A method and apparatus for controlling seeding and fertilizing rates

Abstract

The application discloses a seeding and fertilizing amount control method and device, and relates to the field of intelligent agricultural machinery. The method comprises the following steps: acquiring the forward speed of a tractor; determining the real-time rotating speed of a seed and fertilizer distributor according to the forward speed and a preset target seeding amount; when the real-time rotating speed exceeds a rotating speed threshold range, determining a target groove depth according to the real-time rotating speed, so as to adjust the single-circle seeding and fertilizing amount of the seed and fertilizer distributor by changing the groove depth of a groove wheel of the seed and fertilizer distributor; determining an adjusting distance according to the target groove depth; controlling a groove depth adjusting driving system to adjust according to the adjusting distance; and simultaneously acquiring a displacement feedback signal to perform closed-loop control. The application can improve the control precision of a seeding and fertilizing machine under low-speed operation of a tractor.

Description

Technical Field

[0001] This application relates to the field of intelligent agricultural machinery, and in particular to a method and device for controlling the amount of seeds and fertilizer applied. Background Technology

[0002] Precision agriculture is a new trend in global agricultural development. Its principle is to precisely adjust soil and crop management measures according to the specific conditions of each operational unit in the field, maximizing agricultural inputs to achieve the highest yield and economic benefits while protecting the agricultural ecological environment, thus ensuring the efficient use of agricultural resources and the sustainable development of the agricultural industry. Precision sowing and fertilization technology involves sowing a precise quantity of qualified seeds and fertilizers into predetermined locations in the soil that meet the growth requirements, according to agricultural technical standards. This includes a three-dimensional spatial coordinate system composed of precise plant spacing, sowing depth, and row spacing—that is, precise seeding quantity, precise plant spacing, and precise sowing depth. This advanced technology ensures the rational distribution of seeds in the field, creating optimal conditions for seed growth and development. It has significant advantages such as saving seeds, reducing seedling labor, and increasing yields, and has been widely promoted and applied both domestically and internationally.

[0003] The real-time seeding and fertilization rate of intelligent precision seeders and fertilizers depends on the seed and fertilizer application rate per acre and the tractor's forward speed. Therefore, when the tractor is at a low speed, such as when starting at the beginning of the field or stopping at the end, the real-time seeding and fertilization rate of the seeder and fertilizer is extremely low. This is because existing seeders and fertilizers generally use mechanical grooved wheel seed metering devices, which have low precision in low-speed control.

[0004] To address the problem of low control precision of current seeders and fertilizer applicators when operating at low tractor speeds, there is an urgent need to provide a method or device for controlling the amount of seeding and fertilizer applied. Summary of the Invention

[0005] The purpose of this application is to provide a method and device for controlling the amount of fertilizer applied during sowing, which can improve the control accuracy of the sowing and fertilizing machine when the tractor is running at low speed.

[0006] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides a method for controlling the amount of fertilizer applied during sowing, including: Obtain the tractor's forward speed; The real-time rotation speed of the seed and fertilizer metering device is determined based on the forward speed and the preset target seeding amount. When the real-time rotation speed exceeds the rotation speed threshold range, the target groove depth is determined based on the real-time rotation speed, so as to adjust the single-turn discharge rate of the seed and fertilizer metering device by changing the groove depth of the groove wheel of the seed and fertilizer metering device. The adjustment distance is determined based on the target groove depth; the groove depth adjustment drive system is controlled to adjust according to the adjustment distance; and displacement feedback signals are acquired for closed-loop control.

[0007] Secondly, this application provides a seeding and fertilization rate control device, comprising: The speed measurement module is used to obtain the forward speed of the tractor; The seed and fertilizer dispensing actuator includes a grooved wheel and a seed and fertilizer dispensing drive module for driving the grooved wheel to rotate; A groove depth adjustment mechanism is used to adjust the groove depth of the groove wheel; The displacement detection module is used to detect the actual adjustment displacement of the groove depth adjustment mechanism; The controller is connected to the speed measurement module, the seed and fertilizer dispensing drive module, the trench depth adjustment mechanism, and the displacement detection module, respectively; the controller is used to execute the seeding and fertilizer application control method.

