A drone spreading system

Abstract

The present invention relates to the technical field of unmanned aerial vehicle seeding, and specifically discloses an unmanned aerial vehicle seeding system, including: an acquisition module, used to acquire a regional image of a to-be-sown area; a planning module, used to plan an initial seeding path according to the regional image and the initial seeding height; a wind speed acquisition and judgment module, used to judge whether the current wind speed is suitable for seeding at the initial seeding height when the unmanned aerial vehicle is flying, and obtain a judgment result; a seeding module, mounted on the unmanned aerial vehicle, used to perform seeding operations; an adjustment module, used to adjust the seeding height, seeding path, and seeding amount of the seeding module per unit time in real time according to the judgment result. The seeding height of the unmanned aerial vehicle can be adjusted in real time according to the influence of wind speed on seed seeding, and the seeding path and seeding amount can be adjusted adaptively to ensure the uniformity of seed seeding and the accuracy of seeding position, reduce the influence of wind speed on seeding operations, and improve seeding efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle sowing, and more specifically, to a unmanned aerial vehicle sowing system. Background Art

[0002] Drone seeding technology is widely used in farms, especially in farms with very large areas. Drones can effectively replace manual management of planting land on farms, help people sow and spread pesticides, etc., which can save certain labor costs and improve planting efficiency.

[0003] In the prior art, the use of drones for sowing generally involves setting the drone's flight altitude, flight speed, and sowing amount, and then performing sowing operations along the planned path. Usually, when encountering strong winds, the seeds will be affected by the wind speed after being sown with the centrifugal disc, thereby affecting their landing accuracy; this is because in windless weather, after the seeds are sown with the centrifugal disc, each seed will fall accurately to the ground in a parabolic trajectory, but in windy weather, the seeds will be affected by the wind speed during the falling process, resulting in landing deviations, thereby affecting the accuracy of the falling. Therefore, it is necessary to propose a drone sowing system to at least partially solve the problems existing in the prior art. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the present invention provides a drone spreading system, comprising:

[0006] An acquisition module, used for acquiring an area image of the area to be sown;

[0007] A planning module, used to plan the initial spreading path based on the area image and the initial spreading height;

[0008] The wind speed acquisition and judgment module is used to judge whether the current wind speed is suitable for sowing at the initial sowing height when the UAV is flying, and obtain the judgment result;

[0009] The spreading module is carried on the drone and is used for spreading operations;

[0010] The adjustment module is used to adjust the sowing height, sowing path and the sowing amount of the sowing module per unit time in real time according to the judgment result.

[0011] Preferably, the spreading module pre-sets an initial spreading width and an initial spreading amount per unit time according to an initial spreading path and an initial spreading height.

[0012] Preferably, the planning module includes:

[0013] A planning unit, used to divide the area to be sown into a plurality of unit areas and plan an initial sowing path for each unit area;

[0014] The setting unit sets an initial spreading width according to an initial spreading path, and determines an initial spreading amount of the spreading module per unit time according to the initial spreading width.

[0015] Preferably, the wind speed acquisition and judgment module includes:

[0016] A wind speed acquisition unit, used to acquire the current wind speed in real time;

[0017] A first judgment unit is used to compare the current wind speed with a first set wind speed. If the current wind speed is less than the first set wind speed, the judgment result is that the current wind speed is suitable for sowing at the initial sowing height. If the current wind speed is greater than or equal to the first set wind speed, the judgment result is that the current wind speed is not suitable for sowing at the initial sowing height.

[0018] A second judgment unit is used to compare the current wind speed with a second set wind speed when the judgment result of the first judgment unit is that the current wind speed is not suitable for sowing at the initial sowing height, and if the current wind speed is less than the second set wind speed, adjust the sowing height, the sowing path and the sowing amount of the sowing module per unit time in real time; if the current wind speed is greater than or equal to the second set wind speed, stop the sowing operation;

[0019] The second set wind speed is greater than the first set wind speed.

