Electric drive type vegetable sowing depth adjusting device and adjusting method based on laser displacement sensing

Abstract

The invention discloses an electrically-driven vegetable sowing depth adjusting device and method based on laser displacement sensing, and belongs to the technical field of intelligent agricultural machinery. Through the synergistic effect of the vehicle body module, the lifting mechanism, the seeding mechanism and the seeding depth adjusting mechanism, the laser displacement sensor is used for measuring displacement information in real time, and the PID controller is combined for feedback control, so that accurate adjustment and dynamic adjustment of the seeding depth are realized. The device can automatically and accurately control the seeding depth without shutdown, adapts to different soil conditions, and remarkably improves the seeding quality and the working efficiency. And meanwhile, the stability and the service life of the equipment are enhanced through the multi-cross-beam structural design of the vehicle body module and a shock absorber in the lifting mechanism. The vegetable seeder can solve the problems of low precision, poor efficiency and incapability of adapting to dynamic change of soil due to manual seeding depth adjustment of most existing vegetable seeders, is suitable for precision seeding operation of vegetables, and has important application value.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent agricultural machinery, and relates to a sowing depth adjusting device and an adjusting method, in particular to a vegetable sowing depth adjusting device and method based on laser displacement sensing and electric driving. BACKGROUND

[0002] At present, the sowing depth adjustment of a vegetable sowing machine generally adopts a manual mechanical adjusting mode represented by a T-shaped handle or a rotary handle. The operation thereof depends on the driver to drive a screw rod, a rack and other mechanisms to roughly change the position of an opener relative to a ground wheel or a frame by manually rotating or pulling the handle after stopping the machine, and to fix the position by a locking nut and other components. The accuracy of this adjusting mode seriously depends on personal experience, resulting in poor consistency of the sowing depth in the field. Meanwhile, frequent manual operation after stopping the machine not only is inefficient, but also cannot respond to the dynamic changes of the soil conditions in the field, which restricts the improvement of the quality and efficiency of the vegetable precision sowing. SUMMARY

[0003] The application aims at the deficiencies of the prior art, and provides an electric-driven vegetable sowing depth adjusting device based on laser displacement sensing and an adjusting method. The device can realize real-time measurement and monitoring of the sowing depth of a sowing mechanism, automatically and accurately control the sowing depth without stopping the machine, ensure the accuracy and consistency of the sowing depth, be suitable for different working conditions of the soil in the field, and further improve the quality and efficiency of the vegetable precision sowing.

[0004] The electric-driven vegetable sowing depth adjusting device based on laser displacement sensing provided in the application adopts the following technical scheme:

[0005] The electric-driven vegetable sowing depth adjusting device based on laser displacement sensing comprises a vehicle body module. The sowing depth adjusting device further comprises:

[0006] a lifting mechanism, which is movably connected with the vehicle body module and performs lifting movement relative to the vehicle body module;

[0007] a sowing mechanism, which is connected and fixed below the lifting mechanism and performs lifting movement with the lifting mechanism;

[0008] a sowing depth adjusting mechanism, which is connected and arranged on the sowing mechanism and performs lifting adjusting movement while performing lifting movement with the sowing mechanism.

[0009] By adopting the above technical scheme, the vehicle body module serves as the basic support structure of the whole device, the lifting mechanism is movably connected with the vehicle body module and can move up and down relative to the vehicle body module, thereby driving the seeding mechanism connected below to move up and down, and the sowing depth adjusting mechanism can move up and down while moving up and down with the seeding mechanism, and can also move up and down to adjust, so as to accurately adjust the seeding depth. Through the cooperation of the lifting mechanism and the sowing depth adjusting mechanism, the seeding depth is accurately adjusted and flexibly controlled, the seeding depth can be quickly adjusted according to different soil conditions and planting requirements, the seeding quality is improved, and the growth consistency of the vegetables is ensured.

[0010] Further, the vehicle body module is connected by wheels, a frame, a first cross beam, a second cross beam, a third cross beam and a skin; the frame is connected and installed on the wheels, the first cross beam, the second cross beam and the third cross beam are sequentially and fixedly connected inside the rear side of the frame from top to bottom, and the skin is installed on the top of the front side of the frame.

[0011] By adopting the above technical scheme, the wheels provide the device with a moving function, the frame serves as a main structure and bears other components, the first cross beam, the second cross beam and the third cross beam provide stable and reliable support and installation basis for the lifting mechanism and the seeding mechanism, and can bear various forces and movements of the lifting mechanism and the seeding mechanism during the working process, thereby improving the safety and stability of the operation.