[0008] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a method and device for controlling the amount of seeding and fertilization. By acquiring the forward speed of the tractor in real time and calculating the real-time rotation speed of the seed and fertilizer metering device, the depth of the groove can be adjusted by actively controlling the groove depth adjustment mechanism according to the real-time rotation speed. This solves the problem of low control accuracy and extremely low seeding rate of traditional mechanical grooved wheel seed metering devices at low speeds, and ensures the uniformity and accuracy of seeding and fertilization of agricultural machinery across the entire operating speed range. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a method for controlling the amount of fertilizer applied during sowing, as described in one embodiment of this application. Figure 2 This is a schematic diagram of the overall process of a method for controlling the amount of fertilizer applied during sowing, as described in one embodiment of this application. Figure 3 This is a schematic diagram of a seeding and fertilization rate control device according to an embodiment of this application; Figure 4 This is a schematic diagram of the material feeding adjustment; Figure 5 This is a schematic diagram of a single-helix drive structure. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0013] In one exemplary embodiment, such as Figure 1 and Figure 2 As shown, a method for controlling sowing and fertilization rates is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the application includes the following steps S101 to S104. Wherein: Before operation, the thousand-grain weight and density of the seed fertilizer are calibrated, and appropriate seed fertilizer filling coefficient and driving layer characteristic coefficient are selected. The thousand-grain weight of seeds and fertilizer is determined as follows: 8 replicates are randomly selected, each with 100 seeds (seeds and fertilizer), and the weights are weighed separately and converted to the thousand-grain weight. The average value is taken from the 8 replicates.

[0014] ; The seed-fertilizer density is defined as follows: weigh an appropriate amount of seeds and fertilizer, and measure the total mass. Add an appropriate amount of water to the vector cylinder and record the initial water volume. Submerge all seeds and fertilizer in water and record the total volume. .

[0015] Preliminary density calculation: .

[0016] The water absorption error is corrected as follows: Pour out the seeds and fertilizer, absorb the surface moisture, and weigh them again to obtain the correct amount. The corrected density formula is: ; The density of water; The fertilizer filling coefficient is: a. The seed filling coefficient refers to the ratio of the actual filling volume of seeds in the seed metering groove to the theoretical volume of the groove. For medium and large seeds such as wheat and corn, the coefficient is 0.7 to 0.8, and for small seeds such as rapeseed and vegetables, the coefficient is 0.8 to 0.9.

[0017] b. The fertilizer filling coefficient refers to the ratio of the actual filling volume of fertilizer in the fertilizer discharge channel to the theoretical volume of the channel. For granular compound fertilizer, the coefficient is 0.6 to 0.8, and for slow-release fertilizer and powdered organic fertilizer, the coefficient is 0.4 to 0.6.

[0018] The characteristic coefficient of the seed-fertilizer driving layer is: a. The seed-driving layer characteristic coefficient describes the ability of the seed metering component to drive the seeds. For large seeds, a coefficient of 0.3 to 0.4 is used to ensure that the seeds do not slip, and for small seeds, a coefficient of 0.2 to 0.3 is used.

[0019] b. The fertilizer driving layer characteristic coefficient describes the ability of the fertilizer discharge component to drive the fertilizer. The coefficient is 0.2~0.3 for granular compound fertilizer and 0.5~0.7 for compostable organic fertilizer with poor flowability.

[0020] S101, obtain the forward speed of the tractor; Using formula Determine the forward speed V of the tractor; Where D is the diameter of the tractor wheel (m), N is the number of output pulses of the rotary encoder connected to the tractor wheel collected within the speed sampling period, π is pi, T is the speed sampling period (ms), and F is the fixed number of pulses output by the rotary encoder for one revolution of the tractor wheel.

