Sowing grain distance and sowing depth in-situ detection device and method based on magnetic field induction

Abstract

The invention relates to a sowing grain distance and sowing depth in-situ detection device and method based on magnetic field induction, and belongs to the technical field of intelligent agricultural machinery equipment.The sowing grain distance and sowing depth in-situ detection device comprises a mounting base arranged at the rear end of a precision sowing machine, a vertical rod arranged on the mounting base and a soil cutting shovel arranged at the lower end of the vertical rod, and the soil cutting shovel is provided with two oppositely-arranged soil cutting plates; the precision seeder comprises two soil cutting plates, the opposite side faces of the two soil cutting plates are each provided with a multi-dimensional high-precision magnetic sensing module used for detecting magnetic induction intensity information, the precision seeder further comprises a controller and a GPS wireless speed measuring device, the GPS wireless speed measuring device is used for measuring the real-time operation speed of the precision seeder, and the controller is electrically connected with the GPS wireless speed measuring device and the multi-dimensional high-precision magnetic sensing modules. According to the invention, the problems of low detection precision and low detection efficiency due to the fact that sowing grain distance and sowing depth detection depends on manpower after sowing operation at present can be solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent agricultural machinery and equipment, and in particular to an in-situ detection device and method for sowing grain distance and sowing depth based on magnetic field induction. Background Art

[0002] Sowing is a key link in the crop production process. The quality of sowing directly affects the final yield of the crop. The quality of sowing mainly depends on the performance of the seeder. Accurately and objectively evaluating the performance of the seeder is the primary task for optimizing and upgrading the machine and ensuring the quality of sowing.

[0003] There are also methods at home and abroad to determine the seed spacing and sowing depth by measuring the plants after emergence. The plant spacing is used as the sowing spacing, and the vertical length of the stem between the seed and the ground surface is used as the sowing depth. Compared with manual seed digging measurement, this method is relatively convenient for measuring plant spacing. However, the emergence of seeds is affected by factors such as their own vitality, soil moisture, and the contact between seeds and soil. Some seeds sown in the soil may not be able to germinate normally, which means that plant spacing cannot completely replace the actual sowing spacing of the seeder. It is inaccurate to evaluate the operating performance of the seeder by measuring plant spacing. In addition, this method requires all the soil around the roots of the seedlings to be dug up when measuring the sowing depth, which is also time-consuming and labor-intensive.

[0004] Since the seeds themselves do not have the characteristics required by conventional detection technology, and the complexity of the farmland soil environment has resulted in few domestic studies on in-situ online detection of seed spacing and sowing depth. The existing patent CN202310069844.0 discloses a device and method for ultrasonic in-situ detection of ridge-planted wheat seeds. The invention uses an ultrasonic transmitter to transmit ultrasonic signals into the soil, and judges whether there are wheat seeds in the soil based on the reflected ultrasonic signals. This method is novel in concept, but it requires compression of the test soil. Various impurities such as clods of soil and straw in the soil have a great influence on the propagation of ultrasonic signals, and only local sampling and detection can be performed, with low detection efficiency, and it is impossible to achieve online real-time detection of seed spacing and depth.

[0005] Patent CN202311244136.2 discloses a method and device for detecting sowing depth and sowing grain spacing. The invention uses a hyperspectral camera to identify seeds in the seed furrow in real time, measures the operating speed of the seeder by radar, and then obtains the seed spacing; and uses a depth camera and an angle sensor to measure the sowing depth in real time. The invention uses machine vision to measure the sowing grain spacing and depth. The technical means used are relatively advanced and can achieve real-time detection. However, the equipment used, such as the hyperspectral camera and depth camera, is difficult to adapt to the harsh farmland environment, and the device is expensive and cannot be truly applied to production practice. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of the present invention is to provide an in-situ detection device and method for seeding seed spacing and seeding depth based on magnetic field induction, so as to solve the problem that the current detection of seed spacing and seeding depth after sowing operation relies on manual labor, has poor detection accuracy and low detection efficiency.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an in-situ detection device for sowing grain distance and sowing depth based on magnetic field induction, characterized in that it includes a mounting seat arranged at the rear end of a precision seeder, a vertical rod arranged on the mounting seat and a soil cutting shovel arranged at the lower end of the vertical rod, the soil cutting shovel has two relatively arranged soil cutting plates, and the opposite sides of the two soil cutting plates are respectively provided with a multi-dimensional high-precision magnetic sensor module for detecting magnetic induction intensity information, and also includes a controller and a GPS wireless speed measuring device, the GPS wireless speed measuring device is used to measure the real-time operating speed of the precision seeder, and the controller is electrically connected to the GPS wireless speed measuring device and the multi-dimensional high-precision magnetic sensor module respectively.

