Seeding depth regulation and control device and method suitable for earth surface gradient change in heading direction of hilly and mountainous areas

Abstract

The invention discloses a seeding depth regulation and control device and method suitable for earth surface gradient changes in the advancing direction of hilly and mountainous areas. Wherein a left rod of the parallel four-rod profiling mechanism is fixedly connected with a furrow opener mounting rack in the left rod of the parallel four-rod profiling mechanism, and a right rod of the parallel four-rod profiling mechanism is fixed with a rack of the traction mechanism; the lower end of a large-profiling-amount spring is installed on a lower rod of the parallel four-rod profiling mechanism, a spring initial increment adjuster is installed at the upper end of the large-profiling-amount spring, and one end of a sowing single machine frame connecting piece in a left rod of the parallel four-rod profiling mechanism is hinged to a sowing depth adjusting clamping cylinder of the spring initial increment adjuster. The other end of the seeding monomer rack connecting piece is hinged with the upper part of the rack connecting rod; the air-blowing type seed sowing device, the disc furrow opener, the depth limiting wheel and the soil covering press wheel are all mounted on the furrow opener mounting rack. According to the method, different seeding depth operation parameter combinations can be selected according to the surface gradient ranges in different advancing directions, and finally, the seeding depth operation performance is optimal.

Description

Technical Field

[0001] This invention belongs to the technical field of auxiliary equipment for seeders, specifically a seeding depth control device suitable for changes in the surface slope of hilly and mountainous areas. Background Technology

[0002] Corn is a major grain crop in China, and increasing corn yield is of great significance to ensuring food security. Corn planting area accounts for more than 15% in hilly and mountainous areas, making improving sowing depth performance a key measure to increase corn yield in these areas. With strong support from agricultural mechanization policies in hilly and mountainous areas and the urgent needs of corn growers there, low-cost, versatile, and deep-sowing-capable mechanical seeders will become a major focus for planting in these areas.

[0003] The large-scale contour spring-type seeding depth control mainly achieves seeding depth control through parallel four-bar contouring, large-scale contour spring compression, and depth limiting wheel depth control, thereby ensuring seeding depth operation performance. However, existing large-scale contour spring-type seeding depth control technologies are mostly only applicable to relatively flat farmland in plains areas. In hilly and mountainous areas, the impact of surface slope on seeding depth operation performance varies depending on the direction of travel. This leads to significant inconsistencies in seeding depth, and in extreme cases, problems such as bare seeds, severely affecting seeding performance. Therefore, seeding depth control devices and methods for different surface slopes in hilly and mountainous areas are currently still in the nascent stage. Summary of the Invention

[0004] To address the problems existing in the background technology, this invention provides a sowing depth control device suitable for hilly and mountainous areas with varying surface slopes in the direction of travel. It can adjust the sowing depth operation parameters according to different surface slope ranges in the direction of travel, ultimately achieving optimal sowing depth operation performance. The technical solution includes: a disc furrow opener, a depth-limiting wheel, a lower rod of a parallel four-bar linkage, a right rod of a parallel four-bar linkage, a large-scale spring, an upper rod of a parallel four-bar linkage, a spring initial increment adjuster, a left rod of a parallel four-bar linkage, a seed box, an air-blown seed metering device, a seed metering pipe, and a soil-covering and pressing wheel. The front and rear ends of the upper rod of the parallel four-bar linkage are hinged to the upper part of the right rod of the parallel four-bar linkage and the upper part of the frame connecting rod in the left rod of the parallel four-bar linkage, respectively; the front and rear ends of the lower rod of the parallel four-bar linkage are hinged to the lower part of the right rod of the parallel four-bar linkage and the lower part of the frame connecting rod, respectively.

[0005] The left link of the parallel four-bar linkage is fixedly connected to the trencher mounting frame in the middle of the left link of the parallel four-bar linkage, and the right link of the parallel four-bar linkage is fixed to the frame of the traction mechanism;

[0006] The disc furrow opener, depth limiting wheel, and soil covering and pressing wheel are installed from front to back below the furrow opener mounting frame. The air-blowing seed metering device is installed above the furrow opener mounting frame. The inlet of the air-blowing seed metering device is connected to the outlet of the seed box, and the outlet of the air-blowing seed metering device is located behind the disc furrow opener. The disc furrow opener is rotatably connected to the furrow opener mounting frame. The depth limiting wheel is connected to the furrow opener mounting frame through the depth limiting arm. The soil covering and pressing wheel is connected to the furrow opener mounting frame through the soil covering and pressing mechanism frame.