[0021] S102, determine the real-time rotation speed of the seed and fertilizer metering device based on the forward speed and the preset target seeding amount; Using formula Determine the real-time seed and fertilizer application rate S (kg / s); Using formula Determine the real-time rotational speed R (r / s) of the seed and fertilizer metering device. Where Q is the seed and fertilizer application rate per mu (kg / mu); H is the operating width; S103, when the real-time rotation speed exceeds the rotation speed threshold range, the target groove depth is determined according to the real-time rotation speed, so as to adjust the single-circle discharge rate of the seed and fertilizer metering device by changing the groove depth of the groove wheel of the seed and fertilizer metering device. S103 also includes: The initial depth of a single groove is calculated by using the preset seed and fertilizer application rate Q, the tractor's normal operating speed V0, and the optimal rotation speed R0 of the seed and fertilizer metering device. The normal operating speed V0 is 3km / h-10km / h, and the optimal operating speed is 8km / h; The optimal rotational speed R0 of the seed and fertilizer metering device is determined as follows: (1) External groove wheel seed meter: The optimal rotation speed is 8-50 r / min; (2) The optimal speed of the mainstream external groove wheel fertilizer dispenser is controlled at 10-60 r / min. For granular compound fertilizer, a medium to low speed is used to ensure uniform fertilizer discharge. For organic fertilizer with poor flowability, the speed can be appropriately increased to avoid fertilizer breakage during discharge. The initial groove depth for a single groove is: ; in, The initial groove depth (cm) is set for a single groove, and H is the working width (m). S103 specifically includes: S31, Set the minimum rotation speed threshold R of the seed and fertilizer metering device. min and the maximum speed threshold R ma ; S32, when the real-time rotational speed is less than the minimum rotational speed threshold R min When doing so, reduce the depth of the groove; S33, when the real-time rotational speed is greater than the maximum rotational speed threshold R ma When this is done, the depth of the groove is increased; S34, when the real-time target rotational speed is greater than or equal to the minimum rotational speed threshold and less than or equal to the maximum rotational speed threshold, the groove depth is kept unchanged at the initial groove depth.

[0022] Using formula Determine the groove depth of the Geneva wheel K ; When R < R min When, take R min When R > R max When, take R max When R min ≤R≤R max When K=K0 remains unchanged.

[0023] The formula for determining the single-circle discharge rate of the seed and fertilizer metering device is as follows: ; in, q The discharge rate (g) per revolution of the seed and fertilizer metering device. d The outer diameter (cm) of the seed and fertilizer metering device. L The effective working length (cm) of the seed and fertilizer metering device. γ Seed-fertilizer density (g / cm) 3 ), The fertilizer filling coefficient within the volume is given by the parameter curve obtained from experimental data. The cross-sectional area of ​​a single groove (cm²) 2 ), t The groove pitch of the grooved wheel is (cm). t =π d / z, z Where π is the number of slots and π is the value of pi. K The groove depth of the Geneva wheel (cm) is variable. δ The parameter curves for the driving layer characteristic coefficients were obtained from experimental data.

[0024] This application pre-determines the speed threshold range of the seed metering and fertilizer metering device. Under normal operating speeds (with the real-time target speed within the threshold range), the controller maintains a constant groove depth, adjusting only the drive motor speed to match the target seeding rate. This design ensures that the seed metering device operates within the optimal speed range with the highest seeding uniformity and lowest seed breakage rate under most conditions; only under extremely low or high speed conditions is mechanical groove depth adjustment introduced. This strategy guarantees seeding quality under normal operating conditions while also expanding the effective operating speed range of the entire machine.

[0025] S104, determine the adjustment distance based on the target groove depth; control the groove depth adjustment drive system to adjust according to the adjustment distance; and simultaneously acquire the displacement feedback signal for closed-loop control.

