as to achieve the preset sowing depth target value.

[0064] Referring to Figure 5 , Figure 5 It is a control method principle diagram of an embodiment of the application. The sowing depth real-time measurement and control method of the application is used for the sowing depth real-time measurement and control device 5 described above, and can comprise the following steps:

[0065] In step S100, when the wide-planting-strip wheat seeding machine is normally operated, the post-sowing soil layer height value is obtained by the data collector 54 in real time and continuously, the pre-rolling soil layer height is taken as the reference height, the sowing depth feedback value is calculated according to the post-sowing soil layer height value and the pre-rolling soil layer reference height, and the sowing depth feedback value is transmitted to the sowing depth controller 51 through a data bus.

[0066] In step S200, the sowing depth controller 51 compares the sowing depth feedback value with the preset sowing depth target value, obtains the sowing depth deviation e and the sowing depth deviation change rate ec as the fuzzy language input variables of the sowing depth controller 51, and performs fuzzy processing based on incomplete differentiation to obtain the corresponding input language variables E and EC.

[0067] In step S300, the sowing depth controller 51 performs fuzzy reasoning and inverse fuzzy operation based on incomplete differentiation on the input language variables E and EC obtained by the fuzzy processing, obtains three output fuzzy language variables and the membership degrees corresponding thereto by querying the fuzzy control rule table set according to the expert experience, and finally outputs the correction values kP, kI and kD of the sowing depth control parameters, so as to realize the online automatic adjustment of the fuzzy adaptive PID parameters based on incomplete differentiation, and determine the pre-rolling displacement target value; and

[0068] Step S400, send the pre-sowing roller displacement target value to the electric cylinder driver 551, the electric cylinder driver 551 controls the adjusting mechanism to adjust the position of the pre-sowing roller 6 until the sowing depth feedback value is stable at the preset sowing depth target value, and the adjustment of the sowing depth is completed; wherein, after the electric cylinder driver 551 receives the displacement information of the servo electric cylinder 552, it controls the servo electric cylinder 552 to drive the electric push rod to adjust the pre-sowing roller 6 to reach the pre-sowing roller displacement target value through the adjusting mechanism during the sowing operation, so that the sowing depth reaches the sowing depth target value.

[0069] In step S100, the sowing depth feedback value is obtained by calculation as follows:

[0070] After detecting the pitch angle α between the post-sowing support arm 71 and the post-sowing soil layer, the post-sowing soil layer height value is obtained:

[0071] h=Lsin[S×(I out -I offset )]+R;

[0072] Wherein, h is the vertical height of the center of rotation of the post-sowing support arm 71 from the surface of the soil layer, with the unit of mm; L is the cantilever length of the post-sowing support arm 71, with the unit of mm; S is the proportion of current change corresponding to the change of sensor inclination angle of the post-sowing soil layer height sensor 52; I out is the current value output by the post-sowing soil layer height sensor 52, with the unit of A; I offset is the current value output by the zero position of the post-sowing soil layer height sensor 52, with the unit of A; R is the radius of the post-sowing roller, with the unit of mm.

[0073] The application is based on real-time soil covering quantity adjustment of sowing operation, and can accurately and real-timely control the wheat sowing depth. In the sowing depth controller 51, a fuzzy adaptive PID algorithm based on incomplete differentiation is used to control the sowing depth; the sowing depth controller 51 calculates the sowing depth feedback value according to the real-time obtained post-sowing soil layer height value acquired by the data collector 54, and uses the fuzzy adaptive PID algorithm based on incomplete differentiation for calculation, and obtains an expected sowing depth information and an expected pre-sowing compression roller 6 displacement information after calculation, and sends the expected sowing depth information and the expected pre-sowing compression roller 6 displacement information to the sowing depth controller 51, and the sowing depth controller 51 adjusts the servo electric cylinder 552 according to the information, controls the displacement of the pre-sowing compression roller 6 to reach the expected value, so that the sowing depth reaches the expected value. The application realizes accurate regulation and control of the sowing depth of the wide seedling belt wheat sowing machine, and improves the consistency and stability of the sowing depth. Compared with the prior art, the application adjusts the sowing depth of the post-sowing soil layer height based on the regulation of the position of the pre-sowing compression roller 6, realizes accurate regulation of the position of the pre-sowing compression roller 6 by introducing the incomplete differentiation fuzzy adaptive PID control algorithm, realizes real-time adjustment of the sowing depth of the wide seedling belt wheat sowing machine, and improves the accuracy and response speed of the sowing depth control of the wide seedling belt wheat sowing machine during sowing. Even under the condition that the sowing depth cannot be directly detected, the problem of sowing depth control of the no-tillage sowing machine can be solved, the continuous and stable sowing depth is ensured, the sowing efficiency is improved, the sowing efficiency is improved, the wheat emergence rate is improved, and the overall yield is improved.

[0074] Of course, the application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the application without departing from the spirit and essence of the application, but these corresponding changes and modifications should belong to the protection scope of the claims attached to the application.