[0020] Preferably, the adjustment module includes:

[0021] A sowing acquisition unit is used to acquire the completed area and the unfinished area of ​​the currently sowing unit area;

[0022] The planning adjustment unit adjusts the initial sowing height to a preset sowing height, and resets the sowing width and sowing path according to the unfinished area; wherein the preset sowing height is less than the initial sowing height;

[0023] The sowing adjustment unit is used to adjust the sowing amount of the sowing module per unit time according to the sowing width.

[0024] Preferably, the first set wind speed satisfies the condition that: when sowing at the initial sowing height, the landing offset between the actual landing position of the seeds and the preset landing position is within a preset offset range;

[0025] The second set wind speed satisfies the condition that, when sowing at a preset sowing height, the landing offset between the actual landing position of the seeds and the preset landing position is within a preset offset range.

[0026] Preferably, it further comprises: a spreading height preset module, which is used to determine the preset spreading height according to the second set wind speed.

[0027] Preferably, the spreading height preset module includes:

[0028] The information acquisition unit pre-acquires multiple sets of sowing information when sowing seeds at multiple target sowing heights at a second set wind speed; wherein each set of sowing information includes: a sowing height and a landing offset;

[0029] The determination unit selects a target spreading height corresponding to a landing offset within a preset offset range as a preset spreading height.

[0030] Preferably, it also includes: a monitoring module for obtaining the landing offset between the actual landing position of the seeds and the preset landing position, and judging whether the drone should continue the sowing operation according to the landing offset.

[0031] Preferably, the monitoring module comprises:

[0032] The first acquisition unit is used to acquire the image of the area to be completed before operating each unit area, and divide the image of the area to be sown into multiple square areas according to the sowing path and sowing width corresponding to the unit area, and the square area is the preset landing position of the seeds;

[0033] The second acquisition unit is used to acquire the video image of the seeds falling in each square area during the sowing operation, and acquire the frame image of the moment before the seeds fall to the ground in the video image;

[0034] A recognition unit, for recognizing a coverage area of ​​a seed in a frame image;

[0035] A comparison unit compares the edge of the coverage area with the edge of the square area to obtain a landing offset;

[0036] The judgment unit is used to judge whether the landing offset is within the preset offset range. If so, continue the sowing operation; if not, judge whether the sowing operation is currently being performed at the preset sowing height. If not, adjust the sowing height, sowing path and sowing amount of the sowing module per unit time in real time. If so, stop the sowing operation.

[0037] Compared with the prior art, the present invention has at least the following beneficial effects:

[0038] The drone sowing system described in the present invention can adjust the sowing height of the drone in real time according to the influence of wind speed on seed sowing, and adaptively adjust the sowing path and sowing amount to ensure the uniformity of seed sowing and the accuracy of sowing position, reduce the influence of wind speed on sowing operations, and improve sowing efficiency.

[0039] The drone spreading system described in the present invention, other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0041] Figure 1 is a block diagram of the drone seeding system of the present invention;

[0042] Figure 2 A block diagram of a planning module in the UAV sowing system of the present invention;

[0043] Figure 3 It is a block diagram of a wind speed acquisition and judgment module in the UAV sowing system of the present invention;

[0044] Figure 4 It is a block diagram of the adjustment module in the UAV sowing system of the present invention;

[0045] Figure 5 It is a block diagram of a sowing height preset module in the UAV sowing system of the present invention;

[0046] Figure 6 It is a block diagram of the monitoring module in the UAV sowing system described in the present invention. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0048] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0049] like Figure 1 As shown, the present invention provides a drone spreading system, comprising:

[0050] An acquisition module, used for acquiring an area image of the area to be sown;

[0051] A planning module, used to plan the initial spreading path based on the area image and the initial spreading height;

[0052] The wind speed acquisition and judgment module is used to judge whether the current wind speed is suitable for sowing at the initial sowing height when the UAV is flying, and obtain the judgment result;

[0053] The spreading module is carried on the drone and is used for spreading operations;

[0054] The adjustment module is used to adjust the sowing height, sowing path and the sowing amount of the sowing module per unit time in real time according to the judgment result.

[0055] Furthermore, the spreading module pre-sets an initial spreading width and an initial spreading amount per unit time according to an initial spreading path and an initial spreading height.

