CN113519238A - A kind of planting depth detection device and detection method - Google Patents
A kind of planting depth detection device and detection method Download PDFInfo
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- CN113519238A CN113519238A CN202110782145.1A CN202110782145A CN113519238A CN 113519238 A CN113519238 A CN 113519238A CN 202110782145 A CN202110782145 A CN 202110782145A CN 113519238 A CN113519238 A CN 113519238A
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- 238000009331 sowing Methods 0.000 claims abstract description 234
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- 239000002689 soil Substances 0.000 claims description 4
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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Abstract
本发明公开一种播种深度检测装置及检测方法，播种深度检测装置安装在一种播种设备上。播种设备包括支架、镇压轮、耕刀和种箱，镇压轮转动轴的两端转动安装在支架的一端上。耕刀安装在支架上。种箱安装在支架的另一端上，且设置有出种通道。所述播种深度检测装置包括角度传感器、激光传感器和数据处理器。角度传感器安装在支架上，用于实时测量所述播种设备在播种过程中支架的摆动角度。激光传感器安装在出种通道的外壁上，用于实时测量所述播种设备在播种过程中激光传感器与所述沟槽之间的距离。数据处理器通过对所述摆动角度和所述距离进行数据处理，得到所述播种深度检测装置的输出值，提高了播种深度检测的精度和准确性。
The invention discloses a planting depth detection device and a detection method. The sowing depth detection device is installed on a planting equipment. The seeding equipment includes a bracket, a pressing wheel, a tiller and a seed box, and both ends of the rotating shaft of the pressing wheel are rotatably mounted on one end of the bracket. The tiller is mounted on the bracket. The seed box is installed on the other end of the bracket and is provided with a seed channel. The sowing depth detection device includes an angle sensor, a laser sensor and a data processor. The angle sensor is installed on the bracket, and is used for real-time measurement of the swing angle of the bracket during the sowing process of the planting equipment. A laser sensor is installed on the outer wall of the seeding channel, and is used for real-time measurement of the distance between the laser sensor and the groove during the seeding process of the seeding equipment. The data processor obtains the output value of the sowing depth detection device by performing data processing on the swing angle and the distance, thereby improving the precision and accuracy of the sowing depth detection.
Description
Technical Field
The invention relates to the field of agricultural planting, in particular to a sowing depth detection device and a detection method.
Background
The prior sowing depth monitoring technology mainly comprises three schemes, one is that the sowing depth is monitored through a profiling mechanism, the monitoring mechanism is complex in structure, and the measurement precision is poor; secondly, the ground is directly measured through the ultrasonic sensor, so that the sowing depth is calculated, and the sowing depth monitoring is inaccurate due to the echo error of the ultrasonic sensor in a complex sowing environment; and thirdly, the swinging angle of the seeder in the seeding process is measured through an angle sensor, and then the swinging angle is converted into the seeding depth, but the seeding depth is inaccurate due to large vibration in the seeding process.
Therefore, the invention provides a sowing depth detection device and a sowing depth detection method capable of accurately measuring the sowing depth.
Disclosure of Invention
The invention aims to provide a sowing depth detection device and a sowing depth detection method capable of accurately measuring sowing depth.
The invention is realized by adopting the following technical scheme: a sowing depth detection device is mounted on a sowing device. The seeding equipment comprises a bracket, a press wheel, a tilling knife and a seed box. Two ends of the press wheel rotating shaft are rotatably arranged at one end of the bracket. The tilling knife is mounted on the bracket and is used for tilling out a groove for sowing on the ground. The seed box is used for accommodating seeds and is arranged at the other end of the bracket and is provided with a seed outlet channel for sowing the seeds into the groove.
The depth of planting detection device includes: angle sensor, laser sensor and data processor. The angle sensor is arranged on the bracket and used for measuring the swing angle of the bracket of the sowing equipment in the sowing process in real time. The laser sensor is arranged on the outer wall of the seed outlet channel and used for measuring the distance between the laser sensor and the groove in the seeding process of the seeding equipment in real time.
