A control method for high-speed no-tillage electric drive seeding of corn

Abstract

The present invention relates to a high-speed no-tillage electric drive sowing control method for corn. A Beidou navigation positioning system, a sensor and a transmission mechanism are installed on a corn no-tillage seeder to construct a high-speed no-tillage electric drive sowing control strategy model with plant spacing and sowing depth control as the core. The model is used to provide a real-time control method for the sowing process based on variables such as the forward speed of the machine. Based on the mathematical model of the evaluation index of sowing quality, the level of sowing quality is calculated by the evaluation weights of different influencing factors. By transforming the corn plant spacing formula into the motor speed, the speed of the seeding disc and the travel speed of the machine are matched in real time to ensure that the motor speed can dynamically adapt to and meet the set plant spacing requirements. At the same time, the real-time optimization of the sowing depth is achieved through a high-precision sensor. This scheme can not only improve the sowing accuracy and the uniformity of crop growth, but also improve the efficiency of sowing operations and crop yields.

Description

Technical Field

[0001] The present invention relates to the field of intelligent agricultural machinery and equipment, and in particular to a method for controlling high-speed no-tillage electric-driven seeding of corn. Background Art

[0002] In modern agricultural production, corn is an important food crop, and its sowing efficiency and effect have a significant impact on the sustainable development of agriculture. With the continuous advancement of science and technology, corn high-speed no-till electric drive sowing technology has been widely used and developed in the field of conservation tillage.

[0003] Plant spacing and sowing depth are important parameters for measuring corn sowing quality. The uniformity of plant spacing directly affects the light, ventilation and nutrient absorption of crops, while the stability of sowing depth is related to the germination rate and emergence rate of seeds. Achieving precise control of both is essential to ensure the healthy growth of corn and increase yield. At present, the existing technology is mainly designed for the mechanism of high-speed no-tillage seeders, such as patents: high-speed no-tillage monomer (CN202021493737.9), a corn no-tillage sowing device suitable for black soil (CN202323233829.X), etc. There are many devices designed in the prior art to reduce environmental impact. With the development of agricultural machinery towards intelligence, an effective control strategy for the high-speed no-tillage electric drive sowing process of corn needs to be realized. Summary of the invention

[0004] In view of the shortcomings in the prior art, the present invention installs a Beidou navigation and positioning system, sensors and transmission mechanisms on a corn no-till seeder to monitor and feedback-regulate the sowing process, constructs a corn high-speed no-till electric-driven sowing control strategy model with plant spacing and sowing depth control as the core, and uses the model based on variables such as the forward speed of the machine to provide a real-time control method for the sowing process.

[0005] In order to achieve the purpose, the technical solution adopted by the present invention is as follows: a corn high-speed no-tillage electric drive sowing control method is implemented by installing multiple modules on a corn high-speed no-tillage electric drive sowing machine, and the multiple modules include a Beidou positioning antenna, a sensor, and a transmission mechanism;

[0006] Wherein, the Beidou positioning antenna is installed on the machine to monitor the working position and the forward speed of the machine;

[0007] The sensor comprises:

[0008] An angle sensor, installed on the depth limiting wheel mechanism, is used to monitor the depth limiting angle;

[0009] Ultrasonic sensor, installed near the pressure wheel, used to measure the movement distance of the pressure wheel;

[0010] The speed radar sensor is installed on the crossbeam of the sowing unit to monitor the forward speed of the implement in real time;

[0011] Encoder, mounted on the ground wheel, used to monitor the forward speed of the implement;

[0012] The transmission mechanism comprises: a first hydraulic cylinder, mounted on a parallel four-bar mechanism of a sowing unit;

[0013] The second hydraulic cylinder is installed near the pressing wheel;

[0014] The control strategy includes the following steps:

[0015] Obtain the quality evaluation weight coefficient, the influencing factor coefficient of plant spacing and sowing depth, and the suppression wheel threshold;

[0016] According to the sowing quality formula, the expected value of the sowing quality evaluation index is set;

[0017] Combined with the parameter measurement results, set the plant spacing control parameters and sowing depth control parameters;

[0018] Set the sampling frequency of each module to obtain the plant spacing and sowing depth values ​​in real time;

[0019] The plant spacing is indirectly adjusted according to the speed formula and PID control function, and the sowing depth is adjusted by combining sensors and hydraulic cylinders.