[0007] The lower end of the large-scale contour spring is installed on the lower rod of the parallel four-bar contour mechanism, and the upper end of the large-scale contour spring is equipped with a spring initial increment adjuster. One end of the seeding unit frame connector in the left rod of the parallel four-bar contour mechanism is hinged to the seeding depth adjustment adjustment cylinder of the spring initial increment adjuster, and the other end of the seeding unit frame connector is hinged to the upper part of the frame connecting rod.

[0008] The spring initial increment adjuster includes: an upper rod sowing depth adjustment ruler, a sowing depth adjustment screw, a sowing depth indicator line, a sowing depth adjustment clamp, and a fixing nut. The lower end of the sowing depth adjustment screw is fixed to the upper end of the large-scale spring. The sowing depth adjustment clamp is connected to the sowing depth adjustment screw by a thread. The upper end of the sowing depth adjustment screw is fitted with a sowing depth indicator line via a fixing nut. The upper rod sowing depth adjustment ruler is fixedly installed on the side of the sowing depth adjustment clamp, and the scale arrangement direction on the upper rod sowing depth adjustment ruler is parallel to the axial direction of the sowing depth adjustment screw.

[0009] The right link of the parallel four-bar linkage includes: a first traction rod fixing plate, a traction rod connecting plate, and a second traction rod fixing plate, wherein the first traction rod fixing plate and the second traction rod fixing plate are respectively fixed on both sides of the traction rod connecting plate, and the traction rod connecting plate is fixed to the frame of the traction mechanism.

[0010] The parallel four-bar linkage includes a first upper bar and a second upper bar. The front ends of the first upper bar and the second upper bar are respectively hinged to the upper part of the first traction rod fixing plate and the second traction rod fixing plate. The rear ends of the first upper bar and the second upper bar are connected by a sleeve, thereby forming a certain width to increase the strength of the parallelogram mechanism.

[0011] The lower rod of the parallel four-bar linkage includes: a spring second-end mounting plate, a first lower rod, and a second lower rod. The front ends of the first lower rod and the second lower rod are respectively hinged to the lower part of the first traction rod fixing plate and the second traction rod fixing plate. The rear ends of the first lower rod and the second lower rod are connected through a sleeve. The two ends of the spring second-end mounting plate are respectively fixed to the first lower rod and the second lower rod. The large-scale spring is connected to the spring second-end mounting plate through a hook at its end.

[0012] The middle part of the depth limiting arm is connected to the furrow opener mounting frame through the target seeding depth adjuster. By adjusting the meshing position of the screw part in the target seeding depth adjuster and the threaded part in the furrow opener mounting frame, the compaction pressure of the soil covering and compaction wheel can be changed.

[0013] This invention also provides a method for controlling sowing depth based on changes in surface slope in the direction of advance in hilly and mountainous areas. This method allows for the selection of different sowing depth parameters according to different surface slope ranges in different directions of advance. The technical solution includes:

[0014] Step 1: Manually use an inclinometer to measure the distribution range of surface slope in each direction of advance of the uncultivated land in the hilly and mountainous areas;

[0015] Step 2: Based on the distribution range of surface slope, determine the direction of travel that is suitable for the operation of the seeder;

[0016] Step 3: Based on the surface slope and seeding depth operation speed in the current direction of advance, obtain the initial spring increment for each target in the direction of advance using the mathematical model of surface slope in the direction of advance - initial spring increment - operation speed.

[0017] Step 4: The seeder adjusts the initial spring increment adjuster according to the initial spring increment of the target's forward direction, and then performs the sowing depth operation.

[0018] The mathematical model for the forward direction surface slope, initial spring increment, and operating speed includes:

[0019] ,

[0020] Where s is the initial spring increment in mm; v is the seeding depth operation speed in km / h; The slope of the ground in the direction of travel.

[0021] In step 3, the target seeding depth adjuster is adjusted according to the target seeding depth.

[0022] In step 2, if the slope in the forward direction changes or exceeds 25°, the forward direction is not suitable for the operation of the seeder.

[0023] The beneficial effect of this invention is that it can select different combinations of seeding depth operation parameters according to the surface slope range of different directions of advancement, so as to achieve the optimal seeding depth operation performance. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of an embodiment of a seeding depth control device for varying surface slopes in hilly and mountainous areas according to the present invention.