The data processor is for:
i, calculating the sowing depth A1 of the groove according to the swing angle in real time, and calculating the sowing depth A2 of the groove according to the distance measured by the laser sensor in real time;
II, differentiating the sowing depth A1 from a preset target sowing depth to obtain a difference value W1. And (4) subtracting the seeding depth two A2 from a preset target seeding depth to obtain a difference value W2. Respectively endowing the data fusion weight K1 of the angle sensor (5) and the data fusion weight K2 of the laser sensor (7) according to the sowing depth A1, the sowing depth A2, the sowing depth W1 and the sowing depth W2; wherein, K1 ═ W23/(W13+W23)，K2＝W13/(W13+W23)。
III, fusing A1 and A2 in real time according to K1 and K2 to obtain a sowing depth of three A3: a3 ═ a1 × K1+ a2 × K2; the sowing depth three a3 is an output value of the sowing depth detecting device.
As a further improvement of the above, the data processor is further configured to:
and IV, judging whether the seeding depth three A3 is within a preset seeding depth range in real time.
And V, when the sowing depth III A3 is not within the preset sowing depth range, the ploughing blade is driven to adjust the sowing depth of the groove, so that the sowing depth III A3 returns to the preset sowing depth range.
As a further improvement of the above, the data processor is further configured to:
when the sowing depth three A3 is smaller than the preset sowing depth range, the tilling blade is driven to plough the groove, so that the sowing depth three A3 returns to the preset sowing depth range.
When the sowing depth three A3 is larger than the preset sowing depth range, the tilling blade is driven to carry out soil covering operation on the groove, so that the sowing depth three A3 returns to the preset sowing depth range.
As a further improvement of the above aspect, the sowing depth detecting device further includes:
and the alarm is used for alarming.
The data processor is also used for driving an alarm to alarm when the sowing depth three A3 is not within the preset sowing depth range.
As a further improvement of the above scheme, the sowing depth detecting device further comprises a display. The display is used for displaying the sowing depth three A3, the swing angle, the distance, and the swing angle and distance data waveform.
As a further improvement of the scheme, the sowing depth detection device further comprises a mounting frame and a first spring sleeve.
The mounting bracket both ends are rotated and are connected on the support, and the seed case is installed on the support through fixing on one end of mounting bracket.
The first spring sleeve is fixed between the support and the other end of the mounting frame, and when the seeding equipment jolts, the shaking buffer of the support is realized through elastic deformation.
As a further improvement of the above aspect, the sowing depth detecting device further includes a mounting mechanism. The mounting mechanism comprises a land wheel, a ground imitating plate, a second spring sleeve and a mounting seat; the ground wheel is arranged on the mounting seat, the ground imitating plate is fixed on the outer wall of the seed outlet channel, one end of the spring sleeve II supports the ground imitating plate, the other end of the spring sleeve II is fixed on the mounting seat, and the spring sleeve II enables the ground wheel to be always in contact with the ground in the seeding process of the seeding equipment through elastic deformation; the laser sensor is installed on the mount pad.
The invention also provides sowing equipment which comprises a bracket, a press wheel, a tilling knife, a seed box and a sowing depth detection device. Two ends of the press wheel rotating shaft are rotatably arranged at one end of the bracket. The tilling knife is mounted on the bracket and is used for tilling out a groove for sowing on the ground. The seed box is internally provided with seeds, is arranged at the other end of the bracket and is provided with a seed outlet channel for sowing the seeds into the groove. The sowing depth detection device is used for detecting the sowing depth of the groove.
As a further improvement of the scheme, the sowing equipment further comprises a sowing machine, a link mechanism, a hydraulic cylinder and a servo valve.
The seeder is used for driving the tilling blade;
the connecting rod mechanism is used for driving the seeder;
the hydraulic cylinder is used for driving the connecting rod mechanism;
the servo valve is used for driving the hydraulic cylinder. And the data processor drives the action amplitude of the valve core of the servo valve according to the seeding depth three A3.
The invention also provides a sowing depth detection method, which adopts the sowing depth detection device; the sowing depth detection method comprises the following steps:
the swing angle of the support of the seeding equipment in the seeding process is measured in real time.
Measuring the distance between a laser sensor and a groove of the sowing equipment in real time in the sowing process;
and calculating the sowing depth A1 of the groove according to the swing angle in real time, and calculating the sowing depth A2 of the groove according to the distance in real time.