[0012] Further, the lifting mechanism is connected by a first hinge, a second hinge, a third hinge, a first boom, a second boom, a fourth hinge, a lifting electric push rod, a three-point hanging rod, a third boom, a U-shaped lock, a shock absorber and a first laser displacement sensor.

[0013] The tail end of the first boom is hingedly connected with the first cross beam through the first hinge, the tail end of the second boom is hingedly connected with the second cross beam through the second hinge, the tail end of the lifting electric push rod is hingedly connected with the third cross beam through the third hinge, the head of the lifting electric push rod is hingedly connected with the middle part of the first boom through the fourth hinge, the upper end of the three-point hanging rod is hingedly connected with the head of the first boom, and the lower end is hingedly connected with the heads of the two second booms, the third boom is fixedly connected with the bottom of the three-point hanging rod through the U-shaped lock, the shock absorber is connected and arranged at the bottom of the third boom, and the first laser displacement sensor is fixedly connected on the third boom.

[0014] By adopting the above technical scheme, when the lifting electric push rod is extended or retracted, the first lifting rod and the second lifting rod are driven to rotate around the respective hinge points, so that stable and accurate lifting movement can be realized, and reliable guarantee is provided for the lifting of the seeding mechanism. Meanwhile, the three-point hanging rod and the third lifting rod play the role of connection and support, the shock absorber can reduce vibration during movement, and the stability and service life of the device are improved. The first laser displacement sensor is used to measure the displacement information of the seeding mechanism during lifting, and data support is provided for the adjustment of the seeding depth, and the adjustment accuracy of the seeding depth is further improved.

[0015] Further, the seeding mechanism is connected and composed of ground wheels, a front frame, a seeding motor, mounting links, a seed metering device, a rear frame, a bridge, an opener and a covering wheel. The bridge is connected and fixed between the front frame and the rear frame, the two ground wheels are respectively arranged below the front frame and the rear frame, the seeding motor is connected and fixed with the rear frame, the mounting links are fixed on the bridge, the seed metering device is connected and fixed with the mounting links, the opener is slidably connected to the front end of the seed metering device, and the covering wheel is connected to the rear end of the seed metering device.

[0016] By adopting the above technical scheme, the ground wheels drive the device to move forward, the seeding motor drives the seed metering device to work, the seeds are discharged, the opener opens a ditch in front, and the covering wheel covers soil at the back, so that the seeding operation is completed. The ditch opening and soil covering operations are more accurate, the whole seeding process is more efficient and stable, and the seeding quality is improved.

[0017] Further, the seeding depth adjustment mechanism is connected and composed of a support, a connecting head, a connecting rod, a connecting plate, a seeding depth electric push rod, a second laser displacement sensor and a laser baffle. The support is fixed on the bridge, the connecting plate is connected and fixed with the connecting rod, the seeding depth electric push rod is connected and arranged between the support and the connecting plate, the connecting head is uniformly fixed on the connecting rod, the connecting head is connected and fixed with the opener, the second laser displacement sensor is connected and fixed at one end of the connecting rod, and the laser baffle is connected and fixed on the support corresponding to the mounting end of the second laser displacement sensor.

[0018] By adopting the above technical scheme, when the seeding depth needs to be adjusted, the seeding depth electric push rod is extended or retracted to drive the connecting rod and the connecting head to move, so as to realize the lifting of the opener and change the seeding depth. The second laser displacement sensor is used to measure the displacement of the opener, and provides a feedback control signal for the action of the seeding depth electric push rod, so as to ensure the accurate adjustment of the seeding depth. Through the cooperation of the seeding depth electric push rod and the second laser displacement sensor, the accurate adjustment and real-time feedback control of the seeding depth are realized, the seeding depth can be quickly adjusted according to different soil conditions and planting requirements, the seeding quality is improved, and the growth consistency of the vegetables is ensured.