[0026] S104 specifically includes: S41, based on the difference between the target groove depth and the current groove depth, and based on the preset kinematic model of the link 3 and slider 2 mechanism, calculate the distance that the horizontal slider 2 needs to move; S42, based on the distance the horizontal slider 2 needs to move and the screw transmission parameters, calculate the control stroke that the drive component in the groove depth adjustment drive system needs to rotate.

[0027] As a specific example, the closed-loop control process is as follows: S1, the actual adjustment distance of the groove depth adjustment drive system is detected by a displacement sensor; S2, the difference between the actual adjustment distance and the adjustment distance is used as a feedback signal, and a PID control strategy is used to generate control commands; S3, control the groove depth adjustment drive system using control commands.

[0028] As a specific example, such as Figure 3 and Figure 4 As shown, this application provides a seeding and fertilization rate control device, including: a speed measurement module, a seeding and fertilization execution mechanism, a trench depth adjustment mechanism, a displacement detection module, and a controller; The speed measurement module is used to obtain the forward speed of the tractor; The seed and fertilizer dispensing actuator includes a Geneva wheel and a seed and fertilizer dispensing drive module for driving the Geneva wheel to rotate; The groove depth adjustment mechanism is used to adjust the groove depth of the groove wheel; The displacement detection module is used to detect the actual adjustment displacement of the groove depth adjustment mechanism; The controller is connected to the speed measurement module, the seed and fertilizer dispensing drive module, the trench depth adjustment mechanism, and the displacement detection module, respectively; the controller is used to execute the seeding and fertilizer application control method.

[0029] The trough depth adjustment mechanism includes a seed metering device rotating seat 1, a trough depth adjustment drive motor 11, a first coupling 10, a first bearing seat 5, a second bearing seat 9, a lead screw shaft 6, an internal threaded sleeve 4, a connecting rod 3, and a slider 2. The trench depth adjustment drive motor 11, the first bearing seat 5 and the second bearing seat 9 are all installed on the seeder frame. The grooved wheel is installed inside the rotating base 1 of the seed metering device; The output end of the groove depth adjustment drive motor 11 is connected to the lead screw shaft 6 through the first coupling 10. The internal threaded sleeve 4 is threadedly engaged with the lead screw shaft 6, one end of the connecting rod 3 is hinged to the internal threaded sleeve 4, and the other end of the connecting rod 3 is hinged to the slider 2; the connecting rod 3, the internal threaded sleeve 4, and the lead screw shaft 6 are connected to the first bearing seat 5 by an interference fit. The slider 2 is slidably mounted on the rotating seat of the seed and fertilizer metering device. The rotating seat of the seed and fertilizer metering device is connected to the grooved wheel so that the groove depth of the grooved wheel can be changed by sliding the slider 2.

[0030] The seed metering and fertilizer dispensing drive module includes a seed metering drive motor 7, a second coupling 8, and a drive shaft 12; the seed metering drive motor 7 is mounted on the seeder frame. The output end of the seed metering drive motor 7 is connected to the drive shaft 12 via a second coupling 8; the drive shaft 12 is connected to the grooved wheel to drive the grooved wheel to rotate. The seed metering device rotating seat 1, the slider 2, and the drive shaft 12 are connected to the second bearing seat 9 by an interference fit.

[0031] like Figure 3 As shown, in the above device, the seed metering rotating seat 1, the slider 2, and the drive shaft 12 constitute a variable seed metering system; the connecting rod 3, the internal threaded sleeve 4, and the lead screw shaft 6 constitute a variable seed metering adjustment system; the seed metering drive motor 7, the second coupling 8, and the second bearing seat 9 constitute a seed metering drive system; and the first bearing seat 5, the first coupling 10, and the motor 11 constitute a trench depth adjustment drive system. The displacement detection module is a displacement sensor, used to detect the displacement change of the groove depth adjustment mechanism in real time and feed it back to the controller; The controller is used to output a control signal to the groove depth adjustment mechanism based on the deviation between the displacement change and the target adjustment distance using a PID control algorithm.

