Abstract: Taking the precise control process of subsoiler tillage depth as the research object, the structure and operation mode of the subsoiler were analyzed in detail. An intelligent control system of subsoiler was proposed, which took the inclination angle of subsoiler and the inclination angle of tractor as the main monitoring and control objectives, and added agricultural tool identification and agricultural tool image acquisition device. The tractor inclination angle and the subsoiler inclination angle are dynamically collected in the process of subsoiler farming, the difference between the inclination angle sensor and the target value is obtained, the system takes the sensor acquisition parameters and the target control parameters as the input value, calculates the deviation between the two, realizes the dynamic adjustment of the control target, generates control instructions, and sends them to the subsoiler lifting device control program, drives the lifting device to control the solenoid valve to open or close, and stably corrects the inclination value in the working process of the subsoiler, so as to achieve the purpose of intelligently controlling the tillage depth of the subsoiler.