[0019] The electric drive type vegetable seeding depth adjustment method based on laser displacement sensing provided in the application adopts the following technical scheme:

[0020] The electric drive type vegetable sowing depth adjustment method based on laser displacement sensing has the characteristics that the steps are as follows:

[0021] (1) The first laser displacement sensor and the second laser displacement sensor are initialized, and the initial distances S0 and H0 are calibrated;

[0022] (2) The target sowing depth h is set 定 ; the current measurement value S t of the first laser displacement sensor and the current measurement value H t of the second laser displacement sensor are obtained in real time;

[0023] (3) The compensation sowing depth h 补 is calculated based on S t , H t , S0 and H0;

[0024] (4) The compensation sowing depth h 补 is compared with the target sowing depth h 定 , if the difference between the two exceeds the preset error range, the control amount is calculated through the PID controller, and the sowing depth electric push rod is driven to act to adjust the depth of the furrow opener, so that the actual sowing depth tends to the target sowing depth.

[0025] By adopting the above technical scheme, the displacement information is measured in real time by the laser displacement sensor, and feedback control is performed in combination with the PID controller, so that accurate and stable adjustment of the sowing depth is realized. The sowing depth can be quickly adjusted according to different soil conditions and planting requirements, the sowing quality is improved, the growth consistency of the vegetables is ensured, and the operation efficiency and the degree of automation are improved.

[0026] In summary, the present application has the following at least one beneficial technical effect:

[0027] (1) The present application measures the sowing depth in real time by the laser displacement sensor, and performs feedback control in combination with the PID controller, so that accurate adjustment and dynamic adjustment of the sowing depth are realized, the problem of low precision and dependence on personal experience in the traditional manual adjustment mode is solved, the consistency of the sowing depth in different soil conditions is ensured, and the growth quality and yield of the vegetables are improved, and the accuracy and consistency of the sowing depth are significantly improved.

[0028] (2) The present application adopts an electric drive type adjustment mechanism and an automatic control method, which can adjust the sowing depth in real time without stopping, and can quickly respond to the dynamic changes of the field soil; the time of stopping operation is reduced, frequent manual adjustment is avoided, and the sowing operation efficiency is significantly improved. At the same time, automatic control reduces manual intervention, improves the standardization and stability of the operation, and improves the operation efficiency and the degree of automation.

[0029] (3) The vehicle body module adopts a multi-beam structure design in the application, which provides stable support for the lifting mechanism and the seeding mechanism; a shock absorber is added in the lifting mechanism to reduce vibration during movement. The stability and reliability of the equipment under complex field conditions are improved, equipment damage caused by vibration and instability is reduced, the service life of the equipment is prolonged, maintenance costs are reduced, and the stability and service life of the equipment are enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a first angle overall structure schematic diagram of the application.

[0031] Figure 2 It is a whole overall structure schematic diagram of the application.

[0032] Figure 3 It is a second angle overall structure schematic diagram of the application.

[0033] Figure 4 It is an internal structure schematic diagram of the application.

[0034] Figure 5 It is a lifting mechanism structure schematic diagram in the application.

[0035] Figure 6 It is a seeding mechanism and seeding depth adjusting mechanism structure schematic diagram in the application.

[0036] Figure 7 It is a seeding mechanism structure schematic diagram in the application.

[0037] Figure 8 It is a seeding depth adjusting mechanism structure schematic diagram in the application.

[0038] Figure 9 It is a first laser displacement sensor ranging principle schematic diagram in the application.

[0039] Figure 10 It is a second laser displacement sensor ranging principle schematic diagram in the application.

[0040] Figure 11 It is a seeding depth control method flowchart schematic diagram in the application.

[0041] Figure 12 It is a seeding depth closed-loop control system principle block diagram in the application.

[0042] In the figure: vehicle body module 100, wheel 101, frame 102, first cross beam 103, second cross beam 104, third cross beam 105, skin 106, lifting mechanism 200, first hinge joint 201, second hinge joint 202, third hinge joint 203, first jib 204, second jib 205, fourth hinge joint 206, lifting electric push rod 207, three-point hitch 208, third jib 209, U-shaped lock 210, shock absorber 211, first laser displacement sensor 212, seeding mechanism 300, ground wheel 301, front frame 302, seeding motor 303, mounting connecting rod 304, seed metering device 305, rear frame 306, bridge 307, furrow opener 308, cover wheel 309, seeding depth adjustment mechanism 400, bracket 401, connecting head 402, connecting rod 403, connecting plate 404, seeding depth electric push rod 405, second laser displacement sensor 406, laser baffle 407. DETAILED DESCRIPTION

[0043] The application will be further described below in conjunction with the drawings and examples:

[0044] The examples are as follows: Figures 1-2 As shown, the vegetable seeding depth adjustment device based on laser displacement sensor and electric drive is composed of vehicle body module 100, lifting mechanism 200, seeding mechanism 300, and seeding depth adjustment mechanism 400. The vehicle body module 100 is arranged on the ground, the lifting mechanism 200 is connected with the vehicle body module 100 by a pin shaft, the seeding mechanism 300 is hung with the lifting mechanism 200 by bolts, and the seeding depth adjustment mechanism 400 is installed on the seeding mechanism 300 by bolts.