[0020] On the basis of the above scheme, the specific method for obtaining the quality evaluation weight coefficient, the influencing factor coefficient of plant spacing and sowing depth, and the pressing wheel threshold is as follows:

[0021] Conduct experiments to measure various parameters, including:

[0022] The seed drop coefficient is obtained by measuring the impact of the number of collisions of corn seeds in the seed tube on the drop time. K t ;

[0023] The coefficient was obtained by measuring the bounciness of corn seeds on farmlands with different soil types, different soil moisture contents, and different straw coverage rates. K s , K w and K j ;

[0024] Set the plant spacing evaluation weight coefficient according to the impact on seeding quality W Z , seeding depth evaluation weight coefficient W B , weights of other influencing factors W E And the evaluation coefficient of each indicator Kgi ;

[0025] According to the demand for sowing depth, the effects of different soil types, moisture content, compactness and different straw coverage on sowing depth were measured, and the soil coefficient was obtained through calibration tests. K l and a 0 , a 1 , a 3 … a 9 ;

[0026] According to different farmland sowing requirements, set the initial value of the pressure to obtain different x 0 .

[0027] Based on the above scheme, the seeding quality formula is specifically:

[0028] ;

[0029] in, Q It is an evaluation index of sowing quality. W Z is the plant spacing evaluation weight coefficient, G Z It is the quality evaluation of plant spacing. W B is the seeding depth evaluation weight coefficient, G B It is the sowing depth quality evaluation. W E is the evaluation weight of other influencing factors, G E It is the quality evaluation of other impact factors;

[0030] Before the sowing operation is performed, the sowing quality evaluation index is the expected value of the sowing quality evaluation index.

[0031] Based on the above scheme, the evaluation score of a certain indicator is:

[0032] ;

[0033] in, K gi is the evaluation coefficient of a certain indicator, M The actual value of an indicator.

[0034] Based on the above scheme, the plant spacing control parameters are specifically:

[0035] ;

[0036] in, d It is the plant spacing. K t is the seed drop coefficient, K s is the soil type coefficient, K w is the soil moisture coefficient, K j is the farmland straw coverage coefficient, v is the forward speed of the machine, is the speed of the seed meter drive motor, N It is the number of seed slots on the seed tray.

[0037] Based on the above solution, the method for obtaining the forward speed v of the machine is:

[0038] When the machine is traveling in a straight line in the field, v =max( v i );in i =1,2,3;

[0039] When the machine is turning in the field, v = v 3 ;

[0040] in, v 1 is the speed measured by the BeiDou system, v 2 is the speed measured by ground radar, v 3 is the speed measured by the encoder.

[0041] Based on the above scheme, the sowing depth control parameters are specifically:

[0042] Use the logistic function to preset the seeding depth:

[0043] ;

[0044] in, h max The maximum reasonable sowing depth that can be set according to agronomic requirements. K l is the soil coefficient, θ is the soil moisture content, C is soil compaction, S is the surface straw coverage rate, a 0 , a 1 , a 3… a 9 It is an undetermined coefficient, which is obtained by collecting and calibrating various parameters of the farmland before sowing.

[0045] On the basis of the above scheme, the specific method of indirectly adjusting the plant spacing according to the speed formula and the PID control function is as follows:

[0046] Get the corresponding relationship between the seed disc speed and the machine speed:

[0047] ;

[0048] Speed ​​adjustment through PID control function:

[0049] ;

[0050] in, u t For output, K p , K i and K d are proportional, differential and integral coefficients, e t It is the error between the ideal speed and the actual speed of the seed disc.

[0051] On the basis of the above scheme, the specific method of adjusting the sowing depth by combining the sensor and the hydraulic cylinder is as follows:

[0052] If the sowing depth is less than the preset value, the second hydraulic cylinder is adjusted to force the sowing unit to move downward; if the sowing depth still does not reach the preset requirement after adjustment, the first hydraulic cylinder is further adjusted to force the sowing unit to move downward;

[0053] If the sowing depth is greater than the preset value, the second hydraulic cylinder is adjusted to raise the height of the sowing unit and reduce the sowing depth; if the sowing depth still does not reach the preset requirement after adjustment, the first hydraulic cylinder is further adjusted to forcibly lift the sowing unit.