[0032] As a specific embodiment, the internal threaded sleeve 4, connecting rod 3, and slider 2 are equivalent to an orthogonal double slider mechanism, with connecting rod length L, horizontal slider distance from the origin A, and vertical slider distance from the origin B. Then, when the groove depth needs to be increased downwards by a distance M, the horizontal slider needs to move to the right a distance N. Thus, we can deduce Therefore, when the groove depth needs to be reduced upwards by a distance M, the horizontal slider needs to move to the left by a distance N. Thus, we can deduce .

[0033] like Figure 5 As shown, the internal threaded sleeve 4 and the first bearing seat 5 are connected by a single helical drive, and its motion formula is: ; in, The total moving distance of the moving parts, in mm; The total number of revolutions of the screw (nut), in revolutions per minute (r). The thread lead, in mm, refers to the axial distance between two adjacent teeth on the same helix. The number of thread lines (the number of spirals); Pitch, in mm, refers to the axial distance between corresponding points on the pitch line of two adjacent threads.

[0034] In an exemplary embodiment, a computer device is provided, which may be a server or a terminal. The computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is connected to the system bus via the I / O interfaces. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The I / O interfaces of the computer device are used for exchanging information between the processor and external devices. The communication interface of the computer device is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for controlling the amount of fertilizer applied during sowing.

[0035] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0036] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0037] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0038] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0039] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0040] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchain. The processors involved in the embodiments provided in this application may be, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc.

[0041] In this application, all actions to acquire signals, information, or data are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with the authorization granted by the owner of the relevant device.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling the amount of fertilizer applied during sowing, characterized in that, include: Obtain the tractor's forward speed; The real-time rotation speed of the seed and fertilizer metering device is determined based on the forward speed and the preset target seeding amount. When the real-time rotation speed exceeds the rotation speed threshold range, the target groove depth is determined based on the real-time rotation speed, so as to adjust the single-turn discharge rate of the seed and fertilizer metering device by changing the groove depth of the groove wheel of the seed and fertilizer metering device. The adjustment distance is determined based on the target groove depth; the groove depth adjustment drive system is controlled to adjust according to the adjustment distance; and displacement feedback signals are acquired for closed-loop control.

2. The method for controlling sowing and fertilization rates according to claim 1, characterized in that, The acquisition of the tractor's forward speed specifically includes: Using formula Determine the forward speed V of the tractor; Where D is the diameter of the tractor wheel, N is the number of output pulses of the rotary encoder connected to the tractor wheel collected within the speed sampling period, π is pi, T is the speed sampling period, and F is the fixed number of pulses output by the rotary encoder for one revolution of the tractor wheel.

3. The method for controlling sowing and fertilization rates according to claim 1, characterized in that, When the real-time rotational speed exceeds the rotational speed threshold range, the target groove depth is determined based on the real-time rotational speed, so as to adjust the single-turn discharge rate of the seed and fertilizer metering device by changing the groove depth of the groove wheel. Specifically, this includes: Set the minimum and maximum speed thresholds for the seed and fertilizer metering device; When the real-time rotational speed is less than the minimum rotational speed threshold, the groove depth is reduced; When the real-time rotational speed is greater than the maximum rotational speed threshold, the groove depth is increased; When the real-time target rotational speed is greater than or equal to the minimum rotational speed threshold and less than or equal to the maximum rotational speed threshold, the groove depth remains unchanged at the initial groove depth.