[0045] As shown, Figures 3-4 The vehicle body module 100 is composed of wheel 101, frame 102, first cross beam 103, second cross beam 104, and third cross beam 105. The wheel 101 is arranged on the ground, the frame 102 is installed on the wheel 101 by bolts, the first cross beam 103, the second cross beam 104, and the third cross beam 105 are all welded and fixed inside the frame 102, and the skin 106 is installed at the top of the front end of the frame 102 by bolts.

[0046] As shown, Figures 4-5As shown, the lifting mechanism 200 consists of a first hinge joint 201, a second hinge joint 202, a third hinge joint 203, a first lifting rod 204, a second lifting rod 205, a fourth hinge joint 206, a lifting electric actuator 207, a three-point hanging rod 208, a third lifting rod 209, a U-lock 210, a shock absorber 211, and a first laser displacement sensor 212. The first hinge joint 201 is bolted to the first crossbeam 103, the second hinge joint 202 is bolted to the second crossbeam 104, and the third hinge joint 203 is bolted to the third crossbeam 105. The first lifting rod 204 is connected to the first hinge joint 201 by a pin. The second hinge joint 202 is connected to the rear side of 05 by a pin. The fourth hinge joint 206 is bolted to the middle of the first lifting rod 204. The lifting electric push rod 207 is connected to the third hinge joint 203 at one end and to the fourth hinge joint 206 at the other end by a pin. The upper side of the three-point hanging rod 208 is connected to the front end of the first lifting rod 204 by a pin, and the lower side is connected to the second lifting rod 205 by a pin. The third lifting rod 209 is connected to the three-point hanging rod 208 by a pin. The U-lock 210 connects the three-point hanging rod 208 and the third lifting rod 209. The upper end of the shock absorber 211 is bolted to the third lifting rod 209. The first laser displacement sensor 212 is threaded to the third lifting rod 209.

[0047] like Figures 6-7 As shown, the sowing mechanism 300 is composed of ground wheels 301, a front frame 302, a sowing motor 303, a mounting rod 304, a seed metering device 305, a rear frame 306, a bridge frame 307, a furrow opener 308, and a soil covering wheel 309. The bridge frame 307 is fixed between the front frame 302 and the rear frame 306. The two ground wheels 301 are respectively connected and installed below the front frame 302 and the rear frame 306. The sowing motor 303 is fixed to the rear frame 306. The mounting rod 304 is fixed to the bridge frame 307. The seed metering device 305 is fixed to the mounting rod 304. The furrow opener 306 is slidably connected to the front end of the seed metering device 305. The soil covering wheel 307 is connected to the rear end of the seed metering device 305.

[0048] like Figure 6 , Figure 8 As shown, the seeding depth adjustment mechanism 400 is composed of a bracket 401, a connector 402, a connecting rod 403, a connecting plate 404, a seeding depth electric push rod 405, a second laser displacement sensor 406, and a laser baffle 407. The bracket 401 is fixedly mounted on the bridge frame 307. The connecting plate is fixedly connected to the connecting rod. The seeding depth electric push rod 405 is connected and disposed between the bracket 401 and the connecting plate 404. The connectors 402 are evenly distributed and fixed on the connecting rod 403. The connectors 402 are fixedly connected to the furrow opener 307. The second laser displacement sensor 406 is fixedly connected to one end of the connecting plate 404. The baffle 407 is fixedly connected to the bracket 401 corresponding to the mounting end of the second laser displacement sensor 406.

[0049] like Figure 9 As shown, when the ground wheel 301 is close to the ground, the first laser displacement sensor 212 is initially calibrated, and its initial distance S0 from the skin 106 is recorded. During operation, the first laser displacement sensor emits a laser in real time towards the skin and receives the reflected signal, calculating the current distance St using the time-of-flight method. The lifting height of the seeding module 300 is the height difference between the two measurements: ΔS = St - S0. This ΔS value is displayed in real time on the digital display screen of the first laser displacement sensor, used to characterize the overall lifting amount of the seeding module.

