A fixed-depth seeder and sowing method based on terrain scanning

Abstract

The invention relates to a fixed-depth seeder and a sowing method based on terrain scanning, wherein the seeder comprises: a sowing unit, which is used to perform sowing work driven by a power machine, wherein a furrow opener is arranged in the sowing unit, and the furrow opener is used to open a seed furrow; a depth adjustment unit, wherein the furrow opener is installed on the sowing unit through the depth adjustment unit to adjust the furrowing depth; a control unit, wherein the control unit is connected with a speed acquisition module, a scanning unit and an input module, wherein the input module is used to acquire a preset sowing depth, the scanning unit is used to scan the cultivated land terrain, the speed acquisition module is used to acquire the forward speed of the seeder, and the control unit adjusts the furrowing depth through the depth adjustment unit; during sowing, the depth of the seed furrow formed by the furrow opener relative to the ground surface is consistent, so that the seed sowing depth can be prevented from being too deep or too shallow, thereby improving the emergence rate of the seeds.

Description

Technical Field

[0001] The invention relates to the technical field of sowing, and in particular to a fixed-depth seeder and a sowing method based on terrain scanning. Background Art

[0002] When sowing, a seeder is often needed. After the current seeder has adjusted the sowing depth, the sowing depth will not be adjusted again during the sowing process.

[0003] However, due to the uneven ground, during the sowing process, some seeds are sown at a low depth or exposed on the ground, such as Figure 1 As shown, when encountering a slope, the seed sowing depth is deep, and when encountering a seed furrow, the seeds are exposed to the ground. The seeds with a low sowing depth or exposed to the ground will not germinate, resulting in a low germination rate. Therefore, the present application proposes a fixed-depth seeder and sowing method based on terrain scanning. Summary of the invention

[0004] The object of the present invention is to provide a fixed-depth seeder and a sowing method based on terrain scanning, so as to solve the problem that after sowing by the seeder, some seeds are affected in germination due to the large sowing depth.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A fixed-depth seeder based on terrain scanning, the seeder comprising:

[0007] A sowing unit is used to perform sowing work under the drive of a power machine, wherein a furrow opener is arranged in the sowing unit, and the furrow opener is used to open a seed furrow;

[0008] A depth adjustment unit, through which the furrow opener is mounted on the sowing unit to adjust the furrowing depth;

[0009] The control unit is connected to a speed acquisition module, a scanning unit and an input module, the input module is used to obtain a preset sowing depth, the scanning unit is used to scan the cultivated land terrain, the speed acquisition module is used to obtain the forward speed of the seeder, and the control unit controls the depth adjustment unit to adjust the furrowing depth based on the preset sowing depth, the terrain scanning result and the forward speed of the seeder.

[0010] Furthermore, the seed drill is provided with a frame, and the scanning unit comprises:

[0011] A scanning support hinged to the frame;

[0012] Rotating a scanning wheel connected to the end of the scanning support away from the frame;

[0013] The angle detection component connected to the frame and the scanning support is used to detect the angle of the scanning support and the seeder. The control unit identifies the undulation of the cultivated land based on the detection result of the angle detection component.

[0014] Furthermore, the angle detection component includes:

[0015] Telescopic tube;

[0016] A telescopic rod, wherein the telescopic tube is sleeved on the outside of the telescopic rod, one end of the telescopic tube away from the telescopic rod is hinged on the frame, and one end of the telescopic rod away from the telescopic tube is hinged on the scanning bracket;

[0017] A distance sensor is fixed on the telescopic tube, a detection plate is fixed on the telescopic rod, and the distance sensor is used to detect the distance from the detection plate to detect the length of the telescopic tube and the telescopic rod.

[0018] Furthermore, an outer retaining ring is provided at one end of the telescopic rod located inside the telescopic tube, the telescopic tube is sleeved on one end of the telescopic rod and a limit cover is fixed thereto, the limit cover is sleeved on the telescopic rod to prevent the telescopic rod from escaping from the telescopic tube.

