A liquid-driven digging depth intelligent regulation system and method for a peanut harvester

Abstract

The application discloses a kind of peanut harvester's liquid-driven digging depth intelligent regulation and control system and method, and the harvester includes tractor, rack, press seedling roller, excavating shovel, conveying lifting mechanism and seedling turning and laying mechanism;Lifting adjustment oil cylinder is equipped between tractor and rack.Conveying lifting mechanism includes chain link assembly, driving wheel assembly and driven wheel assembly and vibrating wheel mechanism.Probe component is equipped at the both ends of press seedling roller, and includes elastic connecting mechanism and linear potentiometer.Conveying lifting mechanism is equipped with high, low two groups of weight detection mechanism, and each group includes sprocket, intermediate shaft and pressure sensor.Linear potentiometer and pressure sensor are connected controller, and controller is controlled by proportional solenoid valve and lifting adjustment oil cylinder telescoping.Weight detection mechanism estimates peanut crop weight by chain pressure and calculates soil removal rate, combines with elastic connecting mechanism and ground profiling, linear potentiometer reflects digging depth, and controller adjusts excavating shovel depth and inclination accordingly, avoids missing digging, fruit injury and excessive resistance, and realizes intelligent regulation and control.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for peanut harvesters, and in particular to an intelligent control system and method for hydraulically driven dredging depth of a peanut harvester. Background Technology

[0002] In existing technologies, such as the peanut harvester disclosed in application publication number CN117413673A, components include a pressing roller, a digging shovel, a conveying and lifting mechanism, and a turning and laying mechanism. These components are driven by hydraulic or mechanical means to perform crop digging, conveying, and laying operations, thereby improving harvesting efficiency. However, existing harvesters still have shortcomings in terms of digging depth control and adapting to complex terrain. Digging too shallowly may result in missed areas or fruit damage, while digging too deep increases resistance and wastes fuel. Furthermore, the synchronization of the conveying and turning processes, as well as crop posture control, also affect the overall operation quality.

[0003] In addition, the transmission system of the harvester CN117413673A is relatively simple and lacks a dynamic adjustment mechanism for changes in crop density. This makes it prone to clogging when the crop density is too high or causing idling and wasting energy when the density is too low.

[0004] Patent application CN113057007A discloses an adjustment device and a method for controlling the digging depth of a ridge-grown potato harvester. This device collects data using height and width displacement sensors, and calculates angle changes using a mathematical model to adjust the digging depth, thus achieving automatic control of potato crops. However, this method adjusts the moving frame based on preset digging depth and ridge height data to achieve the desired adjustment. This method is not applicable to different varieties of peanut crops and requires experience to set a target digging depth, which cannot be changed according to actual conditions. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a hydraulically driven intelligent control system and method for controlling the digging depth of a peanut harvester based on real-time data.

[0006] Technical Solution: To achieve the above objectives, the present invention provides a hydraulically driven intelligent control system for digging depth in a peanut harvester. The peanut harvester includes a tractor, a frame, and, arranged from front to back on the frame, a pressing roller, a digging shovel, a conveying and lifting mechanism, and a turning and laying mechanism. A lifting and adjusting cylinder connects the tractor to the frame. The conveying and lifting mechanism includes an inclined chain rod assembly, a driving wheel assembly and a driven wheel assembly located at the upper and lower ends of the chain rod assembly, and a vibrating wheel mechanism located within the chain rod assembly. The chain rod assembly consists of two sets of chains arranged in parallel on the left and right sides, and a rod between the two sets of chains.

[0007] The hydraulically driven dredging depth intelligent control system includes two sets of detection components connected to both ends of the pressing roller; each set of detection components includes an elastic connection mechanism for establishing the elastic movement relationship between the end of the pressing roller and the frame, and also includes a linear potentiometer for acquiring distance data between the end of the pressing roller and the frame;

[0008] The conveying and lifting mechanism also includes two sets of weight detection mechanisms, one high and one low; each set of weight detection mechanisms includes a sprocket that meshes with the left and right sets of chains, a central shaft connected to the sprocket, and a pressure sensor connected to the central shaft.

[0009] The linear potentiometer is connected to the controller via the pressure sensor, and the controller can control the extension and retraction of the lifting regulating cylinder via a proportional solenoid valve.