[0056] The acquisition module acquires the regional image from above. When the UAV takes off from the sowing starting point, it first acquires and judges the wind speed through the wind speed acquisition and judgment module, and then starts the sowing operation. When the wind speed is normal, no adjustment is required, that is, the UAV performs the sowing operation at the initial sowing height according to the initial sowing path, and the initial sowing width and initial sowing amount are pre-set. The UAV performs the sowing operation according to the above initial sowing parameters by default.

[0057] The sowing module uses a centrifugal seeding disc and a spiral feeding mechanism for sowing. The spiral feeding mechanism can transport the seeds in the storage box to the centrifugal seeding disc, and then the seeds are sown under the centrifugal force of the centrifugal seeding disc. The seed sowing width is related to the sowing height and the speed of the centrifugal seeding disc. The lower the sowing height, the shorter the time for the seeds to fall, and the smaller the sowing width. The smaller the speed of the centrifugal seeding disc (generally working at the maximum speed, which can play a wind-resistant role), the smaller the centrifugal force on the seeds, and the smaller the sowing width;

[0058] The shorter the seed falling time is, the less affected it is by wind speed. Therefore, when the current wind speed is high, that is, when it is not suitable for sowing at the initial sowing height, the sowing height can be adjusted through the adjustment module, that is, the sowing height is lowered to reduce the influence of wind speed on seed falling. When the rotation speed of the centrifugal seeding disc remains unchanged, the sowing width will decrease, and the sowing path also needs to be adjusted accordingly. The reduction in sowing width indicates that the width of the sowing path is reduced, and it is necessary to reduce the sowing amount per unit time to ensure the uniformity of the seed sowing amount per unit area; among them, the adjustment of the sowing amount can be achieved by adjusting the feeding speed of the spiral feeding mechanism.

[0059] Through the above design, the sowing height of the drone can be adjusted in real time according to the impact of wind speed on seed sowing, and the sowing path and sowing amount can be adaptively adjusted to ensure the uniformity of seed sowing and the accuracy of the sowing position, reduce the impact of wind speed on the sowing operation, and improve the sowing efficiency.

[0060] like Figure 2 As shown, in one embodiment, the planning module includes:

[0061] A planning unit, used to divide the area to be sown into a plurality of unit areas and plan an initial sowing path for each unit area;

[0062] The setting unit sets an initial spreading width according to an initial spreading path, and determines an initial spreading amount of the spreading module per unit time according to the initial spreading width.

[0063] On the regional image, the area to be sown is divided into multiple unit areas. The size and area of ​​each unit area may be different, so it is necessary to plan the path for each unit area; then, the initial sowing width is set according to the planned initial sowing path, or the speed of the centrifugal sowing disc is set to the maximum value. After the initial sowing height is determined, the initial sowing width can be obtained, and the path planning can be carried out according to the initial sowing width and the size of the unit area;

[0064] The initial sowing amount refers to the amount of seeds sown by the centrifugal sowing disc per unit time. When the rotation speed of the centrifugal sowing disc is constant, the sowing amount is related to the feeding speed of the spiral feeding mechanism, that is, the feeding speed of the spiral feeding mechanism is set by the setting unit.

[0065] Through the above design, the path can be planned individually according to the size and area of ​​each unit area to ensure the sowing efficiency and sowing accuracy of each unit area.

[0066] like Figure 3 As shown, in one embodiment, the wind speed acquisition and judgment module includes:

[0067] A wind speed acquisition unit, used to acquire the current wind speed in real time;

[0068] A first judgment unit is used to compare the current wind speed with a first set wind speed. If the current wind speed is less than the first set wind speed, the judgment result is that the current wind speed is suitable for sowing at the initial sowing height. If the current wind speed is greater than or equal to the first set wind speed, the judgment result is that the current wind speed is not suitable for sowing at the initial sowing height.