[0019] Furthermore, the depth adjustment unit includes:

[0020] A support arm hinged on the frame, the furrow opener fixedly connected to an end of the support arm away from the frame;

[0021] The adjusting arm is an automatically retractable arm, and both ends of the adjusting arm are respectively hinged on the frame and the supporting arm, and are used to adjust the angle between the supporting arm and the frame. The control unit controls the retraction of the adjusting arm based on the detection result of the distance sensor.

[0022] Furthermore, a limit assembly is fixedly connected to the frame, and the limit assembly includes:

[0023] A supporting rod, the supporting rod is located below the scanning support;

[0024] Limit rods fixedly connected to both ends of the support rod, and the limit rods are slidably connected to the frame;

[0025] The threaded rod connected to the support rod is rotated, and the threaded rod is installed on the frame through a threaded connection. When the scanning bracket is folded, the threaded rod is rotated to make the threaded rod rise on the frame, and the threaded rod drives the support rod to rise, and the support rod holds up the scanning bracket.

[0026] Furthermore, a scraper is fixedly connected to the end of the scanning bracket to scrape away mud on the scanning wheel.

[0027] Furthermore, the seed drill also includes:

[0028] A seed drop control unit is connected to the seed meter on the seeder to control the seed drop speed of the seed meter

[0029] Furthermore, the seed placement control unit is a speed regulating motor, and the control unit controls the rotation speed of the speed regulating motor based on the forward speed of the seeder detected by the speed acquisition module, and the speed regulating motor is connected to the seeding device on the seeder to control the seeding speed.

[0030] The present invention also discloses a sowing method, which is implemented based on the above-mentioned seeder and comprises the following steps:

[0031] Step S10, obtaining a preset sowing depth through an input module;

[0032] Step S20: During the sowing process, the surface undulation of the cultivated land is acquired through the scanning unit, and the forward speed of the sowing machine is acquired through the speed acquisition module;

[0033] Step S30: The control unit controls the ups and downs of the end of the furrow opener of the seeder based on the ups and downs of the ground surface and the forward speed of the seeder so that the furrowing depth on the ground surface is always the preset sowing depth.

[0034] In summary, the present invention has the following beneficial effects compared with the prior art:

[0035] The seeder of the present invention can control the ups and downs of the furrow opener by scanning the terrain and combining the forward speed of the seeder. When sowing, the depth of the seed furrow formed by the furrow opener relative to the ground surface is consistent, thereby controlling the sowing depth to be relatively consistent, preventing the seed sowing depth from being too deep or too shallow, and improving the seed germination rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of the seed position after sowing with a traditional seeder.

[0037] Figure 2 It is a schematic structural diagram of a fixed-depth seeder based on terrain scanning disclosed in an embodiment of the present invention.

[0038] Figure 3 for Figure 2 A partial enlarged view of point I in the middle.

[0039] Figure 4 It is a schematic structural diagram of an angle detection component in a fixed-depth seeder based on terrain scanning disclosed in an embodiment of the present invention.

[0040] Figure 5It is a schematic structural diagram of a position limiting assembly in a fixed-depth seeder based on terrain scanning disclosed in an embodiment of the present invention.

[0041] Figure 6 This is a flowchart of the steps of a fixed-depth seeding method based on terrain scanning disclosed in an embodiment of the present invention.

[0042] Reference numerals:

[0043] 100, sowing unit; 110, frame; 120, seed box; 130, seed meter; 140, furrow opener; 150, soil cover; 160, pressing wheel; 200, scanning unit; 210, scanning bracket; 220, scanning wheel; 230, angle detection component; 231, telescopic tube; 232, telescopic rod; 233, distance sensor; 234, detection plate; 240, limit assembly; 241, support rod; 242, limit rod; 243, threaded rod; 244, limit retaining spring; 250, scraper; 300, depth adjustment unit; 310, support arm; 320, adjustment arm; 400, speed acquisition module; 500, seed drop control unit. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] Example 1