[0008] As a preferred solution, a tractor for towing the precision seeder is provided at the front end of the precision seeder, the controller is arranged in the tractor, the GPS wireless speed measuring device is arranged on the top of the tractor, and a human-computer interaction display terminal is also provided in the tractor, which is connected to the controller.

[0009] As an optimal solution, the mounting base is hinged to the rear end of the precision seeder, a parallelogram linkage mechanism is provided on the vertical rod, and depth limiting wheels are provided on both sides of the soil cutting shovel at the rear end, and the lower end of the depth limiting wheel is flush with the top of the soil cutting shovel.

[0010] As a preferred solution, a horizontal plate is provided on the vertical rod, and an electric push rod is provided between the horizontal plate and the upper end of the soil cutting shovel.

[0011] As a preferred solution, the multi-dimensional high-precision magnetic sensor module includes a housing and a plurality of miniature magnetic sensors disposed in the housing, wherein the plurality of miniature magnetic sensors are arranged in a rectangular array. The present application also provides a method for detecting seeding distance and seeding depth in situ using a seeding distance and seeding depth in situ detection device based on magnetic field induction, comprising the following steps: S1. Coating the seeds to be sown with iron powder to obtain iron powder-coated seeds; S2, magnetizing the iron powder coated seeds to obtain magnetized seeds; S3, sowing the magnetized seeds by a precision seeder; S4. Calculate the sowing distance: The controller receives the magnetic induction intensity information fed back by multiple micro magnetic sensors, and determines whether the collected magnetic induction intensity information comes from magnetized seeds. If so, the count is increased by 1 and the timer is started; if not, it waits to receive the next magnetic induction intensity information; when the second magnetic induction intensity is received, the value of the timer is proposed, the time interval Δt between two adjacent seed signals is calculated, and then the counting variable is set to 1, and the timer is cleared to 0, and the seeding distance is calculated by the following formula: Where s is the sowing seed distance in cm, Δt is the time interval between two adjacent seeds detected in s, and v is the operating speed of the precision seeder in km / h; S5. Calculate the sowing depth: The controller receives the magnetic induction intensity information fed back by multiple micro magnetic sensors, compares the magnetic induction intensity of multiple magnetic induction intensity information, and determines the maximum magnetic induction intensity, and calculates the sowing depth through the following formula: Where B is the magnetic induction intensity T, μ0 is the vacuum magnetic permeability T·m / A, μ r is the relative magnetic permeability of the soil T·m / A, m is the magnetic dipole moment A·m 2 , is the unit vector of the magnetic seed pointing to the micro magnetic sensor, and r is the distance m from the magnetized seed to the micro magnetic sensor.

[0012] As a preferred solution, in step S1, ferrite powder or NdFeB powder is used as a coating material, and a coating film-forming agent is used as a binder to coat the seeds to be sown with iron powder to obtain iron powder coated seeds.

[0013] As a preferred solution, in step S2, a magnetizer is used to magnetize the iron powder coated seeds to obtain magnetized seeds, and the magnetic induction intensity on the surface of the magnetized seeds is 5-7 mT.

[0014] In step S4, determining whether the collected magnetic induction intensity information comes from the magnetized seed includes the following steps: S41. Select soil in the sowing area, prepare soil samples with different moisture content, soil organic matter content and pH, place magnetized seeds in soil samples with different depths and different soil properties, use magnetic induction sensors to measure them respectively, obtain the seed magnetic induction intensity under different soil properties and depths, and establish a mathematical model between soil properties, detection distance and magnetic induction intensity, as shown below: B=f(SMC, SOM, r) (3) Where, B is the magnetic induction intensity T, SMC is the soil moisture content, SOM is the soil organic matter content g / kg, and r is the distance from the magnetized seed to the micro magnetic sensor m; S42, before sowing, measure the soil properties of the area to be sown, obtain the distance D between the magnetized seed and the micro magnetic sensor to be between [D1, D2], input the soil properties and the distance D range into the prediction model, and obtain the distribution range of the magnetic induction intensity of the magnetized seed [B1, B2]; S44. When the measured magnetic induction intensity of the magnetized seed is between [B1, B2], it is considered to be a magnetized seed, otherwise it is considered to be a magnetic foreign body.