[0010] Furthermore, the elastic connection mechanism includes a connecting rod that can slide relative to the frame, and a spring that applies downward pressure to the end of the pressing roller is sleeved on the connecting rod; the end of the pressing roller is connected to the connecting rod via a bearing seat.

[0011] Furthermore, the lifting adjustment cylinder is connected to the tractor's multi-way valve via the proportional solenoid valve.

[0012] Furthermore, the drive wheel assembly and the rice-turning and laying mechanism are driven by the first hydraulic motor and the second hydraulic motor, respectively; the controller controls the hydraulic oil flow corresponding to the first hydraulic motor and the second hydraulic motor through the first solenoid valve and the second solenoid valve, respectively. In addition, to facilitate the controller in obtaining the rotational speeds of the first hydraulic motor and the second hydraulic motor, speed measuring mechanisms are respectively provided for both.

[0013] The intelligent control method for hydraulic dredging depth of the peanut harvester based on the above-mentioned intelligent control system for hydraulic dredging depth includes:

[0014] Based on the data collected by the linear potentiometer and the extension and retraction of the lifting and adjusting cylinder, the excavation depth data is calculated.

[0015] The real-time soil removal rate of peanut crops is calculated based on the data collected by the two sets of weight detection agencies.

[0016] Based on the real-time soil removal rate and the benchmark soil removal rate, determine whether the excavation depth data meets the requirements;

[0017] When the digging depth does not meet the requirements, the lifting and adjusting cylinder is extended and retracted to adjust the digging depth of the digging shovel.

[0018] Specifically, the soil removal rate is estimated as follows: At time t, the first weight data T1 collected by the lower-position weight detection mechanism is acquired. The first weight data T1 is the average of the data from the two pressure sensors corresponding to the lower-position weight detection mechanism. At time t + Δt, the second weight data T2 collected by the higher-position weight detection mechanism is acquired. The second weight data T2 is the average of the data from the two pressure sensors corresponding to the higher-position weight detection mechanism. The value of Δt is determined based on the conveyor speed of the chain. The soil removal rate is calculated using the following formula: (T1 - T2) / T1 × 100%.

[0019] The aforementioned baseline soil removal rate is derived from experiments. It is calculated by placing peanut crops with an appropriate amount of soil onto a chain rod assembly, followed by soil shaking and sieving. The baseline soil removal rate is then calculated based on weight data collected by a weight detection mechanism at varying heights. In practice, multiple sets of experiments can be conducted to obtain multiple soil removal rate data points, and the average value can be taken to obtain the baseline soil removal rate.

[0020] Furthermore, determining whether the excavation depth data meets the requirements based on the real-time soil removal rate and the benchmark soil removal rate includes:

[0021] Based on the benchmark soil removal rate, a reasonable soil removal rate range is obtained. It is then determined whether the real-time soil removal rate is within the reasonable soil removal rate range. If it is, it indicates that the excavation depth meets the requirements; otherwise, it indicates that the excavation depth does not meet the requirements.

[0022] Furthermore, the control of the lifting and adjusting hydraulic cylinder to extend and retract to adjust the digging depth of the excavator includes:

[0023] When the real-time soil removal rate is greater than the maximum value of the reasonable soil removal rate range, it indicates that the excavation depth is too deep and excessive soil has been excavated. The telescopic rod of the lifting and adjusting cylinder is then controlled to extend outward.

[0024] When the real-time soil removal rate is less than the minimum value of the reasonable soil removal rate range, it indicates that the digging depth is too shallow, which may damage the crop roots and cause the peanuts to remain in the soil. In this case, the telescopic rod of the lifting and adjusting cylinder is controlled to retract inward.

[0025] Furthermore, based on the forward speed of the tractor, the conveying speed of the chain rod assembly and the laying speed of the rice seedling turning and laying mechanism are adjusted. Specifically, the rotational speeds of the first and second hydraulic motors are adjusted via the first and second solenoid valves, respectively, to regulate the conveying speed of the chain rod assembly and the laying speed of the rice seedling turning and laying mechanism. Specifically, adjustments can be made according to a preset speed ratio. Preferably, the first speed ratio between the conveying speed and the forward speed of the chain rod assembly is in the range of 0.8 to 1.2, and the second speed ratio between the laying speed of the rice seedling turning and laying mechanism and the conveying speed of the chain rod assembly is in the range of 0.5 to 0.7.

