Seeding control method and device of seeding machine and medium

Abstract

The invention discloses a seeding control method and equipment of a seeding machine and a medium, belongs to the technical field of intelligent seeding machines, and is used for solving the technical problems that an existing intelligent seeding machine is poor in seeding precision, process control and intelligent management of seeding operation are poor, and the automation level of the intelligent seeding machine is difficult to further improve. The method comprises the steps of generating a seeding planning scheme based on seeding parameters input by a user; according to the seeding planning scheme, performing path planning and navigation on the to-be-seeded area, and determining an automatic seeding path; according to the automatic seeding path, performing real-time monitoring and motion control on ground profiling features on the path to obtain a real-time seeding strategy; based on the execution process of the real-time seeding strategy, performing real-time monitoring processing on the seeding continuous operation characteristic and the material residual characteristic of the seeding machine to obtain seeding monitoring feedback data; and transmitting the seeding monitoring feedback data to the intelligent terminal of the user.

Description

Technical Field

[0001] The present application relates to the field of intelligent seed drills, and in particular to a seeding control method, device and medium of a seeding machine. Background Art

[0002] Smart seeders are a type of planting machinery that sows crop seeds. They are usually classified according to the type of crops they sow, such as grain drills, corn hole seeders, cotton seeders, etc. Smart seeders use modern technology, such as sensors, GPS positioning, and automated control, to achieve precise sowing, efficient operation, and intelligent management, greatly improving agricultural production efficiency and crop yields.

[0003] At present, the precision of most intelligent seeders is not high enough. As the route travels and the operation time increases, the seeding quality will be deformed and unstable, thus affecting the reproduction and normal growth of crops. In addition, the existing seeders lack process control and intelligent management of seeding operations, and the automation level and operation precision of seeding operations need to be improved. Summary of the invention

[0004] The embodiments of the present application provide a sowing control method, device and medium for a seeder, which are used to solve the following technical problems: the sowing accuracy of existing intelligent seeders is poor, and the process control and intelligent management of the sowing operation are lacking, making it difficult to further improve the automation level of the intelligent seeder.

[0005] The present application embodiment adopts the following technical solutions:

[0006] On the one hand, an embodiment of the present application provides a sowing control method for a seeder, comprising: generating a sowing planning scheme based on sowing parameters input by a user; planning and navigating a path for the sowing area according to the sowing planning scheme, and determining an automatic sowing path; based on the automatic sowing path, real-time monitoring and motion control of ground profiling features on the path to obtain a real-time sowing strategy; based on the execution process of the real-time sowing strategy, real-time monitoring and processing of the sowing continuous operation characteristics and material remaining characteristics of the seeder to obtain sowing monitoring feedback data; transmitting the sowing monitoring feedback data to the user's smart terminal.

[0007] The embodiments of the present application reduce labor costs and training costs by improving the automation level and operation accuracy of seeding operations. Through precise control and intelligent management, the uniformity and depth consistency of seeding and fertilization are achieved, and the yield and quality of crops are improved. Operation interruptions caused by machine failures are reduced, and the reliability and continuity of operations are improved. Soil moisture is protected, damage to soil structure is reduced, and it is helpful to improve the emergence rate and growth quality of crops. The user experience is improved, making seeding operations easier and more convenient.

[0008] In a feasible implementation, a sowing planning scheme is generated based on the sowing parameters input by the user, specifically comprising: inputting the sowing parameters through the user's intelligent terminal; wherein the sowing parameters include at least: seed type, sowing amount, sowing area, sowing time, soil dryness and wetness, and sowing density; querying and matching the sowing parameters with the preset sowing planning template to determine a number of initial planning templates; sorting the initial planning templates according to the degree of matching between the initial planning templates and the sowing parameters to obtain sorted initial planning templates; wherein the initial planning templates with a high degree of matching are located in the top area of ​​the display list; marking the unmatched parameters of the initial planning template in the top area, and re-entering the unmatched parameters after manual fine-tuning to obtain an actual sowing planning template; outputting the execution data of the actual sowing planning template to obtain the sowing planning scheme.

[0009] In a feasible implementation manner, according to the sowing planning scheme, the path planning and navigation are performed on the sowing area to be sown, and an automatic sowing path is determined, which specifically includes: generating an ideal sowing path based on the sowing parameters in the sowing planning scheme; calibrating the geographic coordinates of the sowing area to be sown through a preset Beidou navigation system to obtain navigation sowing area coordinates; fusing and interpolating the navigation sowing area coordinates with the sowing area to be sown to generate actual sowing area coordinates; correcting the ideal sowing path according to the actual sowing area coordinates, and generating the sowing route speed of the seeder based on the actual sowing path; inputting the actual sowing path and the sowing route speed into the seeder to obtain the automatic sowing path.