4. The method for controlling sowing and fertilization rates according to claim 1, characterized in that, The formula for determining the single-circle discharge rate of the seed and fertilizer metering device is as follows: ； in, q The discharge rate per revolution of the seed and fertilizer metering device. d The outer diameter of the seed and fertilizer metering device. L The effective working length of the seed and fertilizer metering device. γ For seed and fertilizer density, The fertilizer filling coefficient within the volume. This represents the cross-sectional area of ​​a single groove. t The pitch of the groove of the groove wheel, t =π d / z, z Where π is the number of slots and π is the value of pi. K The groove depth of the groove wheel. δ To drive the layer characteristic coefficient.

5. The method for controlling sowing and fertilization rates according to claim 1, characterized in that, The adjustment distance is determined based on the target groove depth, specifically including: Based on the difference between the target groove depth and the current groove depth, and using a preset kinematic model of the linkage slider mechanism, the distance that the horizontal slider needs to move is calculated. Based on the distance the horizontal slider needs to move and the screw transmission parameters, calculate the control stroke required for the drive component to rotate in the groove depth adjustment drive system.

6. The method for controlling sowing and fertilization rates according to claim 1, characterized in that, Simultaneously, displacement feedback signals are acquired for closed-loop control, specifically including: The actual adjustment distance of the groove depth adjustment drive system is detected by a displacement sensor; The difference between the actual adjustment distance and the adjustment distance is used as a feedback signal, and a PID control strategy is used to generate control commands. The groove depth adjustment drive system is controlled by control commands.

7. A seeding and fertilization rate control device, characterized in that, include: The speed measurement module is used to obtain the forward speed of the tractor; The seed and fertilizer dispensing actuator includes a grooved wheel and a seed and fertilizer dispensing drive module for driving the grooved wheel to rotate; A groove depth adjustment mechanism is used to adjust the groove depth of the groove wheel; The displacement detection module is used to detect the actual adjustment displacement of the groove depth adjustment mechanism; The controller is connected to the speed measurement module, the seed and fertilizer dispensing drive module, the trench depth adjustment mechanism, and the displacement detection module, respectively; the controller is used to execute the seeding and fertilizer application control method as described in any one of claims 1-6.

8. The seeding and fertilization rate control device according to claim 7, characterized in that, The trough depth adjustment mechanism includes a seed metering device rotating seat, a trough depth adjustment drive motor, a first coupling, a first bearing seat, a second bearing seat, a lead screw shaft, an internal threaded sleeve, a connecting rod, and a slider. The trench depth adjustment drive motor, the first bearing seat, and the second bearing seat are all mounted on the seeder frame. The grooved wheel is installed inside the rotating seat of the seed metering device; The output end of the groove depth adjustment drive motor is connected to the lead screw shaft through a first coupling. The internal threaded sleeve is threadedly engaged with the lead screw shaft; one end of the connecting rod is hinged to the internal threaded sleeve, and the other end of the connecting rod is hinged to the slider; the connecting rod, the internal threaded sleeve, and the lead screw shaft are connected to the first bearing seat by an interference fit. The slider is slidably mounted on the rotating seat of the seed and fertilizer metering device, and the rotating seat of the seed and fertilizer metering device is connected to the grooved wheel so that the groove depth of the grooved wheel can be changed by sliding the slider.

9. The seeding and fertilization rate control device according to claim 8, characterized in that, The seed metering and fertilizer dispensing drive module includes a seed metering drive motor, a second coupling, and a drive shaft; the seed metering drive motor is mounted on the seeder frame. The output end of the seed metering device drive motor is connected to the drive shaft via a second coupling; the drive shaft is connected to the grooved wheel to drive the grooved wheel to rotate. The seed metering device rotating seat, slider, and drive shaft are connected to the second bearing seat by an interference fit.

10. The seeding and fertilization rate control device according to claim 7, characterized in that, The displacement detection module is a displacement sensor, used to detect the displacement change of the groove depth adjustment mechanism in real time and feed it back to the controller; The controller is used to output a control signal to the groove depth adjustment mechanism based on the deviation between the displacement change and the target adjustment distance using a PID control algorithm.

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