[0054] Specifically, the suppression threshold is:

[0055] ;

[0056] in, k is the spring rate of the pressure wheel spring, x t is the displacement value of the pressure wheel monitored by the ultrasonic sensor at time t, x 0 is the initial value.

[0057] In a second aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0058] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above methods when the computer program is executed by a processor.

[0059] The beneficial effects of the present invention are as follows:

[0060] 1. The present invention takes a corn no-tillage seeder as a model and the average index of sowing quality as the control target. The Beidou positioning system, hydraulic transmission mechanism and high-precision sensor module are used on the seeder to construct a mathematical model for regulating plant spacing and sowing depth, providing an appropriate control strategy for the high-speed corn sowing process.

[0061] 2. Based on the mathematical model of seeding quality evaluation indicators, the seeding quality level is calculated through the evaluation weights of different influencing factors. The corn spacing formula is used to transform the motor speed to match the seeding disc speed and the machine travel speed in real time to ensure that the motor speed can dynamically adapt to and meet the set spacing requirements. At the same time, with the assistance of high-precision sensors, the seeding depth can be optimized in real time. This intelligent control system can not only improve the accuracy of seeding and the uniformity of crop growth, but also improve the efficiency of seeding operations and crop yields. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The present invention has the following accompanying drawings:

[0063] Figure 1 This is a schematic diagram of the single structure of the no-till planter equipped with Beidou positioning antenna, sensor and hydraulic cylinder;

[0064] Figure 2 This is a flow chart of the method for controlling high-speed no-tillage electric-driven sowing of corn implemented by the present invention;

[0065] Figure 3 It is a schematic diagram of the speed control process of the seed plate motor of the no-till seeder in the present invention;

[0066] Figure 4 The figure is a schematic diagram of the sowing depth control process of the no-till seeder in the present invention.

[0067] Figure numerals: 1 is the Beidou positioning antenna, which obtains information such as geographic location and speed by applying the Beidou navigation system; 2 is a laser radar, which is used to obtain speed; 3 is a hydraulic cylinder at the parallel four-bar mechanism of the sowing unit, which is used to control the sowing depth; 4 is an angle sensor, which is used to monitor the depth limit angle; 5 is a hydraulic cylinder at the pressing wheel, which is used to adjust the pressing force and thus indirectly adjust the sowing depth; 6 is an ultrasonic sensor. DETAILED DESCRIPTION

[0068] To make the objects, advantages and features of the present invention more apparent, the following Figure 1-4 The present invention is further described in detail with reference to the following specific embodiments.

[0069] like Figure 1 As shown, a specific embodiment of arranging and installing the required mechanisms on a corn no-tillage sowing unit. Among them, 1 is a Beidou positioning antenna, which obtains information such as geographic location and speed by applying the Beidou navigation system; 2 is a laser radar, which is used to obtain speed; 3 is a hydraulic cylinder at the parallel four-bar mechanism of the sowing unit, which is used to control the sowing depth; 4 is an angle sensor, which is used to monitor the depth limit angle; 5 is a hydraulic cylinder at the pressing wheel, which is used to adjust the pressing force and thus indirectly adjust the sowing depth; 6 is an ultrasonic sensor, which is used to measure the spring displacement and thus monitor the pressing force; in addition, the method of installing an encoder on the ground wheel has been widely used, and this embodiment will not be described in detail.