Differentiating the sowing depth A1 from a preset target sowing depth to obtain a difference value W1; the sowing depth II A2 is differed from a preset target sowing depth to obtain a difference value W2; and respectively endowing the data fusion weight K1 of the angle sensor (5) and the data fusion weight K2 of the laser sensor (7) according to the sowing depth A1, the sowing depth A2, the sowing depth W1 and the sowing depth W2; wherein, K1 ═ W23/(W13+W23)，K2＝W13/(W13+W23)。
And (3) fusing A1 and A2 in real time according to K1 and K2 to obtain a sowing depth of three A3: a3 ═ a1 × K1+ a2 × K2; the sowing depth three a3 is an output value of the sowing depth detecting device.
Compared with the prior art, the invention carries out depth detection through double sensors, and carries out filtering processing and data fusion processing on the acquired data by adopting the Kalman filtering algorithm and the Kalman data fusion algorithm, so that the measured data is more accurate, errors caused by certain external factors can be eliminated, and the influence on the accuracy of the measurement result is avoided.
Through setting up display screen and alarm system that shows real-time depth of planting data, can prevent that the depth of planting from deviating the setting value and unable in time discovering to adjust, avoid causing crops germination percentage to reduce and then cause the decline of grain output.
The main control board system controls the sowing depth adjusting system to work, so that the sowing depth can be adjusted in a proper range in real time in the sowing process, the sowing quality is guaranteed, the time for manually adjusting the sowing depth is saved, and the sowing efficiency is improved.
Drawings
FIG. 1 is a schematic view showing the structure of a sowing apparatus of the present invention.
Fig. 2 is a front view of fig. 1.
FIG. 3 is a flow chart of the adjustment of the cultivating blade of the sowing apparatus of the present invention.
Fig. 4 is a block diagram of a sowing apparatus in an embodiment of the present invention.
Fig. 5 is a flowchart illustrating a method for detecting a seeding depth according to the present invention.
In the figure: 1-seed box; 2-a first spring sleeve; 3-a scaffold; 4-a press wheel; 5-an angle sensor; 6-a seed outlet channel; 7-a laser sensor; 8-imitating a terrain version; 9-spring sleeve II; 10-a land wheel; 11-a mounting frame; 12-mounting means.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1 and 2, the present embodiment discloses a sowing apparatus, which includes a seed box 1, a bracket 3, a press wheel 4, a tilling blade and a sowing depth detecting device. The tilling blade is mounted on the support 3 and during the sowing process, the tilling blade can till out a groove for sowing on the ground. Can hold the agricultural seed of treating the seeding in seed case 1, seed case 1 is installed on one end of support 3, and be provided with be used for to seed outlet channel 6 of seed is broadcast down to the slot, and at the seeding in-process, the seed falls through seeding channel 6 in seed case 1. Both ends of the rotating shaft of the press wheel 4 are rotatably mounted on one end of the bracket 3.
Referring to fig. 3, in this embodiment, the sowing apparatus may further include a sowing machine, a link mechanism, a hydraulic cylinder, and a servo valve. The servo valve can drive the hydraulic cylinder according to the signal of the seeding equipment. The hydraulic cylinder is used for driving the link mechanism. The link mechanism is used for driving the seeder. The seeder is used for driving the tilling blade, and the height of the tilling blade can be changed, so that the depth of a groove ploughed by the tilling blade is changed.
The sowing depth detecting device comprises an angle sensor 5, a laser sensor 7 and a data processor. In this embodiment, the data processor includes a core board whose main control chip is STM32F407VET 6. The laser sensor 7 is a TOF10120 laser sensor. In order to improve accuracy, in this embodiment, the angle sensor 5 and the laser sensor 7 both perform data transmission with the data processor by using CAN communication.
The angle sensor 5 is arranged on the bracket 3 and is used for measuring the swing angle of the bracket 3 in the seeding process of the seeding equipment in real time. Of course, in order to improve the accuracy of the data collected by the angle sensor 5, in this embodiment, the sowing depth detecting device may further include a mounting frame 11 and a spring sleeve one 2. The two ends of the mounting rack 11 are rotatably connected on the bracket 3, and the seed box 1 is installed on the bracket 3 by being fixed on one end of the mounting rack 11. Spring sleeve 2 is fixed between the other end of support 3 and mounting bracket 11, and is in when the seeding equipment takes place to jolt, through taking place elastic deformation and realize the shake buffering to support 3, avoid support 3 only under the dead weight state because some hacks lead to the swing inaccurate, increased support 3 wobbling accuracy and authenticity.