[0010] In a feasible implementation manner, according to the automatic sowing path, the ground profiling features on the path are monitored and motion controlled in real time to obtain a real-time sowing strategy, which specifically includes: based on the automatic sowing path and the sowing planning scheme, controlling the seeder to perform sowing movement; using a preset ground profiling sensor device, real-time monitoring of the ground profiling features identified in the automatic sowing path, and controlling the hydraulic system of the parallel four-bar mechanism to perform adaptive adjustment to determine a real-time sowing depth control strategy; using a preset radar monitoring device, classifying obstacles identified in the automatic sowing path, and replanning and adjusting the automatic sowing path according to the identified obstacle types to obtain an obstacle avoidance planning path; and combining the automatic sowing path, the sowing planning scheme, the real-time sowing depth control strategy, and the obstacle avoidance planning path to obtain the real-time sowing strategy.

[0011] In a feasible implementation, the ground profiling features identified in the automatic sowing path are monitored in real time by a preset ground profiling sensor device, and the hydraulic system of the parallel four-bar mechanism is controlled to perform adaptive adjustments to determine a real-time sowing depth control strategy, which specifically includes: the ground undulation signal corresponding to the ground profiling feature is sensed in real time by the ground profiling sensor device to obtain a ground profiling signal; the ground profiling signal is amplified and converted by an electro-hydraulic profiling controller, and the hydraulic solenoid valve in the hydraulic system is driven to perform a reversing action; the extension or shortening of the hydraulic cylinder is controlled to generate a hydraulic control strategy; the up and down translation state of the ground undulation represented by the ground profiling signal is adaptively adjusted by the parallel four-bar mechanism and the hydraulic control strategy to obtain the real-time sowing depth control strategy for the sowing depth of the seeder.

[0012] In a feasible implementation manner, based on the execution process of the real-time sowing strategy, the sowing continuous operation characteristics and material remaining characteristics of the seeder are monitored and processed in real time to obtain sowing monitoring feedback data, specifically including: through a preset pipeline blockage monitoring device, the sowing downstream flow of the sowing pipeline of the seeder is monitored and judged in real time; if the sowing downstream flow is uniform and continuous operation, the sowing continuous operation characteristic is determined as a normal operation characteristic; if the sowing downstream flow is non-uniform and continuous operation, the sowing continuous operation characteristic is determined as an abnormal operation characteristic; and the abnormal operation characteristic is recorded in the current time node; if the sowing downstream flow is discontinuous operation, the sowing continuous operation characteristic is determined as a non-operation characteristic; and the seeder is controlled to stop sowing operation; the material remaining amount and fertilizer remaining amount stored in the internal warehouse of the seeder are monitored in real time to obtain the material remaining characteristic; the sowing continuous operation characteristic and the material remaining characteristic are integrated to obtain the sowing monitoring feedback data based on the seeder.

[0013] In a feasible implementation manner, if the sowing continuous operation characteristic is less than a first preset threshold or the material remaining characteristic is less than a first preset threshold, material remaining alarm information is generated; if the sowing continuous operation characteristics at the current time node and the previous time node are both the abnormal operation characteristics, or the sowing continuous operation characteristics are the non-operation characteristics, sowing continuous operation alarm information is generated; the generated material remaining alarm information and the sowing continuous operation alarm information are both mounted in the sowing monitoring feedback data.

[0014] In a feasible implementation, the sowing monitoring feedback data is transmitted to the user's smart terminal, specifically including: visually displaying the sowing continuous operation characteristics and the material remaining characteristics in the sowing monitoring feedback data based on the first table in the smart terminal; visually displaying the material remaining alarm information and the sowing continuous operation alarm information in the sowing monitoring feedback data based on the second table in the smart terminal; and completing the operation management of the seeder's sowing operation through the first table and the second table.

[0015] In the second aspect, an embodiment of the present application also provides a sowing control device for a seeding machine, the device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor so that the at least one processor can execute a sowing control method for a seeding machine described in any of the above embodiments.

[0016] In the third aspect, an embodiment of the present application also provides a non-volatile computer storage medium, characterized in that the storage medium is a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium stores at least one program, each of which includes instructions, and when the instructions are executed by a terminal, the terminal executes a sowing control method for a sowing machine described in any of the above embodiments.