[0070] like Figure 2 As shown, based on Figure 1 The control strategy for the mechanism shown includes the following steps:

[0071] S1: To achieve a high-precision control strategy, it is necessary to conduct various parameter measurement experiments through preliminary preparation work, including: measuring the impact of the number of collisions of corn seeds in the seed tube on the falling time, and obtaining the seed falling coefficient K t ; The bounciness of corn seeds on farmlands with different soil types, different soil moisture contents, and different straw coverage rates, and the coefficient of obtaining K s , K w and K j ; Set the plant spacing evaluation weight coefficient according to the impact on sowing quality W Z , seeding depth evaluation weight coefficient W B , weights of other influencing factors W E And the evaluation coefficient of each indicator K gi According to the demand for sowing depth, the effects of different soil types, moisture content, compactness and different straw coverage on sowing depth were measured, and the soil coefficient was obtained through calibration tests. K l and a 0 , a 1 , a 3 … a9 ; According to different farmland sowing requirements, set the appropriate initial value of the pressure to obtain different x 0 .

[0072] S2: Preset the expected value of the ideal sowing quality evaluation index in the control system of corn no-till sowing;

[0073] Before sowing, according to the sowing expectations, the formula:

[0074] ;

[0075] Set the expected value of the sowing quality evaluation index (a score system is used here, the higher the score, the higher the sowing quality).

[0076] Among them, quality evaluation: , G is the evaluation score of a certain indicator. K gi is the evaluation coefficient of a certain indicator, M It is the actual value of a certain indicator (such as plant spacing and sowing depth).

[0077] S3: According to the actual conditions of the farmland, such as soil type, moisture content, and straw coverage, obtain the quality evaluation weight coefficient, plant spacing control parameters, sowing depth control parameters, and suppression wheel threshold;

[0078] Specifically, the plant spacing control parameters are:

[0079] ;

[0080] in, d It is the plant spacing. K t is the seed drop coefficient, K s is the soil type coefficient, K w is the soil moisture coefficient, K j is the farmland straw coverage coefficient, v is the forward speed of the machine, is the speed of the seed meter drive motor, N It is the number of seed slots on the seed tray.

[0081] Based on the above solution, the method for obtaining the forward speed v of the machine is:

[0082] When the machine is traveling in a straight line in the field, v =max( v i );in i=1,2,3;

[0083] When the machine is turning in the field, v = v 3 ;

[0084] in, v 1 is the speed measured by the BeiDou system, v 2 is the speed measured by ground radar, v 3 is the speed measured by the encoder.

[0085] Specifically, the sowing depth control parameters are:

[0086] Use the logistic function to preset the seeding depth:

[0087] ;

[0088] in, h max The maximum reasonable sowing depth that can be set according to agronomic requirements. K l is the soil coefficient, θ is the soil moisture content, C is soil compaction, S is the surface straw coverage rate, a 0 , a 1 , a 3 … a 9 It is an undetermined coefficient, which is obtained by collecting and calibrating various parameters of the farmland before sowing.

[0089] S4: Set a high-frequency sampling speed for each module information; obtain real-time plant spacing and sowing depth values ​​through high-frequency sampling of each module; in order to ensure that the sowing quality reaches the expected value, the plant spacing and sowing depth need to be highly stable according to the weight coefficient. During the sowing process, high-frequency sampling is performed through installed sensors and other components to monitor plant spacing and sowing depth in real time, and mathematical models are used to regulate according to the gap between actual values ​​and expectations.

[0090] like Figure 1As shown, the specific embodiment of the present invention is equipped with an advanced navigation and monitoring system, including a Beidou positioning system, a laser radar, and an encoder on the ground wheel. These devices are used together to obtain the running speed of the planter in real time. Under actual working conditions, considering that the speed of the implement may change due to various factors, the present invention adopts a comprehensive speed determination strategy: when the planter is driving in a straight line, the system will select the maximum value of the three measured speeds as the real-time speed of the implement, that is, v =max( v i ) to ensure operation efficiency and accuracy; according to past research experience, when the planter is operating at a low speed, especially when turning at the head of the field, the speed data provided by the ground wheel encoder shows higher accuracy and stability. Therefore, under this specific condition, the system will give priority to the speed value measured by the ground wheel encoder, that is, v=v 3 .