The laser sensor 7 is arranged on the outer wall of the seed outlet channel 6 and is used for measuring the distance between the laser sensor 7 and the groove in the seeding process of the seeding equipment in real time. Of course, in order to improve the accuracy of the data collected by the angle laser sensor 7, in this embodiment, the sowing depth detecting device may further include a mounting mechanism, where the mounting mechanism includes a land wheel 10, a ground-imitating plate 8, a second spring sleeve 9, and a mounting seat 12; the land wheel 10 is arranged on the mounting seat 12, the ground imitating plate 8 is fixed on the outer wall of the seed outlet channel 6, one end of the spring sleeve II 9 supports the ground imitating plate 8, the other end of the spring sleeve II 9 is fixed on the mounting seat 12, and the spring sleeve II 9 enables the land wheel 10 to be always contacted with the ground in the seeding process of the seeding equipment through elastic deformation; the laser sensor 7 is arranged on the mounting seat 12 and is used for measuring the distance between the laser sensor and the ground imitating plate 8 in real time, and the seeding depth is reflected by the distance of two A2. The laser sensor 7 does not directly measure the height of the ground, so that the ground is prevented from being influenced by a plurality of interference factors such as straw coverage, ground soil breaking and the like, and inaccurate measuring results caused by the existence of external interference factors are avoided.
The data processor is configured to:
i, calculating the sowing depth A1 of the groove according to the swing angle in real time, and calculating the sowing depth A2 of the groove according to the distance in real time. In this embodiment, the displacement change corresponding to the swing angle can be calculated in real time according to the measurement equation of the angle sensor (5), so as to obtain the sowing depth a 1. The conversion can also be carried out in a table look-up mode, and can also be carried out according to a formula obtained by experiments. In this embodiment, the distance conversion seeding depth measured by the laser sensor 7 may be converted by looking up a table, or may be converted according to a formula obtained by an experiment. Of course, in order to improve the accuracy of the data, in this embodiment, the data processor further performs filtering processing on the swing angle and the distance through a kalman filtering algorithm, so as to filter out data with a large deviation caused by external factors in the measurement process. And calculating the two groups of real-time data after filtering to obtain that the sowing depth A1 of the groove corresponds to the sowing depth B A2 of the groove.
II, differentiating the sowing depth A1 from a preset target sowing depth to obtain a difference value W1. The seeding depth two A2 is differed from a preset target seeding depthAnd a difference value W2 is obtained. And respectively endowing the angle sensor (5) with a data fusion weight K1 and the laser sensor (7) with a data fusion weight K2 according to the sowing depth A1, the sowing depth A2, the W1 and the W2. Wherein, K1 ═ W23/(W13+W23)，K2＝W13/(W13+W23). In this embodiment, a preset target sowing depth may be taken as a value according to experience, or may be determined according to suitable sowing depths of different seeds.
III, carrying out real-time fusion on A1 and A2 by a Kalman filtering fusion algorithm according to K1 and K2 to obtain a sowing depth three A3: a3 ═ a1 × K1+ a2 × K2; the sowing depth three a3 is an output value of the sowing depth detecting device.
Of course, in this embodiment, the data processor may further be configured to:
and IV, judging whether the seeding depth three A3 is within a preset seeding depth range in real time.
And V, when the sowing depth III A3 is not in the preset sowing depth range, driving the tilling blade to adjust the sowing depth of the groove, so that the sowing depth III A3 returns to the preset sowing depth range.
When the sowing depth three A3 is smaller than the preset sowing depth range, the tilling blade is driven to perform tilling operation on the groove. The sowing depth three A3 is returned to the preset sowing depth range, so that the real-time regulation and control of the sowing depth can be realized in the sowing process.
When the sowing depth three A3 is larger than the preset sowing depth range, the tilling blade is driven to carry out soil covering operation on the groove. The sowing depth three A3 is returned to the preset sowing depth range, so that the real-time regulation and control of the sowing depth can be realized in the sowing process.
The data collected by the angle sensor and the laser sensor are filtered through the Kalman filtering algorithm, the data with large deviation caused by external factor influence in the measuring process are filtered, then the filtered sowing depth data are fused through the Kalman filtering fusion algorithm, the accurate sowing depth data are obtained, and the precision of sowing depth detection is improved.