[0046] As another embodiment of the present invention, Figure 2 As shown, this embodiment discloses a fixed-depth seeding machine based on terrain scanning, the seeding machine includes a seeding unit 100 and a scanning unit 200, a depth adjustment unit 300, a speed acquisition module 400, an input module and a control unit, the seeding unit 100 includes a frame 110 and a seed box 120 fixed to the frame 110, a seed meter 130, a furrow opener 140, a soil cover 150 and a transmission mechanism, the control unit obtains the scanning result of the scanning unit 200 and the detection result of the speed acquisition module 400, the user inputs a preset seeding depth to the control unit through the input module, and controls the depth adjustment unit 300 to work based on the fixed-depth seeding method based on terrain scanning described in Example 1, so that the depth adjustment unit 300 controls the furrowing depth of the furrow opener 140.

[0047] Specifically, in this embodiment, the sowing unit 100 is a prior art, such as the frame 110 is welded from square steel, and is provided with a connection end connected to a power machine (tractor, etc.), a travel wheel for facilitating the travel of the sowing machine, etc., and the seed box 120, the seed meter 130, the furrow opener 140, the soil cover 150 and the transmission mechanism are all structures in the prior art, such as the transmission mechanism is connected to the seed meter 130 and the power machine, and the power on the power machine is transmitted to the seed meter 130, so that the seed meter 130 evenly discharges the seeds in the frame 110 and falls into the seed furrow from behind the furrow opener 140;

[0048] The furrow opener 140 is mounted on the frame 110 via a depth adjustment unit 300, and the depth adjustment unit 300 controls a small swing on the furrow opener 140, thereby achieving depth adjustment of the seed furrow;

[0049] In this embodiment, a pressing wheel 160 is further provided on the frame 110 , and the pressing wheel 160 is a prior art.

[0050] The input module is an input panel, such as a panel with a keyboard and a display screen. When the user inputs a preset sowing depth, the vertical value of the preset sowing depth is input through the keyboard, and the display screen is used to display the user's input value. The input module is electrically connected to the control unit through a flat cable.

[0051] As a preferred implementation in this embodiment, the scanning unit 200 includes:

[0052] A scanning support 210 hinged on the frame 110;

[0053] Rotating a scanning wheel 220 connected to the end of the scanning support 210 away from the frame 110;

[0054] An angle detection component 230 connected to the frame 110 and the scanning support 210 is used to detect the angle between the scanning support 210 and the planter, and the control unit identifies the undulation of the cultivated land based on the detection result of the angle detection component 230;

[0055] Specifically, in this embodiment, the scanning bracket 210 is installed on the support arm 310 through a bearing structure, so that the swing resistance of the scanning bracket 210 is small, reducing the inaccurate detection result caused by the large swing resistance. The scanning bracket 210 is a lightweight rod, such as the scanning bracket 210 is a plastic rod. The end of the scanning bracket 210 connected to the frame 110 is provided with a rotating shaft structure, and the rotating shaft structure located on the scanning bracket 210 is rotatably connected to the frame 110 through a bearing; the scanning wheel 220 is rotatably connected to the end of the scanning bracket 210 away from the frame 110, and the diameter of the scanning wheel 220 is set based on the detection accuracy required by the user. For example, if the diameter of the scanning wheel 220 is 10 cm, it does not have a high accuracy for some small seed furrows. In this embodiment, the diameter of the scanning wheel 220 is 8 cm, the width of the scanning wheel 220 is 2 cm, the surface of the scanning wheel 220 is smooth, and the outer side of the scanning wheel 220 is an arc, so that the scanning wheel 220 can reduce soil adhesion;