[0026] Beneficial effects: The intelligent control system and method for hydraulic dredging depth of the peanut harvester of the present invention has the following beneficial effects:

[0027] (1) In this invention, the weight detection mechanism can estimate the weight of the peanut crop before and after soil removal based on the pressure applied by the chain, and calculate the soil removal rate accordingly. The elastic connection mechanism composed of the connecting rod and the spring can perform a contour movement on the ground. The extension and retraction of the linear potentiometer can reflect the digging depth of the digging shovel. The controller can determine the appropriate digging depth based on the soil removal rate and the current digging depth, and change the digging depth and inclination angle of the digging shovel accordingly to make the digging depth appropriate, avoid missing or damaging the fruit due to shallow digging, and avoid excessive resistance and waste of fuel due to excessive digging.

[0028] (2) The intelligent control method for hydraulic digging depth of the present invention can automatically control the digging depth based on real-time digging depth data and real-time soil removal rate data, so that the digging depth of the digging shovel is appropriate and can adapt to different peanut varieties and the depth of peanut roots. Compared with manually setting the target digging depth, the present invention is more adaptable to changes in working conditions. Attached Figure Description

[0029] Figure 1 This is a top view of a peanut harvester.

[0030] Figure 2 This is a cross-sectional view of a peanut harvester.

[0031] Figure 3 This is a structural diagram of the detection component.

[0032] In the diagram: 1-Tractor; 11-Multi-way valve; 2-Frame; 3-Pressing roller; 4-Digging shovel; 5-Conveying and lifting mechanism; 51-Chain rod assembly; 51a-Chain; 51b-Rod; 52-Drive wheel assembly; 53-Driven wheel assembly; 54-Vibrating wheel mechanism; 55-Weight detection mechanism; 55a-Sprocket; 55b-Central shaft; 55c-Pressure sensor; 6-Turning and laying mechanism; 61-Turning tray assembly; 62-Laying rod; 7-Lifting and adjusting cylinder; 8-Detection assembly; 81-Connecting rod; 82-Spring; 83-Linear potentiometer; 84-Bearing seat; 9-Proportional solenoid valve; 91-First hydraulic motor; 92-Second hydraulic motor; 93-First solenoid valve; 94-Second solenoid valve. Detailed Implementation

[0033] The invention will now be further described with reference to the accompanying drawings.

[0034] like Figure 1 and Figure 2As shown, the peanut harvester includes a tractor 1, a frame 2, and a pressing roller 3, a digging shovel 4, a conveying and lifting mechanism 5, and a turning and laying mechanism 6 arranged from front to back on the frame 2; a lifting and adjusting cylinder 7 is connected between the tractor 1 and the frame 2; the conveying and lifting mechanism 5 includes an inclined chain rod assembly 51, a driving wheel assembly 52 and a driven wheel assembly 53 respectively placed at the upper and lower ends of the chain rod assembly 51, and a vibrating wheel mechanism 54 placed inside the chain rod assembly 51; the chain rod assembly 51 consists of two sets of chains 51a arranged in parallel on the left and right and a rod 51b erected between the chains of the two sets of chains 51a; the turning and laying mechanism 6 includes two sets of turning tray assemblies 61 on the left and right, and also includes multiple laying rods 62 extending backward from each set of turning tray assemblies 61.

[0035] The hydraulically driven dredging depth intelligent control system includes two sets of detection components 8 connected to both ends of the pressing roller 3; such as Figure 3 As shown, each of the detection components 8 includes an elastic connection mechanism for establishing the elastic movement relationship between the end of the pressing roller 3 and the frame 2, and also includes a linear potentiometer 83 for acquiring distance data between the end of the pressing roller 3 and the frame 2;

[0036] The conveying and lifting mechanism 5 also includes two sets of weight detection mechanisms 55, one high and one low; each set of weight detection mechanisms 55 includes a sprocket 55a that meshes with the left and right sets of chains 51a, a central shaft 55b connected to the sprocket 55a, and a pressure sensor 55c connected to the central shaft 55b.

[0037] The linear potentiometer 83 is connected to the pressure sensor 55c and the controller, and the controller can control the extension and retraction of the lifting regulating cylinder 7 through the proportional solenoid valve 9.