[0015] The beneficial effects of this application are: it can accurately measure the spacing and depth of seeds in the soil in real time during the sowing operation, greatly improving the detection accuracy and efficiency, and providing technical support for the accurate evaluation of the seeder operation quality. It is of great significance to promote the innovation and development of seeders and performance improvements to ensure sowing quality and promote increased production and income. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of the precision seeder of this application; Figure 2 This is the front view of the soil cutting shovel for this application; Figure 3 Axonometric drawing of the earth-cutter blade for this application; Figure 4 This is a schematic diagram of the installation of the multi-dimensional high-precision magnetic sensor module at the soil cutting shovel of this application; Figure 5 Schematic diagram of the tractor, precision seeder and soil cutter for this application; Figure 6 This is a schematic diagram of the distribution of the micro magnetic sensors in the multi-dimensional high-precision magnetic sensing module of this application; Figure 7 This is a flow chart of the in-situ detection method of sowing seed distance and sowing depth of this application; Figure 8 Flow chart for calculating seed spacing for this application; Fig. 9 Flowchart of seeding depth calculation for this application; Fig.10 This is a schematic diagram of the position relationship between the magnetized seed and the micro magnetic sensor in this application.

[0017] Figure numerals: 1, crossbeam, 2, fan, 3, air duct, 4, parallelogram linkage, 5, seed box, 6, seed meter, 7, motor, 8, seed guide tube, 9, double disc furrow opener, 10, contour wheel, 11, soil covering and pressing wheel, 12, frame, 13, mounting seat, 131, connecting rod, 14, vertical rod, 141, horizontal plate, 15, electric push rod, 16, depth limiting spring, 17, parallelogram linkage, 171, upper connecting plate, 172, lower connecting plate, 173, middle vertical plate, 174, inclined portion, 18, depth limiting wheel, 19, soil cutting shovel, 191, soil cutting plate, 20, multi-dimensional high-precision magnetic sensor module, 21, GPS wireless speed measuring device, 22, controller, 23, human-computer interaction display terminal, 24, micro magnetic sensor. DETAILED DESCRIPTION

[0018] The following is combined with Figure 1-10 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

[0019] The embodiment of the present application is an in-situ detection device for sowing grain distance and sowing depth based on magnetic field induction, including a mounting seat 13 arranged at the rear end of a precision seeder, a vertical rod 14 arranged on the mounting seat 13 and a soil cutting shovel 19 arranged at the lower end of the vertical rod 14, the soil cutting shovel 19 has two soil cutting plates 191 arranged opposite to each other, and the opposite sides of the two soil cutting plates 191 are respectively provided with a multi-dimensional high-precision magnetic sensor module 20 for detecting magnetic induction intensity information, and also includes a controller 22 and a GPS wireless speed measuring device 21, the GPS wireless speed measuring device 21 is used to measure the real-time operating speed of the precision seeder, and the controller 22 is electrically connected to the GPS wireless speed measuring device 21 and the multi-dimensional high-precision magnetic sensor module 20 respectively.

[0020] Specifically, the precision seeder in this application is as follows Figure 1 As shown, the precision seeder mainly includes a crossbeam 1, a fan 2, an air duct 3, a parallel four-bar linkage 4, a seed box 5, a seed meter 6, a motor 7, a seed guide tube 8, a double-disc furrow opener 9, a contour wheel 10, a soil covering and pressing wheel 11, and a frame 12.

[0021] The fan 2 is installed on the crossbeam 1, and the outlet end of the fan 2 is connected to the air inlet of the seed metering device 6 through the air duct 3 to provide negative pressure for the seed metering device 6. The parallel four-bar linkage 4 is connected to the crossbeam 1 to adapt to the undulating terrain and provide appropriate downward pressure. The seed box 5 is installed on the frame 12 to provide seeds for the seed metering device 6. The seed inlet of the seed metering device 6 is connected to the seed box 5, the seed throwing port is connected to the seed guide tube 8, the air inlet is connected to the fan 2 through the air duct 3, and the motor 7 provides power for the rotation of the seed metering device 6; after the seeds in the seed box 5 enter the seed metering device 6, the seeds are adsorbed by the negative pressure airflow, and the motor 7 drives the seed metering device 6 to rotate, and when it rotates to the seed throwing port, the seeds are put into the seed guide tube 8. The seed guide tube 8 is connected to the seed throwing port of the seed metering device 6, and the seeds reach the seed furrow along the tube wall of the seed guide tube 8. The double disc furrow opener 9 is installed in front of the seed guide tube 8 to open a seed furrow of suitable depth. The contour wheel 10 is installed on both sides of the double disc furrow opener 9 to adapt to the undulating surface and ensure the same sowing depth. The soil covering and pressing wheel 11 is installed at the rear of the furrow opener 9 to cover the seed furrow with soil and compact the topsoil.