[0056] Preferably, Figure 4As shown, the angle detection component 230 includes a telescopic tube 231, a telescopic rod 232 and a distance sensor 233. The telescopic tube 231 is sleeved on the outside of the telescopic rod 232. The end of the telescopic tube 231 away from the telescopic rod 232 is hinged on the frame 110. The end of the telescopic rod 232 away from the telescopic tube 231 is hinged on the scanning bracket 210. The end of the telescopic rod 232 located inside the telescopic tube 231 is provided with an outer retaining ring. The telescopic tube 231 is sleeved on one end of the telescopic rod 232 and a limit cover is fixed. The limit cover is sleeved on the telescopic rod 232. The limit cover is The threaded connection is fixed to the telescopic tube 231, which is used to prevent the telescopic rod 232 from escaping from the telescopic tube 231, and can also play a role in limiting the scanning bracket 210. The telescopic tube 231 is fixed with a distance sensor 233, and the telescopic rod 232 is fixed with a detection plate 234. The distance sensor 233 is used to detect the distance from the detection plate 234, so as to detect the length of the telescopic tube 231 and the telescopic rod 232. The distance sensor 233 is an ultrasonic distance sensor, and the output end of the distance sensor 233 is facing the detection plate 234. The ultrasonic distance sensor passes through the detection plate 234. The reflected echo detects the distance between the distance sensor 233 and the detection plate 234. Since the distance sensor 233 and the detection plate 234 are respectively fixed to the telescopic tube 231 and the telescopic rod 232, the change in the distance between the distance sensor 233 and the detection plate 234 and the length of the structure formed by the telescopic tube 231 and the telescopic rod 232 have a linear relationship. The length of the structure formed by the scanning bracket 241 and the telescopic tube 231 and the telescopic rod 232 can be calculated by trigonometric function (the structure formed by the scanning bracket 241, the telescopic tube 231 and the telescopic rod 232, and the triangle formed by the rack 110). By detecting the distance sensor 233 and the detection plate 234, the distance between the distance sensor 233 and the detection plate 234 is linearly related to the length of the structure formed by the telescopic tube 231 and the telescopic rod 232. The distance between them, and then the length of the structure formed by the telescopic tube 231 and the telescopic rod 232 can be calculated by adding the distance between the distance sensor 233 and the detection plate 234 to the distance between the detection plate 234 and the connection point between the telescopic rod 232 and the scanning bracket 241, and the distance between the distance sensor 233 and the frame 110 and the telescopic tube 231. The relationship between the scanning bracket 210 and the frame 110 is calculated by trigonometric functions. The calculation method of trigonometric functions is a prior art. The distance sensor 233 is fixed to the telescopic tube 231 through a bracket structure, and the detection plate 234 is fixed to the telescopic rod 232 through a shaft sleeve connection.

[0057] As a preferred implementation in this embodiment, Figure 3 and Figure 5As shown, the frame 110 is also fixedly connected to a limiting assembly 240. When sowing is stopped, the limiting assembly 240 is used to limit the scanning bracket 210 to prevent it from being dragged on the ground. The limiting assembly 240 includes a support rod 241, a limiting rod 242, a threaded rod 243 and a limiting clamping spring 244. The support rod 241 is located below the scanning bracket 210. The limiting rod 242 is fixedly connected to both ends of the support rod 241 by welding or threaded connection. The limiting rod 242 is slidably connected to the frame 110. The threaded rod 243 is rotatably connected to the support rod 241. The threaded rod 243 is installed on the frame 110 by threaded connection. When the scanning bracket 210 is folded, the threaded rod 243 is rotated to make the threaded rod 243 rise on the frame 110. The threaded rod 243 drives the support rod 241 to rise, and the support rod 241 holds up the scanning bracket 210.

[0058] In this embodiment, the support rod 241 is connected to the support rod 241 through a limiting retaining spring 244, a connecting tube is provided on the support rod 241, the limiting retaining spring 244 is a U-shaped retaining spring, an annular groove is provided at the end of the threaded rod 243, the annular groove is provided in the connecting tube, and the limiting retaining spring 244 passes through the side wall of the connecting tube and is provided in the annular groove.

[0059] Preferably, a scraper plate 250 is also fixedly connected to the end of the scanning bracket 210. The scraper plate 250 is an arc-shaped plate. The scraper plate 250 is fixed to the scanning bracket 210 by screws. The arc-shaped part of the scraper plate 250 is located on the outside of the scanning wheel 220 and is used to scrape off the mud on the scanning wheel 220.