[0050] like Figure 10 As shown, when the seeding depth electric actuator 405 is in the mechanical neutral position, the second laser displacement sensor 406 is initially calibrated, and its initial distance H0 from the laser baffle 407 is recorded. During the control process, the sensor emits laser light in real time and receives the reflected signal from the laser baffle, measuring the current distance H0. t The ideal extension / retraction of the electric actuator is the displacement difference between the two measurements: ΔH = H0 - H t The ΔH value is displayed in real time on the digital display screen of the second laser displacement sensor, directly reflecting the depth adjustment action of the trencher.

[0051] like Figure 11 As shown, the seeding depth control method in this embodiment is as follows: (1) System initialization and calibration: Start the system and initialize the first laser displacement sensor 212 and the second laser displacement sensor 406; calibrate the initial height: When the ground wheel 301 touches the ground, the first laser displacement sensor 212 measures the initial distance S0 between it and the skin 106; when the seeding depth electric push rod 405 is in the middle position, the second laser displacement sensor 406 measures the initial distance H0 between it and the laser baffle 407; set the target seeding depth h on the digital display screen of the second laser displacement sensor 406. 定 (2) Real-time data acquisition: The first laser displacement sensor 212 measures the current distance St between itself and the skin 106 in real time, and calculates the lifting height of the seeding module: ΔS=St-S0; The second laser displacement sensor 406 measures the current distance Ht between itself and the laser baffle 407 in real time, and calculates the ideal extension and retraction of the seeding depth electric push rod: ΔH=H0-H t (3) Calculation and judgment of sowing depth: compensated sowing depth h 补 Calculated by the following formula: h 补 =ΔS + ΔH; Compare h 补 with h 定 If |h 补 -h 定 If |≤ε (ε is the allowable error), maintain the current state; otherwise, enter the adjustment and control phase. For example, if S0 = 50cm and H0 = 8cm are calibrated, and at a certain moment St = 45cm and Ht = 5cm, then the compensation sowing depth h 补= (50-45)+(8-5)=8cm; (4) Closed-loop control adjustment: The target displacement of the seeding depth electric actuator 405 is calculated using the PID control algorithm: Where, e(t) = h 定 -h 补 The controller outputs a control signal to the sowing depth electric push rod 405, driving it to extend and retract, which in turn drives the connecting rod 403 and the connecting head 402 to rise and fall, thereby adjusting the soil penetration depth of the furrow opener 307. (5) Real-time display and feedback: The current sowing depth h is displayed in real time on the digital display screen of the second laser displacement sensor. 补 Target depth h 定 ; The extension and retraction of the sowing depth electric actuator ΔH; The operator can manually fine-tune or switch the preset operation mode according to the displayed data. (6) Dynamic response and self-adaptation During the operation, if the ground undulation or soil hardness change causes the sowing depth to fluctuate, the system detects the change of ΔH in real time through the second laser displacement sensor 406 and automatically adjusts the sowing depth electric actuator 405 to achieve non-stop, adaptive sowing depth control.

[0052] like Figure 12 As shown, the working principle of the closed-loop control system for sowing depth of the present invention is as follows: The operator sets the target depth h as the system input. After comparing this set value with the feedback compensation sowing depth hcomplement, a deviation e(t) is generated and sent to the PID controller. The controller outputs a control signal to drive the sowing depth electric actuator 405. The extension and retraction of the electric actuator is transmitted through the connecting plate 404, the connecting rod 403, and the connecting head 402, ultimately changing the soil penetration depth of the furrow opener 308. The second laser displacement sensor 406 monitors the distance change ΔH between itself and the laser baffle 407 in real time and calculates the actual depth accordingly, forming a closed-loop feedback. This structure ensures that the system can continuously and automatically stabilize the compensation sowing depth at the target value.

Claims

1. An electrically driven vegetable depth adjustment device based on laser displacement sensing, comprising a vehicle body module (100); characterized in that, The sowing depth adjusting device further comprises: a lifting mechanism (200) movably connected with the vehicle body module (100) and performing lifting movement relative to the vehicle body module (100); a sowing mechanism (300) connected and fixed below the lifting mechanism (200) and performing lifting movement following the lifting mechanism (200); a sowing depth adjusting mechanism (400) connected and arranged on the sowing mechanism (300) and performing lifting adjustment movement while performing lifting movement following the sowing mechanism (300).