[0022] During sowing, the seeds in the seed box 5 fall into the seed meter 6, which absorbs the seeds through negative pressure airflow, rotates to the seeding port driven by the motor 7, and drops the seeds into the seed guide tube 8. The seeds fall into the seed furrow opened by the double disc furrow opener 9 along the inner wall of the seed guide tube 8, and the soil covering and pressing wheel 11 covers and compacts the seed furrow. In addition, the precision seeder of the present application can also adopt the existing commonly used precision seeder, such as the precision seeder in the existing patent CN200320104976.0.

[0023] The mounting seat 13 is hinged to the rear end of the precision seeder, a connecting rod 131 is provided at the front end of the mounting seat 13, the connecting rod is hinged to the rear end of the precision seeder, a parallelogram linkage mechanism is provided on the vertical rod 14, and the rear end of the parallelogram linkage mechanism is located on both sides of the soil cutting shovel 19 and depth limiting wheels 18 are respectively provided, and the lower end of the depth limiting wheel 18 is flush with the top of the soil cutting shovel 19.

[0024] The parallelogram linkage mechanism includes two symmetrically arranged linkage assemblies, which include an upper connecting plate 171, a lower connecting plate 172 and an intermediate vertical plate 173. One end of the upper connecting plate 171 is hinged to the vertical rod 14, and the other end is hinged to the upper end of the intermediate vertical plate 173. One end of the lower connecting plate 172 is hinged to the vertical rod 14, and the other end is hinged to the lower end of the intermediate vertical plate 173. The lower end of the intermediate vertical plate 173 is inclined from top to bottom and is provided with an inclined portion 174. The depth limiting wheel 18 is hinged at the rear end of the inclined portion 174. A depth limiting spring 16 is provided between the lower connecting plate 172 and the vertical rod 14. The depth limiting spring 16 is a tension spring and has a first hook and a second hook. The lower connecting plate 172 is provided with a first hook hole that is hooked with the first hook, and the vertical rod 14 is provided with a plurality of second hook holes that are hooked with the second hook in the vertical direction. The soil cutting shovel 19 is in an n-shape, which is used to carry the multi-dimensional high-precision magnetic sensor module 20 and cut into the soil.

[0025] A horizontal plate is provided on the vertical rod 14, and an electric push rod 15 is provided between the horizontal plate and the upper end of the soil cutting shovel 19. The width and depth of the soil cutting shovel 19 need to be determined according to the agronomic requirements of the sowing crops. Taking corn as an example, when sowing corn, the furrowing width of the double disc opener is 30-50mm, and the suitable sowing depth is 40-60mm. Therefore, for corn sowing, the width of the soil cutting shovel 19 can be designed to be 60mm, and the working depth is 80mm.

[0026] The multi-dimensional high-precision magnetic sensor module 20 includes a housing and a plurality of micro magnetic sensors 24 disposed in the housing, and the plurality of micro magnetic sensors 24 are arranged in a rectangular array. A groove matching the housing is provided on the opposite side of the cutting plate 191, and the housing is installed in the groove by bolts. The lower end of the depth limiting wheel 18 is flush with the top of the cutting shovel 19 to ensure that the working depth of the cutting shovel 19 is stable. The electric push rod 15 is installed on the upper part of the cutting shovel to provide sufficient pressure to the cutting shovel 19 so that the cutting shovel 19 always maintains a constant working depth.

[0027] The multi-dimensional high-precision magnetic sensor module 20 includes a plurality of micro magnetic sensors 24, each of which is 15 mm long and 10 mm wide. To ensure the detection accuracy, two micro magnetic sensors 24 are arranged in the horizontal direction, and the corn seeds can be detected twice. The longitudinal spacing and longitudinal number of the micro magnetic sensors 24 need to be determined based on the minimum outer dimensions and sowing depth of the seeds. Taking corn as an example, the minimum outer dimension of corn, i.e., the thickness, is about 5 mm. Therefore, the maximum longitudinal spacing between the two micro magnetic sensors 24 is 5 mm, ensuring that the seeds can also be detected when they pass through the lying posture. The suitable sowing depth of corn is 40 to 60 mm, so 5 micro magnetic sensors 24 can be arranged, and the maximum detection depth is 80 mm.