[0091] S5: Using mathematical models, such as Figure 3 As shown, the control system conducts real-time feedback control and adjustment of each part, indirectly adjusts the plant spacing according to the speed formula and PID control function, and adjusts the sowing depth by combining sensors and hydraulic cylinders. According to the plant spacing calculation formula, in order to ensure that the plant spacing remains unchanged, it is necessary to ensure that the seed disc speed matches the machine speed, according to:

[0092] ;

[0093] Knowing the corresponding relationship between the seed disc speed and the machine speed, when the machine operating speed changes, the control system adjusts the speed, and uses the control system to read the speed, through the PID control function:

[0094] ,

[0095] To achieve more precise speed adjustment, e t It is the error between the ideal speed and the actual speed of the seed disc.

[0096] like Figure 4 As shown, the parameters such as soil compactness, moisture content and straw coverage of the farmland are measured before operation. Based on multiple coefficients calibrated by the preparatory work performed in advance, the present invention determines the preset sowing depth required to meet specific agronomic standards. h 1(sowing depth control parameter), by adjusting the depth limiting wheel mechanism, the accuracy of the sowing depth is ensured. In the actual operation process, considering the structural characteristics of agricultural machinery and the diversity of farmland environment, the sowing unit may face different operating conditions. To this end, the present invention uses an angle sensor to monitor the sowing depth in real time to ensure the accuracy of the sowing depth. When the ground is undulating and the depth limiting wheel is suspended and does not play a depth limiting role, the system will detect that the sowing depth is lower than the preset value. According to the depth limit adjustment priority setting, the system will automatically adjust the hydraulic cylinder of the pressure wheel to reduce the pressure and prompt the sowing unit to move downward to increase the sowing depth. If the sowing depth still does not meet the preset requirements after adjustment, the system will further operate the hydraulic cylinder of the parallel four-bar mechanism of the sowing unit to force the sowing unit to move downward to achieve real-time adjustment of the depth; when the sowing unit is affected by its own gravity, beam pressure or other factors and sinks as a whole, the system will detect that the sowing depth exceeds the preset value and increase the pressure. By extending the hydraulic cylinder of the pressure wheel, the height of the sowing unit is raised to reduce the sowing depth. If this adjustment still cannot meet the requirements, the system will operate the hydraulic cylinder of the parallel four-bar mechanism to force the sowing unit to be lifted to ensure the suitability of the sowing depth. Special note: During the entire regulation process, the adjustment of the hydraulic cylinder of the pressure wheel must follow specific agronomic standards and set the pressure threshold:

[0097] ;

[0098] in, k is the spring constant, x t is the displacement value of the pressure wheel monitored by the ultrasonic sensor at time t, x 0 The change of the pressure wheel spring is monitored by an ultrasonic sensor. When the pressure reaches this threshold and the sowing depth still does not meet the requirements, the system will start regulating the parallel four-bar mechanism to ensure accurate control of the sowing depth.

[0099] The present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any one of the methods based on the above scheme are implemented.

[0100] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0101] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention, and the patent protection scope of the present invention should be defined by the claims. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A high-speed no-tillage electric drive sowing control method for corn, characterized in that: This is achieved by installing multiple modules on a high-speed no-tillage electric drive corn seeder, wherein the multiple modules include a Beidou positioning antenna, a sensor, and a transmission mechanism; Wherein, the Beidou positioning antenna is installed on the machine to monitor the working position and the forward speed of the machine; The sensor comprises: An angle sensor, installed on the depth limiting wheel mechanism, is used to monitor the depth limiting angle; Ultrasonic sensor, installed near the pressure wheel, used to measure the movement distance of the pressure wheel; The speed radar sensor is installed on the crossbeam of the sowing unit to monitor the forward speed of the implement in real time; Encoder, mounted on the ground wheel, used to monitor the forward speed of the implement; The transmission mechanism comprises: a first hydraulic cylinder, mounted on a parallel four-bar mechanism of a sowing unit; A second hydraulic cylinder is installed near the pressing wheel; The control method comprises the following steps: Obtain the quality evaluation weight coefficient, the influencing factor coefficient of plant spacing and sowing depth, and the suppression wheel threshold; According to the sowing quality formula, the expected value of the sowing quality evaluation index is set; Combined with the parameter measurement results, set the plant spacing control parameters and sowing depth control parameters; Set the sampling frequency of each module to obtain the plant spacing and sowing depth values ​​in real time; Indirectly adjust the plant spacing according to the speed formula and PID control function, and adjust the sowing depth by combining sensors and hydraulic cylinders; The specific method for obtaining the quality evaluation weight coefficient, the influencing factor coefficient of plant spacing and sowing depth, and the pressing wheel threshold is: Conduct experiments to measure various parameters, including: The seed drop coefficient is obtained by measuring the impact of the number of collisions of corn seeds in the seed tube on the drop time. K t ; The coefficient was obtained by measuring the bounciness of corn seeds on farmlands with different soil types, different soil moisture contents, and different straw coverage rates. K s , K w and K j ; Set the plant spacing evaluation weight coefficient according to the impact on seeding quality W Z , seeding depth evaluation weight coefficient W B , weights of other influencing factors W E And the evaluation coefficient of each indicator K gi ; According to the demand for sowing depth, the effects of different soil types, moisture content, compactness and different straw coverage on sowing depth were measured, and the soil coefficient was obtained through calibration tests. K l and a 0 , a 1 , a 3 … a 9 ; According to different farmland sowing requirements, set the initial value of the pressure to obtain different x 0 .