[0017] The present application provides a sowing control method, device and medium of a sowing machine. Compared with the prior art, the embodiments of the present application have the following beneficial technical effects:

[0018] The embodiments of the present application reduce labor costs and training costs by improving the automation level and operation accuracy of seeding operations. Through precise control and intelligent management, the uniformity and depth consistency of seeding and fertilization are achieved, and the yield and quality of crops are improved. Operation interruptions caused by machine failures are reduced, and the reliability and continuity of operations are improved. Soil moisture is protected, damage to soil structure is reduced, and it is helpful to improve the emergence rate and growth quality of crops. The user experience is improved, making seeding operations easier and more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0020] Figure 1 A flow chart of a sowing control method of a sowing machine provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of a sowing control device of a seeder provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0023] It should be noted that the intelligent control system of the seed drill of the present invention integrates advanced technologies such as intelligent microprocessors, Beidou positioning technology, encoder technology, radar technology, and embedded software and hardware development, completing a control system that integrates intelligence, automation, multi-selectivity, low cost, and high accuracy. The present invention collects data information from the Beidou positioning system and encoder, an intelligent controller equipped with a microprocessor for decision-making functions, and a stepper motor, a DC motor, and a cone grid seeding device for execution functions. Each module is highly independent and works in coordination to ensure the smooth operation of the system. The Beidou AB line algorithm was invented and designed to solve the problem of alignment of plots between different rows in the Beidou mode. The encoder automatic control algorithm was designed to solve the problem of stepper motor control grid follow-up in the encoder mode, and the stroke calibration algorithm was designed by integrating Beidou positioning technology to solve the problem of cumulative error of the encoder, ensuring the multi-selectivity and accuracy of the system.

[0024] The present application embodiment provides a sowing control method of a sowing machine, such as Figure 1 As shown, the sowing control method of the seeding machine specifically includes steps S101-S105:

[0025] S101 : Generate a sowing plan based on sowing parameters input by a user.

[0026] Specifically, the sowing parameters need to be input and processed through the user's smart terminal, wherein the sowing parameters at least include: seed type, sowing amount, sowing area, sowing time, soil dryness and humidity, and sowing density.

[0027] Furthermore, the sowing parameters are queried and matched with the preset sowing planning templates to determine a number of initial planning templates.

[0028] Furthermore, the initial planning templates are sorted according to the matching degree between the initial planning templates and the seeding parameters to obtain sorted initial planning templates, wherein the initial planning templates with high matching degree are located at the top area of ​​the display list.

[0029] Furthermore, the mismatching parameters of the initial planning template in the top region are marked, and the mismatching parameters after manual fine-tuning are re-entered to obtain the actual seeding planning template.

[0030] Furthermore, the actual seeding planning template is subjected to output processing of execution data to obtain a seeding planning solution.

[0031] In one embodiment, an App remote control module can be used: users can input the parameters required for sowing, such as seed type, sowing amount, etc., through the App on a smartphone or tablet to achieve remote control and monitoring. After matching the input sowing parameters with various template queries, and then making subtle adjustments to multiple parameters of the template with the best matching degree, the most suitable sowing plan that meets the current seed type can be generated based on seed type, sowing amount, sowing area, sowing time, soil dryness and humidity, and sowing density.

[0032] S102: According to the sowing planning scheme, plan and navigate the path of the sowing area to be sown, and determine the automatic sowing path.

[0033] Specifically, it is also necessary to generate an ideal sowing path based on the sowing parameters in the sowing planning scheme. Then, the geographic coordinates of the sowing area to be sown are calibrated through the preset Beidou navigation system to obtain the coordinates of the navigation sowing area.

[0034] Furthermore, the coordinates of the navigation sowing area are fused and interpolated with those of the area to be sown to generate the coordinates of the actual sowing area.

[0035] Furthermore, the ideal sowing path is corrected according to the coordinates of the actual sowing area, and the sowing route speed of the seeder is generated based on the actual sowing path.

[0036] Furthermore, the actual sowing path and the sowing route speed are input into the seeder to obtain an automatic sowing path.

[0037] In one embodiment, the Beidou navigation system can be used to provide precise positioning and navigation functions, support automatic path planning, reduce manual intervention, and improve work efficiency. Through high-precision positioning, centimeter-level sowing accuracy can be achieved to ensure uniform distribution of seeds. And based on the automatic speed measurement device and intelligent synchronization system, it can ensure that the seeder can maintain a uniform sowing speed under different terrains and speeds, and automatically adjust the sowing and fertilization amount according to the actual sowing speed.