[0025] Figure 2This is a schematic diagram of the parallelogram mechanism in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the spring initial increment adjuster in an embodiment of the present invention;

[0027] Figure 4 This is a flowchart of a method for controlling sowing depth based on changes in the surface slope of hilly and mountainous areas according to the present invention.

[0028] The components are: 1-Disc furrow opener, 2-Depth limiting wheel, 3-Lower rod of parallel four-bar linkage, 4-Right rod (traction rod) of parallel four-bar linkage, 5-Large contouring spring, 6-Upper rod of parallel four-bar linkage, 7-Spring initial increment adjuster, 8-Left rod of parallel four-bar linkage (sowing unit frame), 9-Seed box, 10-Air-blown seed metering device, 11-Seed metering tube, 12-Target sowing depth adjuster, 13-Soil covering and compaction mechanism frame, 14-Soil covering and compaction wheel, 15-Depth limiting arm, 3-1-First lower rod. 3-2-Spring second end mounting plate, 3-3-Second lower rod, 4-1-First traction rod fixing plate, 4-2-Traction rod connecting plate, 4-3-Second traction rod fixing plate, 6-1-First upper rod, 6-2-Second upper rod, 7-1-Upper rod sowing depth adjustment ruler, 7-2-Sowing depth adjustment screw, 7-3-Sowing depth indicator line, 7-4-Sowing depth adjustment adjustment clip, 7-5-Fixing nut, 8-1-Frame connecting rod, 8-2-Sowing unit frame connector, 8-4-Furrow opener mounting frame. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] like Figure 1 The embodiment of the present invention shown includes: a disc furrow opener 1, a depth limiting wheel 2, a lower rod of a parallel four-bar linkage 3, a right rod of a parallel four-bar linkage 4 (traction rod), a large-scale contouring spring 5, an upper rod of a parallel four-bar linkage 6, a spring initial increment adjuster 7, a left rod of a parallel four-bar linkage 8, a seed box 9, an air-blown seed metering device 10, a seed metering pipe 11, and a soil covering and pressing wheel 14, wherein...

[0031] The front and rear ends of the upper link 6 of the parallel four-bar linkage are hinged to the upper part of the right link 4 of the parallel four-bar linkage and the upper part of the frame connecting rod 8-1 in the left link 8 of the parallel four-bar linkage, respectively; the front and rear ends of the lower link 3 of the parallel four-bar linkage are hinged to the lower part of the right link 4 of the parallel four-bar linkage and the lower part of the frame connecting rod 8-1, respectively; thus, the lower link 3, the right link 4, the upper link 6, and the frame connecting rod 8-1 of the parallel four-bar linkage form a parallelogram mechanism;

[0032] The left link 8 of the parallel four-bar linkage is integrally fixed to the trencher mounting frame 8-4 in the left link 8 of the parallel four-bar linkage, and the right link 4 of the parallel four-bar linkage is fixed to the frame of the traction mechanism.

[0033] The disc furrow opener 1, depth limiting wheel 2, and soil covering and pressing wheel 14 are installed from front to back below the furrow opener mounting frame 8-4. The air-blowing seed metering device 10 is installed above the furrow opener mounting frame 8-4. The inlet of the air-blowing seed metering device 10 is connected to the outlet of the seed box 9, and the outlet of the air-blowing seed metering device 10 is located behind the disc furrow opener 1. The disc furrow opener 1 is rotatably connected to the furrow opener mounting frame 8-4. The depth limiting wheel 2 is connected to the furrow opener mounting frame 8-4 through the depth limiting arm 15. The soil covering and pressing wheel 14... The soil compaction mechanism frame 13 is connected to the furrow opener mounting frame 8-4; the middle part of the depth limiting arm 15 is connected to the furrow opener mounting frame 8-4 through the target sowing depth adjuster 12. By adjusting the meshing position of the screw part in the target sowing depth adjuster 12 and the threaded part in the furrow opener mounting frame 8-4, the compaction pressure of the soil compaction wheel 14 is changed; by changing the locking position of the soil compaction mechanism frame 13 and the furrow opener mounting frame 8-4, the soil penetration depth of the disc furrow opener 1 is changed.