[0060] It should be noted that, in the present embodiment, the scanning unit 200 may also be other structures, such as the scanning unit 200 is a sensor based on photoelectric scanning, such as the scanning unit 200 is a line laser contour sensor, which is used to detect the contour of the ground surface, thereby detecting the position of the ground surface relative to the scanning unit 200, thereby guiding the control unit to control the depth adjustment unit 300 to work. When the line laser contour sensor detects the contour of the ground surface, the control unit can identify the distance between a preset point on the ground surface and the scanning unit 200, and the preset point is a point in the forward direction of the furrow opener 140. The control unit identifies the undulations of the ground surface based on the change in the distance between the preset point and the scanning unit 200.

[0061] In this embodiment, each of the scanning units 200 corresponds to a furrow opener 140 on a planter, and the scanning unit 200 is arranged in the forward direction of the furrow opener 140;

[0062] The limiting assembly 240 is provided with a supporting rod 241 to support all scanning supports 240 , and limiting rods 242 are located at both ends of the supporting rod 241 , and the limiting rods 242 are connected to both ends of the frame 100 .

[0063] As a preferred implementation in this embodiment, Figure 3 As shown, the depth adjustment unit 300 includes:

[0064] A support arm 310 hinged on the frame 110, and the furrow opener 140 is fixedly connected to an end of the support arm 310 away from the frame 110;

[0065] An adjusting arm 320, wherein the adjusting arm 320 is an automatically retractable arm, and both ends of the adjusting arm 320 are respectively hinged on the frame 110 and the support arm 310, and are used to adjust the angle between the support arm 310 and the frame 110;

[0066] Specifically, in the present embodiment, the support arm 310 is hinged to the frame 110 through a bearing structure, and the two ends of the adjustment arm 320 are respectively hinged to the frame 110 and the middle position of the support arm 310, and the adjustment arm 320, the support arm 310 and the frame 110 form a triangular structure. Since the connection position of the adjustment arm 320 between the frame 110 and the support arm 310 is inconvenient, when the length of the adjustment arm 320 changes, the angle between the support arm 310 and the frame 110 changes, and during sowing, the height of the frame 110 relative to the ground surface changes less (because the radius of the form wheel on the frame 110 is larger, and the seed furrow with larger tillage force will generally be filled, and the larger slope will lift the frame 110 through the form wheel, so that the frame 110 is equivalent to a smaller change of the ground surface), therefore, the furrowing depth of the furrow opener 140 can be changed by changing the angle of the support arm 310;

[0067] When controlling the trenching depth, the size of the support arm 310 remains unchanged. When the length of the adjustment arm 320 changes, the trenching depth of the trencher 140 will change. The trenching depth is linearly related to the length change of the adjustment arm 320. In this embodiment, the support arm 310 and the scanning bracket 210 are connected in the same way, and the length change of the adjustment arm 320 is linearly related to the length change of the angle detection component 230. Therefore, when the length change of the angle detection component 230 is multiplied by a correlation coefficient, the length of the adjustment arm 320 can be calculated, which makes the control logic simpler. The control unit controls the length of the adjustment arm 320 based on the change in the length of the angle detection component 230 (the distance between the distance sensor 233 and the detection plate 234).

[0068] In this embodiment, the support arm 310 is a square rod, the furrow opener 140 is fixedly connected to the end of the support arm 310 by a bolt structure, the seed discharge pipe of the seed metering device 130 is also fixed to the end of the support arm 310, the seed discharge pipe of the seed metering device 130 is a corrugated tube, and the adjusting arm 320 is an electric telescopic rod or a hydraulic telescopic rod, so that the length of the adjusting arm 320 can be adjusted by the control unit.