[0028] Combination Figure 5As shown, a tractor for towing the precision seeder is provided at the front end of the precision seeder, a controller 22 is arranged in the tractor, and is connected to the multi-dimensional high-precision magnetic sensor module 20 through a signal line, and is used to process the magnetic induction intensity information transmitted by the magnetic sensor module 20, a GPS wireless speed measuring device 21 is arranged on the top of the tractor, and a human-machine interactive display terminal 23 is also arranged in the tractor, and the human-machine interactive display terminal is connected to the controller 22. The human-machine interactive device 23 is installed in the tractor cab, and is connected to the controller 22 through a wireless serial port communication module. The human-machine interactive device 23 is used to input soil information of the sowing plot and to display and store information such as sowing grain distance, sowing depth, and operation speed sent by the controller in real time. The GPS wireless speed measuring device 4 includes a GPS antenna and a speed data transmission plug. The GPS wireless speed measuring device can use the GPS antenna 401 to obtain the forward speed of the planter in real time, and connect the speed data transmission plug 402 with the speed receiving plug of the controller 22 to send the speed signal to the controller 22. The controller 22 is a PLC controller or a single-chip microcomputer. In addition, the GPS wireless speed measuring device can also be a GPS receiver. The GPS receiver is installed on the top of the tractor for receiving GPS information. After receiving the GPS information, the speed can be parsed from the GPS information. It should be noted that the parts not described in detail in this application are all prior art.

[0029] The in-situ detection method of sowing grain distance and sowing depth based on the in-situ detection device of sowing grain distance and sowing depth of magnetic field induction comprises the following steps:

[0030] S1. Coating the seeds to be sown with iron powder to obtain iron powder coated seeds.

[0031] In step S1, ferrite powder or NdFeB powder is used as coating material, and a coating film-forming agent is used as a binder to coat the seeds to be sown with iron powder to obtain iron powder coated seeds.

[0032] S2. Magnetizing the iron powder coated seeds to obtain magnetized seeds.

[0033] The iron powder coated seeds are magnetized by a magnetizing machine to obtain magnetized seeds, and the surface magnetic induction intensity of the magnetized seeds is 5-7mT.

[0034] S3, sowing the magnetized seeds through the precision seeder. Use magnetized seeds for sowing, and put the magnetized seeds into the seed box 5 of the precision seeder. Turn on the controller 22 to control the electric push rod 15 to reach the target stroke, press the soil cutting shovel 19 into the seed furrow, and reach the working depth. Turn on the multi-dimensional high-precision magnetic sensor module 20 located on the inner wall of the soil cutting plate 191. Turn on the GPS wireless speed measuring device 4 to receive the operating speed of the seeder in real time. During the sowing operation, the magnetized seeds fall into the seed guide tube 8 through the seed meter 6, and reach the seed furrow along the inner wall of the seed guide tube 8. The soil covering and pressing wheel 11 covers and presses the seed furrow. The soil cutting shovel 19 moves along the seed furrow with the seeder. When the soil cutting shovel 19 passes through the seeds, the multi-dimensional high-precision magnetic sensor module 20 can measure the magnetic induction intensity of the magnetized seeds and send the magnetic induction intensity information to the controller 22 through the communication line.

[0035] S4. Calculate the sowing distance:

[0036] The controller 22 receives the magnetic induction intensity information fed back by the multiple micro magnetic sensors 24, and determines whether the collected magnetic induction intensity information comes from the magnetized seeds. Specifically, the controller 22 includes a timer. If yes, the count is increased by 1, and the timer is started; if not, it waits to receive the next magnetic induction intensity information; when the second magnetic induction intensity is received, the value of the timer is proposed, the time interval Δt between two adjacent seed signals is calculated, and then the counting variable is set to 1, and the timer is cleared to 0, and the sowing seed distance is calculated by the following formula:

[0037]

[0038] Where s is the seeding distance in cm, Δt is the time interval between detecting two adjacent seeds, and v is the operating speed of the precision seeder in km / h.