[0034] The lower end of the large-scale contour spring 5 is mounted on the lower rod 3 of the parallel four-bar contouring mechanism, and the upper end of the large-scale contour spring 5 is mounted on the spring initial increment adjuster 7. The left rod 8 of the parallel four-bar contouring mechanism includes: a frame connecting rod 8-1, a seeding unit frame connecting piece 8-2, and a furrow opener mounting frame 8-4. One end of the seeding unit frame connecting piece 8-2 in the left rod 8 of the parallel four-bar contouring mechanism is hinged to the seeding depth adjustment adjusting cylinder 7-4 of the spring initial increment adjuster 7, and the other end of the seeding unit frame connecting piece 8-2 is hinged to the upper part of the frame connecting rod 8-1.

[0035] The spring initial increment adjuster 7 includes: an upper rod sowing depth adjustment ruler 7-1, a sowing depth adjustment screw 7-2, a sowing depth indicator line 7-3, a sowing depth adjustment cylinder 7-4, and a fixing nut 7-5. The lower end of the sowing depth adjustment screw 7-2 is fixed to the upper end of the large-scale spring 5. The sowing depth adjustment cylinder 7-4 is threadedly connected to the sowing depth adjustment screw 7-2. The upper end of the sowing depth adjustment screw 7-2 is fitted with the sowing depth indicator line 7-3 via the fixing nut 7-5. The upper rod sowing depth adjustment ruler 7-1 is fixedly installed on the side of the sowing depth adjustment cylinder 7-4, and the scale arrangement direction on the upper rod sowing depth adjustment ruler 7-1 is parallel to the axial direction of the sowing depth adjustment screw 7-2.

[0036] The right link 4 of the parallel four-bar linkage includes: a first traction rod fixing plate 4-1, a traction rod connecting plate 4-2, and a second traction rod fixing plate 4-3. The first traction rod fixing plate 4-1 and the second traction rod fixing plate 4-3 are respectively fixed on both sides of the traction rod connecting plate 4-2, and the traction rod connecting plate 4-2 is fixed to the frame of the traction mechanism.

[0037] The upper rod 6 of the parallel four-bar linkage includes: a first upper rod 6-1 and a second upper rod 6-2. The front ends of the first upper rod 6-1 and the second upper rod 6-2 are respectively hinged to the upper parts of the first traction rod fixing plate 4-1 and the second traction rod fixing plate 4-3. The rear ends of the first upper rod 6-1 and the second upper rod 6-2 are connected by a sleeve, thereby forming a certain width to increase the strength of the parallelogram mechanism.

[0038] The lower rod 3 of the parallel four-bar linkage includes: a spring second end mounting plate 3-2, a first lower rod 3-1, and a second lower rod 3-3. The front ends of the first lower rod 3-1 and the second lower rod 3-3 are respectively hinged to the lower parts of the first traction rod fixing plate 4-1 and the second traction rod fixing plate 4-3. The rear ends of the first lower rod 3-1 and the second lower rod 3-3 are connected by a sleeve, thereby forming a certain width to increase the strength of the parallelogram mechanism. The two ends of the spring second end mounting plate 3-2 are respectively fixed to the first lower rod 3-1 and the second lower rod 3-3. The large-scale spring 5 is connected to the spring second end mounting plate 3-2 through the hook at its end.

[0039] During operation, a seeding depth control method suitable for variations in surface slope along the direction of advance in hilly and mountainous areas is used, such as... Figure 4 As shown, it includes the following steps:

[0040] Step 1: Manually use an inclinometer to measure the distribution range of surface slope in each direction of advance of the hilly and mountainous land to be cultivated (the surface slope is usually the same in a single direction of advance).

[0041] Step 2: Based on the distribution range of the ground slope, determine the direction of advance that is suitable for the operation of the seeder (if the slope of the direction of advance changes or the slope exceeds 25°, then the direction of advance is not suitable for the operation of the seeder).

[0042] Step 3: Based on the current ground slope and sowing depth operation speed (planned tractor movement speed) in the forward direction, adjust the target sowing depth adjuster according to the target sowing depth. Obtain the initial spring increment for each target forward direction through the mathematical model of ground slope in the forward direction - initial spring increment - operation speed.

[0043] Step 4: The seeder adjusts the initial spring increment adjuster according to the initial spring increment of the target's forward direction, and then performs the sowing depth operation.