Of course, in this embodiment, the sowing depth detecting device further comprises an alarm and a display. When the sowing depth three A3 is not within the preset sowing depth range, the alarm is driven by the data processor to give an alarm to remind an operator that the sowing depth deviates from the set sowing depth range.
The display may display the sowing depth three a3, the swing angle, the distance, and the swing angle and the distance data waveform. The type of the display is not limited, and the display can be a serial port screen.
Fig. 4 is a block diagram of one implementation manner of the present embodiment.
According to the invention, the depth detection is carried out through the double sensors, and the Kalman filtering algorithm and the Kalman data fusion algorithm are adopted to carry out filtering processing and data fusion processing on the acquired data, so that the measured data is more accurate, errors caused by certain external factors can be eliminated, and the accuracy of the measurement result is prevented from being influenced.
Through setting up serial ports screen and alarm system that shows real-time depth of planting data, can prevent that the skew setting value of depth of planting from and unable in time discovering to adjust, avoid causing crops germination percentage to reduce and then cause the decline of grain output.
The main control board system controls the sowing depth adjusting system to work, so that the sowing depth can be adjusted in a proper range in real time in the sowing process, the sowing quality is guaranteed, the time for manually adjusting the sowing depth is saved, and the sowing efficiency is improved.
Example 2
The embodiment discloses a sowing depth detection method, which adopts the sowing depth detection device described in embodiment 1. Referring to fig. 5, the method for detecting seeding depth includes the following steps:
measuring the swing angle of the bracket 3 of the sowing equipment in real time in the sowing process;
measuring the distance between the laser sensor 7 and the groove of the sowing equipment in real time during the sowing process;
calculating the sowing depth A1 of the groove according to the swing angle in real time, and calculating the sowing depth A2 of the groove according to the distance in real time;
differentiating the sowing depth A1 from a preset target sowing depth to obtain a difference value W1; the sowing depth II A2 is differed from a preset target sowing depth to obtain a difference value W2; and respectively endowing the angle sensor (5) with a data fusion weight K1 and the laser sensor (7) with a data fusion weight K2 according to the sowing depth A1, the sowing depth A2, the W1 and the W2; wherein, K1 ═ W23/(W13+W23)，K2＝W13/(W13+W23)。
And (3) fusing A1 and A2 in real time according to K1 and K2 to obtain a sowing depth of three A3: a3 ═ a1 × K1+ a2 × K2; the sowing depth three a3 is an output value of the sowing depth detecting device.
The sowing depth detecting method of the present embodiment has the same advantageous effects as the sowing depth detecting device in embodiment 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A sowing depth detecting device mounted on a sowing apparatus, the sowing apparatus comprising:
a support (3);
the two ends of the rotating shaft of the press wheel (4) are rotatably arranged on one end of the bracket (3);
a tilling blade mounted on the support (3) for tilling a furrow for sowing on the ground; and
the seed box (1) is internally provided with seeds, the seed box (1) is arranged at the other end of the bracket (3) and is provided with a seed outlet channel (6) for sowing the seeds into the groove;
it is characterized in that the sowing depth detection device comprises:
the angle sensor (5) is arranged on the bracket (3) and is used for measuring the swing angle of the bracket (3) of the sowing equipment in the sowing process in real time;
the laser sensor (7) is arranged on the outer wall of the seed outlet channel (6) and is used for measuring the distance between the laser sensor (7) and the groove of the seeding equipment in real time during the seeding process; and
a data processor for:
i, calculating the sowing depth A1 of the groove according to the swing angle in real time, and calculating the sowing depth A2 of the groove according to the distance in real time;
II, differentiating the sowing depth A1 from a preset target sowing depth to obtain a difference value W1; the sowing depth II A2 is differed from a preset target sowing depth to obtain a difference value W2; and respectively endowing the angle sensor (5) with a data fusion weight K1 and the laser sensor (7) with a data fusion weight K2 according to the sowing depth A1, the sowing depth A2, the W1 and the W2; wherein, K1 ═ W23/(W13+W23)，K2＝W13/(W13+W23)；
III, fusing A1 and A2 in real time according to K1 and K2 to obtain a sowing depth of three A3: a3 ═ a1 × K1+ a2 × K2; the sowing depth three a3 is an output value of the sowing depth detecting device.