[0069] A second judgment unit is used to compare the current wind speed with a second set wind speed when the judgment result of the first judgment unit is that the current wind speed is not suitable for sowing at the initial sowing height, and if the current wind speed is less than the second set wind speed, adjust the sowing height, the sowing path and the sowing amount of the sowing module per unit time in real time; if the current wind speed is greater than or equal to the second set wind speed, stop the sowing operation;

[0070] The second set wind speed is greater than the first set wind speed.

[0071] When the UAV is performing a sowing operation, the current wind speed is obtained in real time through the wind speed acquisition unit, and then the current wind speed is judged by the first judgment unit and the second judgment unit to automatically control the sowing operation of the UAV.

[0072] Furthermore, the first set wind speed satisfies the condition that: when sowing at the initial sowing height, the landing offset between the actual landing position of the seeds and the preset landing position is within a preset offset range;

[0073] The second set wind speed satisfies the condition that, when sowing at a preset sowing height, the landing offset between the actual landing position of the seeds and the preset landing position is within a preset offset range.

[0074] The first set wind speed and the second set wind speed can be obtained by conducting experiments or simulations on the UAV seeding operation so that both meet the above conditions;

[0075] When the current wind speed is less than the first set wind speed, it indicates that the current wind speed has little effect on the falling seeds, and the degree of deviation of the seeds falling to the ground is small and within a controllable range; when the current wind speed is greater than or equal to the first set wind speed, and less than the second set wind speed, it indicates that the wind speed has a greater effect on the falling seeds, and the seeds will be offset when they fall to the ground, which will affect the accuracy and uniformity of seed sowing. Therefore, in order to reduce the impact of wind speed on seeds, the sowing height is reduced to reduce the height of the seeds falling, so as to reduce the landing deviation of the seeds when they fall to the ground, so as to keep it within a controllable range; however, when the current wind speed is greater than the second set wind speed, although the sowing height is reduced, the landing deviation of the seeds cannot be reduced, indicating that it is not suitable for sowing operations at the current wind speed and the sowing operations should be stopped.

[0076] Through the above design, the current wind speed can be judged twice to control the sowing operation of the drone to ensure the accuracy and uniformity of seed sowing, and stop sowing when it is not suitable for sowing operations to prevent seed sowing from not meeting requirements and wasting costs.

[0077] like Figure 4 As shown, in one embodiment, the adjustment module includes:

[0078] A sowing acquisition unit is used to acquire the completed area and the unfinished area of ​​the currently sowing unit area;

[0079] The planning adjustment unit adjusts the initial sowing height to a preset sowing height, and resets the sowing width and sowing path according to the unfinished area; wherein the preset sowing height is less than the initial sowing height;

[0080] The sowing adjustment unit is used to adjust the sowing amount of the sowing module per unit time according to the sowing width.

[0081] When making adjustments, first control the sowing module to stop sowing, and the drone hovers at the current position, and then start the adjustment module. When the sowing parameters to be adjusted are all adjusted, the drone starts sowing from the current hovering position;

[0082] When there are completed areas and unfinished areas in the current sowing unit area, it is necessary to reset the sowing width and sowing path according to the size and area of ​​the unfinished area, so that when the sowing operation is carried out according to the set sowing path and the set sowing width, the sowing coverage area is not repeated; then the sowing amount of the sowing module per unit time is adjusted according to the sowing width to ensure the uniformity of sowing in each unit area;

[0083] When there is no completed area in the current sowing unit area, the sowing width and sowing path are reset according to the size and area of ​​the unit area, and then the sowing amount of the sowing module per unit time is adjusted according to the sowing width.

[0084] Through the above design, the spreading parameters can be adjusted in real time according to the detected wind speed using the adjustment module, so that the UAV can continue the spreading operation at the current wind speed (between the first set wind speed and the second set wind speed), thereby improving the spreading efficiency. In this case, there is no need to stop the spreading work, which reduces the degree to which the spreading operation is affected by the wind speed and enhances the wind resistance.

[0085] like Figure 5 As shown, in one embodiment, it also includes: a spreading height preset module, which is used to determine the preset spreading height according to the second set wind speed.