[0044] In step 3, the mathematical model of ground slope in the forward direction - initial spring increment - operating speed is derived through polynomial fitting based on MBD-DEM coupled simulation experiment and field experiment data, specifically including the following formulas:

[0045] 0°≤|θ|≤6° (1)

[0046] 6°<θ≤25° (2)

[0047] -25°≤θ<-6° (3)

[0048] Where s is the initial spring increment, adjusted by the initial spring increment adjuster, and the unit is mm; v is the seeding depth operating speed (based on the feedback signal from the tractor's forward gear in the forward direction), and the unit is km / h. The slope of the ground in the direction of advance (obtained by measuring the inclination of the cultivated land surface using an inclinometer before the seeding depth operation), in degrees;

[0049] By rotating the sowing depth adjusting screw 7-2, the initial increment of the spring is changed to the position of the sowing depth indicator line 7-3 on the upper rod sowing depth adjusting ruler 7-1, thereby adjusting the initial increment of the spring and finally adjusting the sowing depth. In this embodiment, the incremental adjustment range of the upper rod sowing depth adjusting ruler 7-1 is 0-60 mm. The central position of the upper rod sowing depth adjusting ruler 7-1 corresponds to flat ground by default. The initial increment of the spring is calculated according to formula (1)-(3), and the initial increment adjuster of the spring is adjusted.

Claims

1. A seeding depth control device suitable for varying surface slopes in hilly and mountainous areas, characterized in that, include: The components include a disc furrow opener (1), a depth limiting wheel (2), a lower rod of a parallel four-bar linkage (3), a right rod of a parallel four-bar linkage (4), a large-scale spring (5), an upper rod of a parallel four-bar linkage (6), a spring initial increment adjuster (7), a left rod of a parallel four-bar linkage (8), a seed box (9), an air-blowing seed meterer (10), a seed metering pipe (11), and a soil covering and pressing wheel (14). The front and rear ends of the upper rod of the parallel four-bar linkage (6) are respectively hinged to the upper part of the right rod of the parallel four-bar linkage (4) and the upper part of the frame connecting rod (8-1) in the left rod of the parallel four-bar linkage (8). The front and rear ends of the lower rod of the parallel four-bar linkage (3) are respectively hinged to the lower part of the right rod of the parallel four-bar linkage (4) and the lower part of the frame connecting rod (8-1). The left bar (8) of the parallel four-bar linkage is fixedly connected to the trencher mounting frame (8-4) in the left bar (8) of the parallel four-bar linkage, and the right bar (4) of the parallel four-bar linkage is fixed to the frame of the traction mechanism; The disc furrow opener (1), the depth limiting wheel (2), and the soil covering and pressing wheel (14) are installed from front to back below the furrow opener mounting frame (8-4). The air-blowing seed metering device (10) is installed above the furrow opener mounting frame (8-4). The inlet of the air-blowing seed metering device (10) is connected to the outlet of the seed box (9). The outlet of the air-blowing seed metering device (10) is located behind the disc furrow opener (1). The disc furrow opener (1) is rotatably connected to the furrow opener mounting frame (8-4). The depth limiting wheel (2) is connected to the furrow opener mounting frame (8-4) through the depth limiting arm (15). The soil covering and pressing wheel (14) is connected to the furrow opener mounting frame (8-4) through the soil covering and pressing mechanism frame (13). The lower end of the large-scale contour spring (5) is installed on the lower rod (3) of the parallel four-bar contour mechanism. The upper end of the large-scale contour spring (5) is equipped with a spring initial increment adjuster (7). One end of the seeding unit frame connector (8-2) in the left rod (8) of the parallel four-bar contour mechanism is hinged to the seeding depth adjustment adjustment cylinder (7-4) of the spring initial increment adjuster (7). The other end of the seeding unit frame connector (8-2) is hinged to the upper part of the frame connecting rod (8-1).

2. The seeding depth control device for hilly and mountainous areas with varying surface slopes in the forward direction, as described in claim 1, is characterized in that... The initial increment spring adjuster (7) includes: an upper rod sowing depth adjustment ruler (7-1), a sowing depth adjustment screw (7-2), a sowing depth indicator line (7-3), a sowing depth adjustment adjustment cylinder (7-4), and a fixing nut (7-5). The lower end of the sowing depth adjustment screw (7-2) is fixed to the upper end of the large-scale spring (5), and the sowing depth adjustment adjustment cylinder (7-4) is connected to the sowing depth adjustment screw (7-2) by a thread. The upper end of the sowing depth adjustment screw (7-2) is equipped with a sowing depth indicator line (7-3) through the fixing nut (7-5). The upper rod sowing depth adjustment ruler (7-1) is fixedly installed on the side of the sowing depth adjustment cylinder (7-4), and the scale arrangement direction on the upper rod sowing depth adjustment ruler (7-1) is parallel to the axial direction of the sowing depth adjustment screw (7-2).