[0038] S103, according to the automatic sowing path, real-time monitoring and motion control are performed on the ground profiling features on the path to obtain a real-time sowing strategy.

[0039] Specifically, the automatic sowing path and the sowing planning scheme are used as control execution standards to control the seeder to perform sowing movements.

[0040] Furthermore, the ground profiling features identified in the automatic sowing path are monitored in real time through a preset ground profiling sensor device, and the hydraulic system of the parallel four-bar mechanism is controlled to make adaptive adjustments to determine a real-time sowing depth control strategy.

[0041] As a feasible implementation method, the ground profiling sensor device senses the ground undulation signal corresponding to the ground profiling feature in real time to obtain the ground profiling signal. The electro-hydraulic profiling controller amplifies and converts the ground profiling signal, and drives the hydraulic solenoid valve in the hydraulic system to perform a reversing action. The extension or shortening of the hydraulic cylinder is controlled to generate a hydraulic control strategy. The up and down translation state of the ground undulation represented by the ground profiling signal is adaptively adjusted through the parallel four-bar mechanism and the hydraulic control strategy to obtain a real-time sowing depth control strategy for the sowing depth of the seeder.

[0042] In one embodiment, a ground profiling sensor device is used to make the seed drill in close contact with the ground, so as to sense the changes of ground undulation in real time, and the detected ground signal is amplified and converted through an electro-hydraulic profiling controller to drive the reversing action of the hydraulic solenoid valve, control the extension or shortening of the hydraulic cylinder, and drive the parallel four-bar mechanism to move up and down with the undulation of the ground, so as to achieve precise control of the sowing depth. An electronically controlled intelligent sowing and fertilization system can also be used to achieve precision agriculture by accurately controlling the sowing amount and the amount of fertilizer. Combined with the automatic adjustment of the sowing depth function, the uniformity of fertilization and the consistency of depth are ensured.

[0043] Furthermore, it is also necessary to use a preset radar monitoring device to classify the obstacles identified in the automatic sowing path, and re-plan and adjust the automatic sowing path according to the identified obstacle type to obtain an obstacle avoidance planning path. That is, the radar mode monitoring device is used to monitor the obstacles in front of the seeder in real time, automatically adjust the sowing strategy, and ensure the continuity and uniformity of sowing and fertilization.

[0044] Furthermore, the generated automatic seeding path, seeding planning scheme, real-time seeding depth control strategy and obstacle avoidance planning path are processed by strategy combination to obtain a real-time seeding strategy, which is then executed by the seed drill.

[0045] S104: Based on the execution process of the real-time sowing strategy, the sowing continuous operation characteristics and material remaining characteristics of the seeder are monitored and processed in real time to obtain sowing monitoring feedback data.

[0046] Specifically, the preset pipeline blockage monitoring device is used to monitor and judge the sowing downstream flow rate of the sowing pipeline of the sowing machine in real time:

[0047] If the seeding downstream flow rate is uniform and continuous, the seeding continuous operation characteristics are determined as normal operation characteristics.

[0048] If the seeding downstream flow is non-uniform and continuous, the seeding continuous operation feature is determined as an abnormal operation feature, and the abnormal operation feature is recorded in the current time node.

[0049] If the sowing downflow is not continuous operation, the sowing continuous operation feature is determined as a non-operation feature, and the sowing machine is controlled to stop the sowing operation.

[0050] Furthermore, the remaining material and fertilizer stored in the seeder are monitored in real time to obtain the remaining material characteristics.

[0051] In one embodiment, the missed seeding and missed fertilization monitoring system and the pipeline blockage monitoring device can be used to detect missed seeding and pipeline blockage during the seeding and fertilization process in real time, and make timely adjustments and alarms. Then, the material level monitoring system is used to monitor the remaining amount of seeds and fertilizers in the seeder in real time to ensure the continuity of the operation.

[0052] Furthermore, the data of the continuous operation characteristics of sowing and the remaining material characteristics are integrated to obtain the sowing monitoring feedback data based on the seeder.

[0053] As a feasible implementation method, if the sowing continuous operation characteristic is less than the first preset threshold or the material remaining characteristic is less than the first preset threshold, the material remaining alarm information is generated. If the sowing continuous operation characteristics of the current time node and the previous time node are both abnormal operation characteristics, or the sowing continuous operation characteristics are non-operation characteristics, the sowing continuous operation alarm information is generated. The generated material remaining alarm information and the sowing continuous operation alarm information are both mounted to the sowing monitoring feedback data.