[0039] S5. Calculate the sowing depth: The controller 22 receives the magnetic induction intensity information fed back by the multiple micro magnetic sensors 24, compares the magnetic induction intensity of the multiple magnetic induction intensity information, and determines the maximum magnetic induction intensity, and calculates the sowing depth by the following formula:

[0040]

[0041] Where B is the magnetic induction intensity T, μ0 is the vacuum magnetic permeability T·m / A, μ r is the relative magnetic permeability of the soil T·m / A, m is the magnetic dipole moment A·m 2 , is the unit vector of the magnetic seed pointing to the micro magnetic sensor 24, and r is the distance m from the magnetized seed to the micro magnetic sensor 24.

[0042] In step S4, determining whether the collected magnetic induction intensity information comes from the magnetized seed includes the following steps: S41. Select soil in the sowing area, prepare soil samples with different moisture content, soil organic matter content and pH, place magnetized seeds in soil samples with different depths and different soil properties, use magnetic induction sensors to measure them respectively, obtain the seed magnetic induction intensity under different soil properties and depths, and establish a mathematical model between soil properties, detection distance and magnetic induction intensity, as shown below: B=f(SMC, SOM, r) (3) Wherein, B is the magnetic induction intensity T, SMC is the soil moisture content, SOM is the soil organic matter content g / kg, and r is the distance m from the magnetized seed to the micro magnetic sensor 24; S42. Before sowing, measure the soil properties of the area to be sown, and obtain that the distance D between the magnetized seed and the micro magnetic sensor 24 is in the range [D1, D2]. Input the soil properties and the distance D range into the prediction model to obtain the distribution range [B1, B2] of the magnetic induction intensity of the magnetized seed. S43. When the measured magnetic induction intensity of the magnetized seed is between [B1, B2], it is considered to be a magnetized seed, otherwise it is considered to be a magnetic foreign body.

[0043] The soil properties of the sowing area are measured, and the distance D between the magnetic seed and the micro magnetic sensor 22 is determined according to the sowing agronomy of the crop to be planted and the size of the soil cutting shovel. The width of the seed trench is W1, the distance between the two soil cutting plates 191 is W2, and the shell thickness of the multi-dimensional high-precision magnetic sensor module 20 is W3. Therefore, Taking corn as an example, the width of the soil cutting shovel 19 is 100 mm, the thickness of the soil cutting plate 191 is 25 mm, the distance W2 between the two soil cutting plates 191 is 50 mm, the shell thickness of the multi-dimensional high-precision magnetic sensor module 20 is 5 mm, and the width of the seed furrow during corn sowing is 30 mm. That is, the detection distance D between the magnetized seed and the micro magnetic sensor 22 is between [15,30], such as Fig.10 shown.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A device for detecting seed distance and seed depth in situ based on magnetic field induction, characterized in that: The invention comprises a mounting seat (13) arranged at the rear end of a precision seeder, a vertical rod (14) arranged on the mounting seat (13), and a soil cutting shovel (19) arranged at the lower end of the vertical rod (14); the soil cutting shovel (19) comprises two soil cutting plates (191) arranged opposite to each other; the opposite sides of the two soil cutting plates (191) are respectively provided with multi-dimensional high-precision magnetic sensor modules (20) for detecting magnetic induction intensity information; the invention also comprises a controller (22) and a GPS wireless speed measuring device (21); the GPS wireless speed measuring device (21) is used to measure the real-time operating speed of the precision seeder; and the controller (22) is respectively electrically connected to the GPS wireless speed measuring device (21) and the multi-dimensional high-precision magnetic sensor module (20).

2. The in-situ detection device for sowing seed distance and sowing depth based on magnetic field induction according to claim 1 is characterized in that: A tractor for towing the precision seeder is provided at the front end of the precision seeder, a controller (22) is arranged in the tractor, a GPS wireless speed measuring device (21) is arranged on the top of the tractor, and a human-machine interactive display terminal (23) is also provided in the tractor, and the human-machine interactive display terminal is connected to the controller (22).

3. The in-situ detection device for sowing seed distance and sowing depth based on magnetic field induction according to claim 1 is characterized in that: The mounting seat (13) is hinged to the rear end of the precision seeder, a parallelogram linkage mechanism is arranged on the vertical rod (14), and depth limiting wheels are arranged on both sides of the soil cutting shovel (19) at the rear end of the parallelogram linkage mechanism, and the lower ends of the depth limiting wheels are flush with the top of the soil cutting shovel (19).