2. The electrically driven vegetable depth adjustment device based on laser displacement sensing according to claim 1, characterized in that: The vehicle body module (100) is composed of a wheel (101), a frame (102), a first cross beam (103), a second cross beam (104), a third cross beam (105) and a skin (106); the frame (102) is connected and installed on the wheel (101), the first cross beam (103), the second cross beam (104) and the third cross beam (105) are sequentially fixed and connected from top to bottom inside the rear side of the frame (102), and the skin (106) is installed on the top of the front side of the frame (102).

3. The electrically driven vegetable depth adjustment device based on laser displacement sensing according to claim 1, characterized in that: The lifting mechanism (200) is composed of a first hinge joint (201), a second hinge joint (202), a third hinge joint (203), a first lifting rod (204), a second lifting rod (205), a fourth hinge joint (206), a lifting electric push rod (207), a three-point hanging rod (208), a third lifting rod (209), a U-shaped lock (210), a shock absorber (211) and a first laser displacement sensor (212); the tail end of the first lifting rod (204) is hingedly connected with the first cross beam (103) through the first hinge joint (201), the tail end of the second lifting rod (205) is hingedly connected with the second cross beam (104) through the second hinge joint (202), the tail end of the lifting electric push rod (207) is hingedly connected with the third cross beam (105) through the third hinge joint (203), the head of the lifting electric push rod (207) is hingedly connected with the middle part of the first lifting rod (204) through the fourth hinge joint (206), the upper end of the three-point hanging rod (208) is hingedly connected with the head of the first lifting rod (204), the lower end is hingedly connected with the heads of two second lifting rods (205), the third lifting rod (209) is connected and fixed with the bottom of the three-point hanging rod (208) through the U-shaped lock (210), the shock absorber (211) is connected and arranged at the bottom of the third lifting rod (209), and the first laser displacement sensor (212) is connected and fixed on the third lifting rod (209).

4. The electrically driven vegetable depth adjustment device based on laser displacement sensing according to claim 1, characterized in that: The seeding mechanism (300) is connected by a ground wheel (301), a front frame (302), a seeding motor (303), a mounting connecting rod (304), a seed metering device (305), a rear frame (306), a bridge (307), an opener (308), and a cover wheel (309); the bridge (307) is fixedly connected between the front frame (302) and the rear frame (306), the two ground wheels (301) are respectively arranged below the front frame (302) and the rear frame (306), the seeding motor (303) is fixedly connected with the rear frame (306), the mounting connecting rod (304) is fixed on the bridge (307), the seed metering device (305) is fixedly connected with the mounting connecting rod (304), the opener (306) is slidably connected to the front end of the seed metering device (305), and the cover wheel (307) is connected to the rear end of the seed metering device (305).

5. The electrically driven vegetable depth adjustment device based on laser displacement sensing according to claim 1, characterized in that: The depth adjustment mechanism (400) is connected by a support (401), a connecting head (402), a connecting rod (403), a connecting plate (404), a depth electric push rod (405), a second laser displacement sensor (406), and a laser baffle (407); the support (401) is fixedly arranged on the bridge (307), the connecting plate is fixedly connected with the connecting rod, the depth electric push rod (405) is arranged between the support (401) and the connecting plate (404), the connecting head (402) is uniformly fixed on the connecting rod (403), the connecting head (402) is fixedly connected with the opener (308), the second laser displacement sensor (406) is fixedly connected to one end of the connecting rod (404), and the laser baffle (407) is fixedly connected to the support (401) corresponding to the mounting end of the second laser displacement sensor (406).

6. The method for adjusting the depth of vegetable planting based on laser displacement sensing and electric drive, characterized in that, The laser displacement sensor-based electric-driven vegetable depth adjustment device according to any one of claims 1-5 is used, and the steps are as follows: (1) initializing the first laser displacement sensor (212) and the second laser displacement sensor (407), and calibrating the initial distances S0 and H0; (2) set a target seeding depth h 定 ; real-time acquisition of the current measurement value S of the first laser displacement sensor (212) t and the current measurement value H of the second laser displacement sensor (406) t ; (3) based on S t , H t , S0 and H0 to calculate the compensation seeding depth h 补 ; (4) Comparing the compensation seeding depth h 补 with the target seeding depth h 定 If the difference between the two exceeds a preset error range, a control amount is calculated by a PID controller and a seeding depth electric push rod (405) is driven to act, so as to adjust the depth of the furrow opener (307), so that the actual seeding depth approaches the target seeding depth.

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