[0054] S105: Transmit the sowing monitoring feedback data to the user's smart terminal.

[0055] Specifically, the sowing continuous operation characteristics and material remaining characteristics in the sowing monitoring feedback data can also be visualized based on the first table in the smart terminal. The material remaining alarm information and sowing continuous operation alarm information in the sowing monitoring feedback data can be visualized based on the second table in the smart terminal.

[0056] Furthermore, the operation management of the sowing operation of the seeder is completed through the first table and the second table. That is, the management personnel can intuitively see the actual working status of the seeder and the completion of the operation, which enhances the process control and intelligent management of the sowing operation and further improves the automation level of the intelligent seeder.

[0057] In addition, the present application also provides a sowing control device for a sowing machine, such as Figure 2 As shown, the sowing control device 200 of the sowing machine specifically includes:

[0058] At least one processor 201. And a memory 202 in communication with the at least one processor 201. The memory 202 stores instructions that can be executed by the at least one processor 201, so that the at least one processor 201 can execute:

[0059] Generate a sowing plan based on the sowing parameters input by the user;

[0060] According to the sowing planning scheme, the path is planned and navigated for the sowing area to determine the automatic sowing path;

[0061] According to the automatic sowing path, the ground profiling features on the path are monitored and controlled in real time to obtain a real-time sowing strategy;

[0062] Based on the execution process of the real-time sowing strategy, the sowing continuous operation characteristics and material remaining characteristics of the seeder are monitored and processed in real time to obtain the sowing monitoring feedback data;

[0063] Transmit the sowing monitoring feedback data to the user's smart terminal.

[0064] The embodiments of the present application reduce labor costs and training costs by improving the automation level and operation accuracy of seeding operations. Through precise control and intelligent management, the uniformity and depth consistency of seeding and fertilization are achieved, and the yield and quality of crops are improved. Operation interruptions caused by machine failures are reduced, and the reliability and continuity of operations are improved. Soil moisture is protected, damage to soil structure is reduced, and it is helpful to improve the emergence rate and growth quality of crops. The user experience is improved, making seeding operations easier and more convenient.

[0065] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0066] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0067] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0068] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0069] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0070] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0071] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0072] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the embodiments of the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present application should be included in the scope of the claims of the present application.

Claims

1. A sowing control method for a seeder, characterized in that: The method comprises: Generate a sowing plan based on the sowing parameters input by the user; According to the sowing planning scheme, the path is planned and navigated for the sowing area to be sown, and an automatic sowing path is determined; According to the automatic sowing path, real-time monitoring and motion control are performed on the ground profiling features on the path to obtain a real-time sowing strategy; Based on the execution process of the real-time sowing strategy, the sowing continuous operation characteristics and material remaining characteristics of the seeder are monitored and processed in real time to obtain sowing monitoring feedback data; The sowing monitoring feedback data is transmitted to the user's smart terminal.

2. A sowing control method for a seed drill according to claim 1, characterized in that: Generate a seeding plan based on the seeding parameters entered by the user, including: The sowing parameters are input and processed through the user's smart terminal; wherein the sowing parameters at least include: seed type, sowing amount, sowing area, sowing time, soil dryness and humidity, and sowing density; The sowing parameters are queried and matched with the preset sowing planning template to determine a number of initial planning templates; According to the matching degree between the initial planning template and the seeding parameter, the initial planning template is sorted to obtain sorted initial planning templates; wherein the initial planning template with a high matching degree is located at the top area of ​​the display list; The mismatched parameters of the initial planning template in the top area are marked, and the mismatched parameters after manual fine-tuning are re-entered to obtain the actual sowing planning template; The actual sowing planning template is subjected to output processing of execution data to obtain the sowing planning scheme.

3. The sowing control method of a seeder according to claim 1, characterized in that: According to the sowing planning scheme, the path planning and navigation of the sowing area to be sown is carried out to determine the automatic sowing path, which specifically includes: Based on the sowing parameters in the sowing planning scheme, an ideal sowing path is generated; The geographical coordinates of the area to be sown are calibrated by a preset Beidou navigation system to obtain the coordinates of the navigation sowing area; The coordinates of the navigation sowing area are merged and interpolated with the coordinates of the area to be sown to generate the coordinates of the actual sowing area; According to the actual sowing area coordinates, the ideal sowing path is corrected, and based on the actual sowing path, a sowing route speed of the seeder is generated; The actual sowing path and the sowing route speed are input into the seeder to obtain the automatic sowing path.