Claims

1. A method for real-time measurement and control of sowing depth, used in a real-time sowing depth measurement and control device, wherein the real-time sowing depth measurement and control device is installed on a wide-seedling-belt wheat seeder, characterized in that, The real-time seeding depth monitoring and control device includes: A seeding depth controller is installed in the cab of the wide-seedling wheat seeder; The detection mechanism, installed on the wide-seedling-belt wheat seeder, includes a post-sowing soil layer height sensor, a pre-sowing press roller displacement sensor, and a data acquisition device. The data acquisition device is connected to the sowing depth controller, the post-sowing soil layer height sensor, and the pre-sowing press roller displacement sensor. The data acquisition device collects data detected by the post-sowing soil layer height sensor and the pre-sowing press roller displacement sensor and sends it to the sowing depth controller. The post-sowing soil layer height sensor detects the height of the soil layer after sowing and compaction by the wide-seedling-belt wheat seeder. The pre-sowing press roller displacement sensor detects the displacement of the pre-sowing press roller of the wide-seedling-belt wheat seeder. The adjustment mechanism includes an electric cylinder driver, a servo electric cylinder, and a pre-sowing press roller adjustment component. The electric cylinder driver is connected to the servo electric cylinder and the sowing depth controller, respectively. The pre-sowing press roller adjustment component is connected to the servo electric cylinder and the pre-sowing press roller of the wide seedling belt wheat seeder, respectively. The sowing depth controller controls the pre-sowing press roller adjustment component through the electric cylinder driver to adjust the position of the pre-sowing press roller to adjust the sowing depth; the post-sowing soil layer height sensor is installed on the post-sowing support arm of the wide seedling belt wheat seeder and is parallel to the side of the post-sowing support arm. The real-time seeding depth measurement and control method includes the following steps: S100. When the wide seedling strip wheat seeder is operating normally, the post-sowing soil layer height value is obtained by real-time continuous sampling through the data acquisition device. The pre-sowing soil layer height is used as the reference height, and the sowing depth feedback value is calculated based on the post-sowing soil layer height value and the pre-sowing soil layer reference height. The sowing depth feedback value is then sent to the sowing depth controller. S200. The sowing depth controller compares the sowing depth feedback value with the preset sowing depth target value to obtain the sowing depth deviation e and the sowing depth deviation change rate ec as fuzzy language input variables of the sowing depth controller, and performs fuzzification processing based on incomplete differentiation to obtain the corresponding input language variables E and EC. S300, the sowing depth controller performs fuzzy inference and defuzzification operations based on incomplete differentiation on the input linguistic variables E and EC obtained after fuzzification processing, and finally outputs the correction values ​​kP, kI, and kD of the sowing depth control parameters to achieve online automatic adjustment of the fuzzy adaptive PID parameters based on incomplete differentiation, and determine the target value of the pre-sowing press roller displacement; and S400: The target value of the pre-sowing press roller displacement is sent to the electric cylinder driver. The electric cylinder driver controls the adjustment mechanism to adjust the position of the pre-sowing press roller until the sowing depth feedback value is stable at the preset sowing depth target value, thus completing the adjustment of the sowing depth. In step S100, the seeding depth feedback value is obtained by the following calculation: The elevation angle between the post-sowing support arm and the post-sowing soil layer was detected to obtain the height value of the post-sowing soil layer: h=Lsin[S×(I out -I offset )]+R; Where h is the vertical height of the rotation center of the post-sowing support arm from the surface of the covering soil layer, in mm; L is the cantilever length of the post-sowing support arm, in mm; S is the proportion of the current change corresponding to the change in the sensor tilt angle of the post-sowing soil layer height sensor; I out The current value output by the post-sowing soil layer height sensor is expressed in amperes (A). offset R is the current value output at the zero point of the post-sowing soil layer height sensor, in A; R is the radius of the post-sowing pressing roller, in mm.

2. The real-time seeding depth measurement and control method as described in claim 1, characterized in that, In step S400, after receiving the displacement information of the servo electric cylinder, the electric cylinder driver controls the servo electric cylinder to drive the electric push rod to adjust the pre-sowing pressing roller through the adjustment mechanism to achieve the target displacement value of the pre-sowing pressing roller, so that the sowing depth reaches the target sowing depth value.

3. The real-time seeding depth measurement and control method as described in claim 1, characterized in that, The servo electric cylinders are symmetrically arranged on the side plates of the frame of the wide seedling strip wheat planter, and are used to simultaneously or unilaterally control the pre-sowing press roller adjustment component to adjust the position of the pre-sowing press roller.

4. The real-time seeding depth measurement and control method as described in claim 1, characterized in that, The adjustment mechanism also includes a soil retaining adjustment component, which includes a support rod and a soil retaining plate. The two ends of the support rod are connected to the side plate of the frame of the wide seedling belt wheat planter. The soil retaining plate is connected to the support rod, and the angle of the soil retaining plate is adjusted by the support rod.

5. The real-time seeding depth measurement and control method as described in claim 1, characterized in that, The pre-sowing press roller adjustment component includes adjustment plates symmetrically installed on the side wall of the frame of the wide seedling belt wheat seeder. The adjustment plate is provided with a chute and a pulley adapted to the chute. The pre-sowing support arm of the wide seedling belt wheat seeder is connected to the pulley and is driven by the pulley to move along the chute under the drive of the servo electric cylinder.

6. The real-time seeding depth measurement and control method as described in claim 5, characterized in that, The pre-planting press roller displacement sensor is mounted on the servo electric cylinder and connected to the pre-planting support arm.

7. The real-time seeding depth measurement and control method as described in claim 1, characterized in that, The sowing depth controller calculates the sowing depth feedback value based on the real-time soil layer height value obtained by the data acquisition device, and calculates the target value of the pre-sowing press roller displacement based on the fuzzy adaptive PID control algorithm with incomplete differentiation. The sowing depth controller controls the servo electric cylinder to adjust the displacement of the pre-sowing press roller according to the target value of the pre-sowing press roller displacement, so as to achieve the preset target value of sowing depth.

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