[0038] Preferably, the elastic connection mechanism includes a connecting rod 81 that can slide relative to the frame 2, and a spring 82 that applies downward pressure to the end of the pressing roller 3 is sleeved on the connecting rod 81; the end of the pressing roller 3 is connected to the connecting rod 81 through a bearing seat 84.

[0039] Preferably, the lifting adjustment cylinder 7 is connected to the multi-way valve 11 of the tractor 1 via the proportional solenoid valve 9.

[0040] During operation, the pressing roller 3 rolls on the crop ridge to press the seedlings forward, making the seedlings fall forward to facilitate digging by the digging shovel 4 and subsequent turning and laying mechanism 6 to turn the seedlings so that the peanuts are laid facing upwards. The elastic connection mechanism ensures that the pressing roller 3 applies reasonable pressure to the peanut seedlings and avoids excessive pressure.

[0041] In this invention, the weight detection mechanism 55 can estimate the weight of the peanut crop before and after soil removal based on the pressure applied by the chain 51a, and calculate the soil removal rate accordingly. Combined with the elastic connection mechanism formed by the connecting rod 81 and the spring 82, it can perform contour-following motion on the ground. The extension and retraction of the linear potentiometer 83 can reflect the digging depth of the digging shovel 4. The controller can determine the appropriate digging depth based on the soil removal rate and the current digging depth, and adjust the digging depth and inclination angle of the digging shovel 4 accordingly to make the digging depth appropriate, avoiding missed digging or damage to the fruit due to shallow digging, and avoiding excessive resistance and waste of fuel due to excessive digging.

[0042] Preferably, the drive wheel assembly 52 and the rice-turning and laying mechanism 6 are driven by a first hydraulic motor 91 and a second hydraulic motor 92, respectively; the controller controls the hydraulic oil flow corresponding to the first hydraulic motor 91 and the second hydraulic motor 92 through a first solenoid valve 93 and a second solenoid valve 94, respectively. Each of the left and right sets of rice-turning disc assemblies 61 is connected to a second hydraulic motor 92, and the two second hydraulic motors 92 are connected in series. Furthermore, to facilitate the controller in obtaining the rotational speeds of the first hydraulic motor 91 and the second hydraulic motor 92, speed measuring mechanisms are provided for both.

[0043] The intelligent control method for hydraulic dredging depth of the peanut harvester based on the above-mentioned intelligent control system for hydraulic dredging depth includes the following steps S101-S104:

[0044] Step S101: Calculate the excavation depth data based on the data collected by the linear potentiometer 83 and the extension / retraction amount of the lifting adjustment cylinder 7.

[0045] Step S102: Calculate the real-time soil removal rate of peanut crops based on the data collected by the two sets of weight detection mechanisms 55.

[0046] Step S103: Based on the real-time soil removal rate and the benchmark soil removal rate, determine whether the excavation depth data meets the requirements;

[0047] Step S104: When the digging depth does not meet the requirements, control the extension and retraction of the lifting adjustment cylinder 7 to adjust the digging depth of the digging shovel 4.

[0048] Specifically, the soil removal rate is estimated as follows: At time t, the first weight data T1 collected by the low-position weight detection mechanism 55 is collected. The first weight data T1 is the average of the data from the two pressure sensors 55c corresponding to the low-position weight detection mechanism 55. At time t + Δt, the second weight data T2 collected by the high-position weight detection mechanism 55 is collected. The second weight data T2 is the average of the data from the two pressure sensors 55c corresponding to the high-position weight detection mechanism 55. The value of Δt is determined based on the conveyor linear speed of the chain 51a, representing the time required for the excavated crop to move from the low-position weight detection mechanism 55 to the high-position weight detection mechanism 55. The soil removal rate is calculated based on the following formula: (T1 - T2) / T1 × 100%.

[0049] The aforementioned baseline soil removal rate is derived from experiments. It is calculated by placing peanut crops with an appropriate amount of soil onto the chain rod assembly 51, followed by soil shaking and sieving. The baseline soil removal rate is then calculated based on the weight data collected by the weight detection mechanism 55 at varying heights. In practice, multiple sets of experiments can be conducted to obtain multiple soil removal rate data points, and the average value can be taken to obtain the baseline soil removal rate.

[0050] Preferably, the step S103 above, which involves determining whether the excavation depth data meets the requirements based on the real-time soil removal rate and the benchmark soil removal rate, includes:

[0051] Based on the benchmark soil removal rate, a reasonable soil removal rate range is obtained. It is then determined whether the real-time soil removal rate is within the reasonable soil removal rate range. If it is, it indicates that the excavation depth meets the requirements; otherwise, it indicates that the excavation depth does not meet the requirements.