2. The sowing depth detecting device according to claim 1, wherein: the data processor is further configured to:
IV, judging whether the sowing depth III A3 is within a preset sowing depth range in real time;
and V, when the sowing depth III A3 is not in the preset sowing depth range, driving the tilling blade to adjust the sowing depth of the groove, so that the sowing depth III A3 returns to the preset sowing depth range.
3. The sowing depth detecting device according to claim 2, wherein: the data processor is further configured to:
when the sowing depth three A3 is smaller than the preset sowing depth range, driving the tilling blade to perform tilling operation on the groove to enable the sowing depth three A3 to return to the preset sowing depth range;
when the sowing depth three A3 is larger than the preset sowing depth range, the tilling blade is driven to carry out soil covering operation on the groove, so that the sowing depth three A3 returns to the preset sowing depth range.
4. The sowing depth detecting device according to claim 2, wherein: the sowing depth detection device further comprises:
an alarm for alarming;
the data processor is also used for driving the alarm to alarm when the sowing depth three A3 is not in the preset sowing depth range.
5. The sowing depth detecting device according to claim 2, wherein: the sowing depth detection device further comprises:
a display for displaying the seed planting depth three A3, the swing angle, the distance, and the swing angle and the distance data waveform.
6. The sowing depth detecting device according to claim 1, wherein: the sowing depth detection device further comprises:
the two ends of the mounting rack (11) are rotatably connected to the support (3), and the seed box (1) is fixed on one end of the mounting rack (11) and is arranged on the support (3); and
and the first spring sleeve (2) is fixed between the other ends of the support (3) and the mounting rack (11), and when the sowing equipment bumps, the shaking buffer of the support (3) is realized through elastic deformation.
7. The sowing depth detecting device according to claim 1, wherein: the sowing depth detection device further comprises:
the mounting mechanism comprises a land wheel (10), a ground imitating plate (8), a second spring sleeve (9) and a mounting seat (12); the land wheel (10) is installed on the installation seat (12), the ground imitating plate (8) is fixed on the outer wall of the seed outlet channel (6), one end of the spring sleeve II (9) supports the ground imitating plate (8), the other end of the spring sleeve II is fixed on the installation seat (12), and the spring sleeve II (9) enables the land wheel (10) to be in contact with the ground all the time in the seeding process of the seeding equipment through elastic deformation; the laser sensor (7) is arranged on the mounting seat (12).
8. A seed planting apparatus, comprising:
a support (3);
the two ends of the rotating shaft of the press wheel (4) are rotatably arranged on one end of the bracket (3);
a tilling blade mounted on the support (3) for tilling a furrow for sowing on the ground; and
the seed box (1) is internally provided with seeds, the seed box (1) is arranged at the other end of the bracket (3) and is provided with a seed outlet channel (6) for sowing the seeds into the groove;
a seeding depth detection device for detecting a seeding depth of the groove;
characterized in that the sowing depth detecting device is the sowing depth detecting device according to any one of claims 1 to 7.
9. The seed planting apparatus of claim 8, wherein: the sowing apparatus further comprises:
a seeder for driving the tilling blade;
a link mechanism for driving the sowing machine;
a hydraulic cylinder for driving the link mechanism;
a servo valve for driving the hydraulic cylinder; and the data processor drives the action amplitude of the valve core of the servo valve according to the seeding depth three A3.
10. A sowing depth detecting method using the sowing depth detecting device according to any one of claims 1 to 7; the method is characterized by comprising the following steps:
measuring the swing angle of the support (3) of the sowing equipment in real time in the sowing process;
measuring the distance between a laser sensor (7) and the groove of the sowing equipment in real time during the sowing process;
calculating the sowing depth A1 of the groove according to the swing angle in real time, and calculating the sowing depth A2 of the groove according to the distance in real time;
differentiating the sowing depth A1 from a preset target sowing depth to obtain a difference value W1; the sowing depth II A2 is differed from a preset target sowing depth to obtain a difference value W2; and respectively endowing the angle sensor (5) with a data fusion weight K1 and the laser sensor (7) with a data fusion weight K2 according to the sowing depth A1, the sowing depth A2, the W1 and the W2; wherein, K1 ═ W23/(W13+W23)，K2＝W13/(W13+W23)；
And (3) fusing A1 and A2 in real time according to K1 and K2 to obtain a sowing depth of three A3: a3 ═ a1 × K1+ a2 × K2; the sowing depth three a3 is an output value of the sowing depth detecting device.
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