[0069] As a preferred implementation in this embodiment, the speed acquisition module 400 is a prior art, such as a wheel speed sensor arranged on the frame 110 and a gear ring arranged on the traveling wheel. When the traveling wheel rotates, the gear ring rotates with the traveling wheel. The wheel speed sensor identifies the rotation speed of the gear ring. The control unit is electrically connected to the wheel speed sensor. The control unit calculates the traveling speed of the planter based on the detection result of the wheel speed sensor and the diameter of the traveling wheel. The calculation method is a prior art, such as a vehicle speed calculation method of an automobile.

[0070] As a preferred implementation in this embodiment, the speed acquisition module 400 can also be a positioning structure, such as Beidou positioning, GPS positioning, etc. The speed acquisition module 400 calculates the speed of the seed drill according to the position change.

[0071] The seeder is also provided with a seed drop control unit 500. The control unit controls the rotation speed of the seed metering device 130 through the seed drop control unit 500, thereby controlling the seed drop speed. In the present embodiment, the seed drop control unit 500 is a speed regulating motor. For example, the seed drop control unit 500 is a PWM speed regulating motor. The control unit changes the rotation speed of the seed drop control unit 500 by sending a pulse modulation signal. The seed drop control unit 500 is connected to the input end of the seed metering device 130 through a gear or synchronous belt structure, so that the seed drop shaft in the seed metering device 130 rotates at a controlled speed, thereby making the sowing more uniform.

[0072] Example 2

[0073] like Figure 6 As shown, this embodiment provides a sowing method implemented by the sowing machine described in Example 1, comprising the following steps:

[0074] Step S10, obtaining a preset sowing depth through an input module;

[0075] Step S20: During the sowing process, the surface undulation of the cultivated land is acquired through the scanning unit 200, and the forward speed of the sowing machine is acquired through the speed acquisition module 400;

[0076] Step S30: The control unit controls the ups and downs of the end of the furrow opener of the seeder based on the ups and downs of the ground surface and the forward speed of the seeder so that the furrowing depth on the ground surface is always the preset sowing depth.

[0077] In this embodiment, during sowing, the scanning unit 200 located in the seeder scans the undulations of the cultivated land, such as slopes, seed furrows, etc., and at the same time, the speed acquisition unit 400 identifies the forward speed of the seeder. When the furrow opener 140 opens furrows, the furrow opener 140 is controlled to rise and fall, so that the end of the furrow opener 140 swings up and down following the undulations of the ground surface. For example, when the scanning unit 200 scans gullies on the surface of the cultivated land, when the furrow opener 140 moves to the position of the gullies, the furrow opener 140 swings downward, and when the furrow opener 140 moves to the slope, the furrow opener 140 swings upward, so that the bottom of the seed furrow formed by the furrow opener 140 rises and falls following the undulations of the ground surface, thereby ensuring that the sowing depth remains consistent.

[0078] It should be noted that the preset sowing depth is input by the staff through the input module, such as 5 cm. When sowing, the bottom of the seed furrow opened by the furrow opener 140 is kept at 5 cm from the ground surface.

[0079] The fixed-depth sowing method based on terrain scanning disclosed in an embodiment of the present invention scans the terrain and controls the ups and downs of the furrow opener 140 in combination with the forward speed of the seeder. During sowing, the depth of the seed furrow formed by the furrow opener 140 relative to the ground surface is made consistent, thereby controlling the sowing depth to be relatively consistent, preventing the seed sowing depth from being too deep or too shallow, and improving the seed germination rate.

[0080] In this embodiment, the control unit is a microprocessor, and the control unit is connected to an input panel, and the input panel is used to input control parameters of the seed drill, such as seeding depth.