2. The control method according to claim 1, characterized in that: According to the sowing quality formula, the expected value of the sowing quality evaluation index is set, specifically: ； in, Q It is an evaluation index of sowing quality. W Z is the plant spacing evaluation weight coefficient, G Z It is the quality evaluation of plant spacing. W B is the seeding depth evaluation weight coefficient, G B It is the sowing depth quality evaluation. W E is the evaluation weight of other influencing factors, G E It is the quality evaluation of other impact factors; Before the sowing operation is performed, the sowing quality evaluation index is an expected value of the sowing quality evaluation index.

3. The control method according to claim 1, characterized in that: The evaluation score expression of a certain indicator is: ； in, K gi is the evaluation coefficient of a certain indicator, M The actual value of an indicator.

4. The control method according to claim 1, characterized in that: The plant spacing control parameters are specifically: ； in, d It is the plant spacing. K t is the seed drop coefficient, K s is the soil type coefficient, K w is the soil moisture coefficient, K j is the farmland straw coverage coefficient, v is the forward speed of the machine, is the speed of the seed meter drive motor, N It is the number of seed slots on the seed tray.

5. The control method according to claim 4, characterized in that: The method for obtaining the forward speed v of the machine is: When the machine is traveling in a straight line in the field, v =max( v i );in i =1,2,3； When the machine is turning in the field, v = v 3 ; in, v 1 is the speed measured by the BeiDou system, v 2 is the speed measured by ground radar, v 3 is the speed measured by the encoder.

6. The control method according to claim 1, characterized in that: The sowing depth control parameters are specifically: Use the logistic function to preset the seeding depth: ； in, h max The maximum reasonable sowing depth is set according to agronomic requirements. K l is the soil coefficient, θ is the soil moisture content, C is soil compaction, S is the surface straw coverage rate, a 0 , a 1 , a 3 … a 9 It is an undetermined coefficient, which is obtained by collecting and calibrating various parameters of the farmland before sowing.

7. The control method according to claim 1, characterized in that: The specific method of indirectly adjusting the plant spacing according to the speed formula and the PID control function is: Get the corresponding relationship between the seed disc speed and the machine speed: ； Speed ​​adjustment through PID control function: ； in, u t For output, K p , K i and K d are proportional, differential and integral coefficients, e t It is the error between the ideal speed and the actual speed of the seed disc.

8. The control method according to claim 1, characterized in that: The specific method of adjusting the sowing depth by combining the sensor and the hydraulic cylinder is as follows: If the sowing depth is less than the preset value, the second hydraulic cylinder is adjusted to force the sowing unit to move downward; if the sowing depth still does not reach the preset requirement after adjustment, the first hydraulic cylinder is further adjusted to force the sowing unit to move downward; If the sowing depth is greater than the preset value, the second hydraulic cylinder is adjusted to raise the height of the sowing unit and reduce the sowing depth; if the sowing depth still does not reach the preset requirement after adjustment, the first hydraulic cylinder is further adjusted to forcibly lift the sowing unit.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, a corn high-speed no-till electric drive sowing control method as described in any one of claims 1 to 8 is implemented.

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