[0052] Preferably, the step S104 above, which involves controlling the extension and retraction of the lifting and adjusting cylinder 7 to adjust the digging depth of the digging shovel 4, includes:

[0053] When the real-time soil removal rate is greater than the maximum value of the reasonable soil removal rate range, it indicates that the excavation depth is too deep and excessive soil has been excavated. The telescopic rod of the lifting and adjusting cylinder 7 is then controlled to retract inward.

[0054] When the real-time soil removal rate is less than the minimum value of the reasonable soil removal rate range, it indicates that the digging depth is too shallow, which may damage the crop roots and cause the peanuts to remain in the soil. The telescopic rod of the lifting and adjusting cylinder 7 is then controlled to extend outward.

[0055] The intelligent control method for hydraulically driven digging depth of the present invention can automatically adjust based on real-time digging depth data and real-time soil removal rate data, so that the digging depth of the digging shovel 4 is appropriate and can adapt to different peanut varieties and changes in the depth of peanut roots. Compared with manually setting the target digging depth, the present invention is more adaptable to changes in working conditions.

[0056] Preferably, based on the forward speed of the tractor 1, the conveying speed of the chain rod assembly 51 and the laying speed of the rice-turning and laying mechanism 6 are adjusted. That is, the rotational speeds of the first hydraulic motor 91 and the second hydraulic motor 92 are adjusted via the first solenoid valve 93 and the second solenoid valve 94, respectively, to adjust the conveying speed of the chain rod assembly 51 and the laying speed of the rice-turning and laying mechanism 6. Specifically, the adjustment can be made according to a preset speed ratio. Preferably, the first speed ratio between the conveying speed and the forward speed of the chain rod assembly 51 is in the range of 0.8 to 1.2, and the laying speed of the rice-turning and laying mechanism 6 is greater than or equal to the conveying speed of the chain rod assembly 51. Since the diameter of the rice-turning disc assembly 61 of the rice-turning and laying mechanism 6 is twice the diameter of the drive sprocket that drives the chain rod assembly 51, the second speed ratio between the second hydraulic motor 92 and the first hydraulic motor 91 is in the range of 0.5 to 0.7.

[0057] Preferably, the number of peanut plants on the chain rod assembly 51 can be estimated based on the data collected by the weight detection mechanism 55; according to the estimation result of the number of plants, the rotation speeds of the first hydraulic motor 91 and the second hydraulic motor 92 are adjusted by the first solenoid valve 93 and the second solenoid valve 94, respectively. When the estimated number of plants N is greater than a preset threshold N... max When the estimated number of plants N is less than a preset threshold N, the rotation speed of the first hydraulic motor 91 and the second hydraulic motor 92 is increased to accelerate the conveying and turning of the seedlings; min At the same time, the rotational speeds of the first hydraulic motor 91 and the second hydraulic motor 92 are reduced. By estimating the number of plants based on data from the weight detection mechanism 55 and adjusting the rotational speed of the hydraulic motors accordingly, the system can dynamically adapt to changes in crop density during the harvesting process. This ensures that the conveying and lifting mechanism 5 and the turning and laying mechanism 6 operate efficiently, avoiding blockages due to too many plants or wasted energy due to too few plants.