[0081] It should be noted that, in the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A fixed-depth seeder based on terrain scanning, characterized in that: The seeder comprises: A sowing unit is used to perform sowing work under the drive of a power machine. A furrow opener is arranged in the sowing unit, and the furrow opener is used to open a seed furrow. A frame is arranged on the sowing unit; A depth adjustment unit, through which the furrow opener is mounted on the sowing unit to adjust the furrowing depth; A control unit, wherein the control unit is connected to a speed acquisition module, a scanning unit and an input module, wherein the input module is used to acquire a preset sowing depth, the scanning unit is used to scan the cultivated land terrain, the speed acquisition module is used to acquire the forward speed of the seeder, and the control unit controls the depth adjustment unit to adjust the furrowing depth based on the preset sowing depth, the terrain scanning result and the forward speed of the seeder; wherein, The scanning unit comprises a scanning support hinged on a frame, and an angle detection assembly, wherein the angle detection assembly consists of a telescopic tube, a telescopic rod, and a distance sensor, wherein the telescopic tube is sleeved on the outside of the telescopic rod, and ends of the telescopic tube and the telescopic rod that are away from each other are hinged on the frame and the scanning support, respectively, and the distance sensor is used to detect the lengths of the telescopic tube and the telescopic rod; The depth adjustment unit includes a support arm and an adjustment arm hinged on the frame, the furrow opener is fixedly connected to one end of the support arm away from the frame, the adjustment arm is an automatic telescopic arm, and both ends of the adjustment arm are respectively hinged on the frame and the support arm. The length change of the adjustment arm is linearly related to the length change of the angle detection component, and the control unit adjusts the length of the adjustment arm based on the result of the distance sensor.

2. The fixed-depth seeder based on terrain scanning according to claim 1, characterized in that: The scanning unit also includes: The scanning wheel connected to the end of the scanning support away from the frame is rotated.

3. The fixed-depth seeder based on terrain scanning according to claim 2, characterized in that: The angle detection component also includes: The detection plate is fixed on the telescopic rod, and the distance sensor is installed on the telescopic tube. The distance sensor is used to detect the distance from the detection plate to detect the length of the telescopic tube and the telescopic rod.

4. The fixed-depth seeder based on terrain scanning according to claim 3, characterized in that: The telescopic rod is provided with an outer retaining ring at one end thereof located inside the telescopic tube. The telescopic tube is sleeved on one end of the telescopic rod and a limit cover is fixed thereto. The limit cover is sleeved on the telescopic rod to prevent the telescopic rod from escaping from the telescopic tube.

5. The fixed-depth seeder based on terrain scanning according to claim 2, characterized in that: The frame is also fixedly connected to a limit assembly, and the limit assembly includes: A supporting rod, the supporting rod being located below the scanning support; Limit rods fixedly connected to both ends of the support rod, and the limit rods are slidably connected to the frame; The threaded rod connected to the support rod is rotated, and the threaded rod is installed on the frame through a threaded connection. When the scanning bracket is folded, the threaded rod is rotated to make the threaded rod rise on the frame, and the threaded rod drives the support rod to rise, and the support rod holds up the scanning bracket.

6. The fixed-depth seeder based on terrain scanning according to claim 2, characterized in that: The end of the scanning bracket is also fixedly connected with a scraper plate for scraping mud on the scanning wheel.

7. The fixed-depth seeder based on terrain scanning according to claim 1, characterized in that: The seed drill also includes: A seed dropping control unit is connected to a seed meter on the seeder to control a seed dropping speed of the seed meter.

8. The fixed-depth seeder based on terrain scanning according to claim 7, characterized in that: The seeding control unit is a speed regulating motor. The control unit controls the speed of the speed regulating motor based on the forward speed of the seeder detected by the speed acquisition module. The speed regulating motor is connected to the seeding device on the seeder to control the seeding speed.

9. A sowing method implemented by the fixed-depth seeder based on terrain scanning according to any one of claims 1 to 8, characterized in that: The sowing method comprises the following steps: Step S10, obtaining a preset sowing depth through an input module; Step S20: During the sowing process, the surface undulation of the cultivated land is acquired through the scanning unit, and the forward speed of the sowing machine is acquired through the speed acquisition module; Step S30: The control unit controls the ups and downs of the end of the furrow opener of the seeder based on the ups and downs of the ground surface and the forward speed of the seeder so that the furrowing depth on the ground surface is always the preset sowing depth.

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