4. The in-situ detection device for sowing seed distance and sowing depth based on magnetic field induction according to claim 1 is characterized in that: A horizontal plate (141) is arranged on the vertical rod (14), and an electric push rod (15) is arranged between the horizontal plate (141) and the upper end of the soil cutting shovel (19).

5. The in-situ detection device for sowing seed distance and sowing depth based on magnetic field induction according to any one of claims 1 to 4, characterized in that: The multi-dimensional high-precision magnetic sensing module (20) comprises a housing and a plurality of micro magnetic sensors (24) arranged in the housing, wherein the plurality of micro magnetic sensors (24) are arranged in a rectangular array.

6. The method for in-situ detection of seeding distance and seeding depth of the seeding grain distance and seeding depth based on magnetic field induction according to claim 5 comprises the following steps: S1. Coating the seeds to be sown with iron powder to obtain iron powder-coated seeds; S2, magnetizing the iron powder coated seeds to obtain magnetized seeds; S3, sowing the magnetized seeds by a precision seeder; S4. Calculate the sowing distance: The controller (22) receives magnetic induction intensity information fed back by a plurality of micro magnetic sensors (24), determines whether the collected magnetic induction intensity information comes from magnetized seeds, and if so, counts by 1 and starts a timer; if not, waits to receive the next magnetic induction intensity information; when the second magnetic induction intensity is received, the value of the timer is obtained, the time interval Δt between two adjacent seed signals is calculated, and then the counting variable is set to 1, and the timer is cleared to 0, and the sowing seed distance is calculated by the following formula: Where s is the seeding distance (cm), Δt is the time interval between two adjacent seeds detected (s), and v is the operating speed of the precision seeder (km / h); S5. Calculate the sowing depth: The controller (22) receives the magnetic induction intensity information fed back by the plurality of micro magnetic sensors (24), compares the magnetic induction intensity of the plurality of magnetic induction intensity information, determines the maximum magnetic induction intensity, and substitutes the maximum magnetic induction intensity into the following formula to calculate the sowing depth: Where B is the magnetic induction intensity (T), μ0 is the vacuum magnetic permeability (T·m / A), and μ r is the relative magnetic permeability of the soil (T·m / A), m is the magnetic dipole moment (A·m 2 ), is the unit vector of the magnetic seed pointing to the micro magnetic sensor (24), and r is the distance (m) from the magnetized seed to the micro magnetic sensor (24).

7. According to the in-situ detection method of sowing grain distance and sowing depth based on magnetic field induction in-situ detection device of sowing grain distance and sowing depth according to claim 6, in step S1, ferrite powder or neodymium iron boron powder is used as coating material, and coating film-forming agent is used as binder to coat the seeds to be sown with iron powder to obtain iron powder coated seeds.

8. According to the in-situ detection method for sowing grain distance and sowing depth of the in-situ detection device for sowing grain distance and sowing depth based on magnetic field induction in claim 6, in step S2, a magnetizer is used to magnetize the iron powder coated seeds to obtain magnetized seeds, and the magnetic induction intensity on the surface of the magnetized seeds is 5-7mT.

9. According to the method for in-situ detection of seeding distance and seeding depth of seeding based on magnetic field induction according to claim 6, in step S4, judging whether the collected magnetic induction intensity information comes from magnetized seeds comprises the following steps: S41. Select soil in the sowing area, prepare soil samples with different moisture content, soil organic matter content and pH, place magnetized seeds in soil samples with different depths and different soil properties, use magnetic induction sensors to measure them respectively, obtain the seed magnetic induction intensity under different soil properties and depths, and establish a mathematical model between soil properties, detection distance and magnetic induction intensity, as shown below: B=f(SMC,SOM,r) (3) Wherein, B is the magnetic induction intensity (T), SMC is the soil moisture content, SOM is the soil organic matter content (g / kg), and r is the distance from the magnetized seed to the micro magnetic sensor (24) (m); S42. Before sowing, the soil properties of the area to be sown are measured to obtain a distance D between the magnetized seed and the micro magnetic sensor (24) within the range [D1, D2]. The soil properties and the distance D are input into a prediction model to obtain a distribution range [B1, B2] of the magnetic induction intensity of the magnetized seed. S43. When the measured magnetic induction intensity of the magnetized seed is between [B1, B2], it is considered to be a magnetized seed, otherwise it is considered to be a magnetic foreign body.

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