[0058] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A hydraulically driven intelligent control system for digging depth of a peanut harvester, the peanut harvester comprising a tractor (1), a frame (2), and a pressing roller (3), a digging shovel (4), a conveying and lifting mechanism (5), and a turning and laying mechanism (6) arranged from front to back on the frame (2); a lifting and adjusting cylinder (7) is connected between the tractor (1) and the frame (2); the conveying and lifting mechanism (5) comprises an inclined chain rod assembly (51), a drive wheel assembly (52) and a driven wheel assembly (53) respectively placed at the upper and lower ends of the chain rod assembly (51), and a vibrating wheel mechanism (54) placed inside the chain rod assembly (51); the chain rod assembly (51) is composed of two sets of chains (51a) arranged in parallel on the left and right and a rod (51b) erected between the two sets of chains (51a); characterized in that: The hydraulically driven deep dredging intelligent control system includes two sets of detection components (8) connecting the two ends of the pressing roller (3); each set of detection components (8) includes an elastic connection mechanism for establishing the elastic movement relationship between the end of the pressing roller (3) and the frame (2), and also includes a linear potentiometer (83) for acquiring the distance data between the end of the pressing roller (3) and the frame (2). The conveying and lifting mechanism (5) also includes two sets of weight detection mechanisms (55) with high and low settings; each set of weight detection mechanisms (55) includes a sprocket (55a) meshing with the left and right sets of chains (51a), a central shaft (55b) connecting the sprocket (55a), and a pressure sensor (55c) connecting the central shaft (55b). The linear potentiometer (83) is connected to the pressure sensor (55c) and the controller, and the controller can control the extension and retraction of the lifting adjustment cylinder (7) through the proportional solenoid valve (9); The elastic connection mechanism includes a connecting rod (81) that can slide relative to the frame (2), and a spring (82) that applies downward pressure to the end of the pressing roller (3) is threaded on the connecting rod (81); the end of the pressing roller (3) is connected to the connecting rod (81) through a bearing seat (84).

2. The intelligent control system for hydraulic dredging depth of the peanut harvester according to claim 1, characterized in that, The lifting adjustment cylinder (7) is connected to the multi-way valve (11) of the tractor (1) via the proportional solenoid valve (9).

3. The intelligent control system for hydraulic dredging depth of the peanut harvester according to claim 1, characterized in that, The drive wheel assembly (52) is driven by the first hydraulic motor (91), and the rice seedling turning and laying mechanism (6) is driven by the second hydraulic motor (92). The controller controls the hydraulic oil flow of the first hydraulic motor (91) and the second hydraulic motor (92) respectively through the first solenoid valve (93) and the second solenoid valve (94).

4. The intelligent control method for hydraulic dredging depth of the peanut harvester based on the intelligent control system for hydraulic dredging depth of claim 1, characterized in that, The methods include: Based on the data collected by the linear potentiometer (83) and the extension and retraction of the lifting adjustment cylinder (7), the excavation depth data is calculated; The real-time soil removal rate of peanut crops is calculated based on the data collected by the two sets of weight detection mechanisms (55). The calculation method of the real-time soil removal rate is as follows: the first weight data T1 collected by the lower weight detection mechanism (55) at time t is collected, and the second weight data T2 collected by the higher weight detection mechanism (55) at time t+Δt is collected. The value of Δt is determined based on the conveying line speed of the chain (51a). The real-time soil removal rate is calculated based on the following formula: (T1-T2) / T1×100%. Based on the real-time soil removal rate and the benchmark soil removal rate, it is determined whether the excavation depth data meets the requirements; the benchmark soil removal rate is obtained by placing peanut crops with an appropriate amount of soil on the chain rod assembly (51), and after soil shaking and sieving, the benchmark soil removal rate is calculated based on the weight data collected by the weight detection mechanism (55) at high and low positions. When the digging depth does not meet the requirements, the lifting and adjusting cylinder (7) is extended and retracted to adjust the digging depth of the digging shovel (4).

5. The intelligent control method for hydraulically driven drilling depth according to claim 4, characterized in that, The step of determining whether the excavation depth data meets the requirements based on the real-time soil removal rate and the benchmark soil removal rate includes: Based on the benchmark soil removal rate, a reasonable soil removal rate range is obtained. It is then determined whether the real-time soil removal rate is within the reasonable soil removal rate range. If it is, it indicates that the excavation depth meets the requirements; otherwise, it indicates that the excavation depth does not meet the requirements.

6. The intelligent control method for hydraulically driven drilling depth according to claim 5, characterized in that, The control of the lifting and adjusting cylinder (7) to extend and retract to adjust the digging depth of the digging shovel (4) includes: When the real-time soil removal rate is greater than the maximum value of the reasonable soil removal rate range, the telescopic rod of the lifting adjustment cylinder (7) is controlled to extend outward; When the real-time soil removal rate is less than the minimum value of the reasonable soil removal rate range, the telescopic rod of the lifting and adjusting cylinder (7) is controlled to retract inward.

7. The intelligent control method for hydraulically driven digging depth according to claim 4, characterized in that, Based on the forward speed of the tractor (1), the conveying speed of the chain rod assembly (51) and the laying speed of the rice seedling turning and laying mechanism (6) are adjusted.

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