3. The seeding depth control device for hilly and mountainous areas with varying surface slopes in the forward direction, as described in claim 1, is characterized in that... The right rod (4) of the parallel four-bar linkage includes: a first traction rod fixing plate (4-1), a traction rod connecting plate (4-2), and a second traction rod fixing plate (4-3), wherein the first traction rod fixing plate (4-1) and the second traction rod fixing plate (4-3) are respectively fixed on both sides of the traction rod connecting plate (4-2), and the traction rod connecting plate (4-2) is fixed to the frame of the traction mechanism.

4. The seeding depth control device for hilly and mountainous areas with varying surface slopes in the forward direction, as described in claim 1, is characterized in that... The upper rod (6) of the parallel four-bar linkage includes a first upper rod (6-1) and a second upper rod (6-2). The front ends of the first upper rod (6-1) and the second upper rod (6-2) are respectively hinged to the upper part of the first traction rod fixing plate (4-1) and the second traction rod fixing plate (4-3). The rear ends of the first upper rod (6-1) and the second upper rod (6-2) are connected by a sleeve, thereby forming a certain width to increase the strength of the parallelogram mechanism.

5. The seeding depth control device for hilly and mountainous areas with varying surface slopes in the forward direction, as described in claim 1, is characterized in that... The lower rod (3) of the parallel four-bar linkage includes: a spring second end mounting plate (3-2), a first lower rod (3-1), and a second lower rod (3-3). The front ends of the first lower rod (3-1) and the second lower rod (3-3) are respectively hinged to the lower parts of the first traction rod fixing plate (4-1) and the second traction rod fixing plate (4-3). The rear ends of the first lower rod (3-1) and the second lower rod (3-3) are connected through a sleeve. The two ends of the spring second end mounting plate (3-2) are respectively fixed to the first lower rod (3-1) and the second lower rod (3-3). The large-scale spring (5) is connected to the spring second end mounting plate (3-2) through the hook at its end.

6. The seeding depth control device for hilly and mountainous areas with varying surface slopes in the forward direction, as described in claim 1, is characterized in that... The middle part of the depth limiting arm (15) is connected to the furrow opener mounting frame (8-4) through the target seeding depth adjuster (12). By adjusting the meshing position of the screw part in the target seeding depth adjuster (12) and the threaded part in the furrow opener mounting frame (8-4), the pressing pressure of the soil covering roller (14) is changed.

7. A method for controlling the sowing depth control device as described in claim 1, applicable to changes in surface slope in the forward direction of hilly and mountainous areas, characterized in that, include: Step 1: Manually use an inclinometer to measure the distribution range of surface slope in each direction of advance of the uncultivated land in the hilly and mountainous areas; Step 2: Based on the distribution range of surface slope, determine the direction of travel that is suitable for the operation of the seeder; Step 3: Based on the surface slope and seeding depth operation speed in the current direction of advance, obtain the initial spring increment for each target in the direction of advance using the mathematical model of surface slope in the direction of advance - initial spring increment - operation speed. Step 4: The seeder adjusts the initial spring increment adjuster according to the initial spring increment of the target's forward direction, and then performs the sowing depth operation.

8. The control method of the seeding depth control device applicable to changes in surface slope in the forward direction of hilly and mountainous areas according to claim 7, characterized in that, The mathematical model for the forward direction surface slope, initial spring increment, and operating speed includes: ， Where s is the initial spring increment in mm; v is the seeding depth operation speed in km / h; The slope of the ground in the direction of travel.

9. The control method of the seeding depth control device applicable to changes in surface slope in the forward direction of hilly and mountainous areas according to claim 7, characterized in that, In step 3, the target seeding depth adjuster is adjusted according to the target seeding depth.

10. The control method of the seeding depth control device applicable to changes in surface slope in the forward direction of hilly and mountainous areas according to claim 7, characterized in that, In step 2, if the slope in the forward direction changes or exceeds 25°, the forward direction is not suitable for the operation of the seeder.

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