4. The sowing control method of a seeder according to claim 1, characterized in that: According to the automatic sowing path, the ground profiling features on the path are monitored and motion controlled in real time to obtain a real-time sowing strategy, which specifically includes: Based on the automatic sowing path and the sowing planning scheme, controlling the seeder to perform sowing movement; The ground profiling features identified in the automatic sowing path are monitored in real time by a preset ground profiling sensor device, and the hydraulic system of the parallel four-bar mechanism is controlled to make adaptive adjustments to determine a real-time sowing depth control strategy; By means of a preset radar monitoring device, the obstacles identified in the automatic sowing path are classified, and according to the identified obstacle types, the automatic sowing path is replanned and adjusted to obtain an obstacle avoidance planning path; The automatic sowing path, the sowing planning scheme, the real-time sowing depth control strategy and the obstacle avoidance planning path are subjected to strategy combination processing to obtain the real-time sowing strategy.

5. The sowing control method of a seed drill according to claim 4, characterized in that: The ground profiling features identified in the automatic sowing path are monitored in real time through a preset ground profiling sensor device, and the hydraulic system of the parallel four-bar mechanism is controlled to make adaptive adjustments to determine a real-time sowing depth control strategy, which specifically includes: The ground profiling sensor device senses the ground undulation signal corresponding to the ground profiling feature in real time to obtain a ground profiling signal; The ground profiling signal is amplified and converted by an electro-hydraulic profiling controller, and the hydraulic solenoid valve in the hydraulic system is driven to perform a reversing action; the extension or shortening of the hydraulic cylinder is controlled to generate a hydraulic control strategy; Through the parallel four-bar mechanism and the hydraulic control strategy, the up and down translation state of the ground represented by the ground profiling signal is adaptively adjusted to obtain the real-time sowing depth control strategy for the sowing depth of the seeder.

6. The sowing control method of a seeder according to claim 1, characterized in that: Based on the execution process of the real-time sowing strategy, the sowing continuous operation characteristics and material remaining characteristics of the seeder are monitored and processed in real time to obtain sowing monitoring feedback data, which specifically includes: Through the preset pipeline blockage monitoring device, the sowing downstream flow of the sowing pipeline of the sowing machine is monitored and judged in real time; If the sowing downflow is uniform and continuous, the sowing continuous operation feature is determined as a normal operation feature; If the seeding downlink flow is non-uniform continuous operation, the seeding continuous operation feature is determined as an abnormal operation feature; and the abnormal operation feature is recorded in the current time node; If the sowing downflow is non-continuous operation, the sowing continuous operation feature is determined as a non-operation feature; and the sowing machine is controlled to stop the sowing operation; Real-time monitoring of the remaining material and fertilizer stored in the seeder to obtain the remaining material characteristics; The sowing continuous operation characteristics and the material remaining characteristics are integrated to obtain the sowing monitoring feedback data based on the seeder.

7. A sowing control method for a seed drill according to claim 6, characterized in that: If the sowing continuous operation characteristic is less than a first preset threshold or the material remaining characteristic is less than a first preset threshold, generating material remaining alarm information; If the sowing continuous operation characteristics at the current time node and the previous time node are both the abnormal operation characteristics, or the sowing continuous operation characteristics are the non-operation characteristics, generating sowing continuous operation alarm information; The generated material remaining alarm information and the sowing continuous operation alarm information are both mounted into the sowing monitoring feedback data.

8. The sowing control method of a seeder according to claim 1, characterized in that: Transmitting the sowing monitoring feedback data to the user's smart terminal specifically includes: Visually displaying the sowing continuous operation characteristics and the material remaining characteristics in the sowing monitoring feedback data based on the first table in the smart terminal; Visually displaying the remaining material alarm information and the continuous sowing operation alarm information in the sowing monitoring feedback data based on the second table in the smart terminal; The operation management of the sowing operation of the seeder is completed through the first table and the second table.

9. A sowing control device for a sowing machine, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute the sowing control method of a sowing machine according to any one of claims 1-8.

10. A non-volatile computer storage medium, characterized in that: The storage medium is a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium stores at least one program, each of which includes instructions, and when the instructions are executed by the terminal, the terminal executes a sowing control method for a sowing machine according to any one of claims 1-8.

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