[0086] Furthermore, the spreading height preset module includes:

[0087] The information acquisition unit pre-acquires multiple sets of sowing information when sowing seeds at multiple target sowing heights at a second set wind speed; wherein each set of sowing information includes: a sowing height and a landing offset;

[0088] The determination unit selects a target spreading height corresponding to a landing offset within a preset offset range as a preset spreading height.

[0089] The above process can be used to set a preset spreading height in an experimental environment. The second set wind speed can be formed by artificial wind to form a windy environment in the experimental environment. The artificial wind can be formed by a larger fan or blower.

[0090] The height of the drone from the ground should not be too low when flying. The wind speed generated by the drone itself will affect the falling of the seeds at a lower altitude.

[0091] At the second set wind speed, the seeds are sown at multiple target sowing heights, and then the sowing information of the UAV's sowing operation is obtained, so that a relationship curve between the target sowing height and the landing offset can be obtained based on the multiple sets of sowing information, and then the target sowing height corresponding to the minimum value of the landing offset within the preset offset range is selected as the preset sowing height; at the second set wind speed, the UAV can meet the sowing requirements at the preset sowing height, that is, the landing offset of the seeds is within the preset offset range, then when the current wind speed is less than the second set wind speed, it can also ensure that the landing offset of the seeds is within the preset offset range;

[0092] Through the above design, a more accurate preset sowing height can be obtained. In this way, if the current wind speed is between the first set wind speed and the second set wind speed, the drone can be adjusted to the preset sowing height for sowing operations to ensure sowing efficiency and minimize the impact of wind speed on sowing, thereby ensuring sowing accuracy.

[0093] like Figure 6 As shown, in one embodiment, it also includes: a monitoring module, which is used to obtain the landing offset between the actual landing position of the seeds and the preset landing position, and determine whether the drone continues the sowing operation based on the landing offset.

[0094] The monitoring module can be used in conjunction with the spreading height preset module to set the preset spreading height; it can also monitor the spreading situation when the drone is performing spreading operations to ensure the accuracy of the spreading.

[0095] Specifically, the monitoring module includes:

[0096] The first acquisition unit is used to acquire the image of the area to be completed before operating each unit area, and divide the image of the area to be sown into multiple square areas according to the sowing path and sowing width corresponding to the unit area, and the square area is the preset landing position of the seeds;

[0097] The second acquisition unit is used to acquire the video image of the seeds falling in each square area during the sowing operation, and acquire the frame image of the moment before the seeds fall to the ground in the video image;

[0098] A recognition unit, for recognizing a coverage area of ​​a seed in a frame image;

[0099] The coverage area of ​​seeds is the area covered by the sown seeds;

[0100] A comparison unit compares the edge of the coverage area with the edge of the square area to obtain a landing offset;

[0101] The judgment unit is used to judge whether the landing offset is within the preset offset range. If so, continue the sowing operation; if not, judge whether the sowing operation is currently being performed at the preset sowing height. If not, adjust the sowing height, sowing path and sowing amount of the sowing module per unit time in real time. If so, stop the sowing operation.

[0102] If this unit area has not been sown yet, the image of the area to be completed is the image of this unit area; if this unit area has been sown but there is an unfinished area, the image of the area to be completed is the image of this unfinished area; then, the image of the area to be sown is divided into multiple square areas according to the set and planned sowing path and sowing width, and the two edges of the square area parallel to the sowing path can be the preset landing positions of the seeds; when the seeds are sown according to the sowing path, if there is a landing offset, the coverage area of ​​the seeds in the frame image will exceed the edge of the square area, and the area size of the coverage area exceeding the edge of the square area is the landing offset. For example, the size of the landing offset can be represented by obtaining the number of pixels that the coverage area exceeds the edge area, and then the sowing operation can be monitored by judging the landing offset;

[0103] Through the above design, the sowing operation can be monitored in real time to determine whether the current sowing situation meets the requirements, so as to further improve the control of sowing uniformity and accuracy and improve the sowing efficiency.

[0104] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A drone spreading system, characterized in that: include: An acquisition module, used for acquiring an area image of the area to be sown; A planning module, used to plan the initial spreading path based on the area image and the initial spreading height; The wind speed acquisition and judgment module is used to judge whether the current wind speed is suitable for sowing at the initial sowing height when the UAV is flying, and obtain the judgment result; The spreading module is carried on the drone and is used for spreading operations; An adjustment module is used to adjust the sowing height, sowing path and the sowing amount of the sowing module per unit time in real time according to the judgment result; The planning module includes: A planning unit, used to divide the area to be sown into a plurality of unit areas and plan an initial sowing path for each unit area; A setting unit, which sets an initial spreading width according to an initial spreading path, and determines an initial spreading amount of a spreading module per unit time according to the initial spreading width; The wind speed acquisition and judgment module includes: A wind speed acquisition unit, used to acquire the current wind speed in real time; A first judgment unit is used to compare the current wind speed with a first set wind speed. If the current wind speed is less than the first set wind speed, the judgment result is that the current wind speed is suitable for sowing at the initial sowing height. If the current wind speed is greater than or equal to the first set wind speed, the judgment result is that the current wind speed is not suitable for sowing at the initial sowing height. A second judgment unit is used to compare the current wind speed with a second set wind speed when the judgment result of the first judgment unit is that the current wind speed is not suitable for sowing at the initial sowing height, and if the current wind speed is less than the second set wind speed, adjust the sowing height, the sowing path and the sowing amount of the sowing module per unit time in real time; if the current wind speed is greater than or equal to the second set wind speed, stop the sowing operation; The second set wind speed is greater than the first set wind speed.

2. The drone spreading system according to claim 1, characterized in that: The spreading module pre-sets an initial spreading width and an initial spreading amount per unit time according to an initial spreading path and an initial spreading height.

3. The drone spreading system according to claim 1, characterized in that: The adjustment module comprises: A sowing acquisition unit is used to acquire the completed area and the unfinished area of ​​the currently sowing unit area; The planning adjustment unit adjusts the initial sowing height to a preset sowing height, and resets the sowing width and sowing path according to the unfinished area; wherein the preset sowing height is less than the initial sowing height; The sowing adjustment unit is used to adjust the sowing amount of the sowing module per unit time according to the sowing width.

4. The drone spreading system according to claim 1, characterized in that: The condition satisfied by the first set wind speed is that: when sowing at the initial sowing height, the landing offset between the actual landing position of the seeds and the preset landing position is within the preset offset range; The second set wind speed satisfies the condition that, when sowing at a preset sowing height, the landing offset between the actual landing position of the seeds and the preset landing position is within a preset offset range.

5. The drone spreading system according to claim 3, characterized in that: Also includes: The spreading height preset module is used to determine the preset spreading height according to the second set wind speed.

6. The drone spreading system according to claim 5, characterized in that: The spreading height preset module comprises: The information acquisition unit pre-acquires multiple sets of sowing information when sowing seeds at multiple target sowing heights at a second set wind speed; wherein each set of sowing information includes: a sowing height and a landing offset; The determination unit selects a target spreading height corresponding to a landing offset within a preset offset range as a preset spreading height.

7. The drone spreading system according to claim 4, characterized in that: Also includes: The monitoring module is used to obtain the landing offset between the actual landing position of the seeds and the preset landing position, and determine whether the drone should continue the sowing operation based on the landing offset.

8. The drone spreading system according to claim 7, characterized in that: The monitoring module comprises: The first acquisition unit is used to acquire the image of the area to be completed before operating each unit area, and divide the image of the area to be sown into multiple square areas according to the sowing path and sowing width corresponding to the unit area, and the square area is the preset landing position of the seeds; The second acquisition unit is used to acquire the video image of the seeds falling in each square area during the sowing operation, and acquire the frame image of the moment before the seeds fall to the ground in the video image; A recognition unit, for recognizing a coverage area of ​​a seed in a frame image; A comparison unit compares the edge of the coverage area with the edge of the square area to obtain a landing offset; The judgment unit is used to judge whether the landing offset is within the preset offset range. If so, continue the sowing operation; if not, judge whether the sowing operation is currently being performed at the preset sowing height. If not, adjust the sowing height, sowing path and sowing amount of the sowing module per unit time in real time. If so, stop the sowing operation.

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