Depth-control variable-pitch seeding device suitable for hills and mountains

Abstract

The invention discloses a depth-controlling and distance-changing seeding device suitable for hills and mountains. The depth-controlling and distance-changing seeding device comprises a rack, three crank plow bodies, a distance-changing mechanism, a depth-controlling mechanism, a sensor, a controller and a plurality of functional systems. The variable pitch mechanism realizes dynamic adjustment of line spacing through a left-handed screw rod, a right-handed screw rod, a nut seat and a servo motor; the depth control mechanism adjusts the seeding depth through a sliding groove, a sliding rod and a servo motor. The inclination angle and humidity sensor collects environmental data, and the controller dynamically regulates and controls the line spacing and depth based on a fuzzy control algorithm in combination with crop type parameters. The device can adapt to complex terrains of hills and mountains, the seeding precision and efficiency are improved, and green agriculture requirements are met.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a depth-controlled variable-distance seeding device suitable for hilly and mountainous areas. Background Technology

[0002] In agricultural production, the seeder is a key piece of equipment, and its technological level directly affects the seeding quality and agricultural production efficiency. Currently, with the acceleration of agricultural modernization, higher requirements are being placed on the intelligence, precision, and environmental performance of seeders, but existing technologies still have many limitations.

[0003] Most traditional seeders use fixed furrow depth and row spacing, making them difficult to adapt to complex terrain changes. In hilly and mountainous areas, the undulating terrain can cause the fixed-depth furrowing components to bury seeds too deeply or too shallowly, affecting germination rates. Although the patent with publication number CN102349377B improves the soil covering in southern clay soils, the furrow depth and row spacing cannot be dynamically adjusted. On plots with a slope greater than 15°, the depth deviation can reach ±2cm, resulting in a high rate of missed sowing.

[0004] When operating in hilly or mountainous terrain, existing seeders cannot adapt their mechanical structure to changes in terrain, leading to problems such as uneven sowing and insufficient soil coverage. In areas with steep slopes, seeders are prone to tilting, affecting sowing accuracy, and existing equipment lacks an effective terrain compensation mechanism.

[0005] Traditional seeders are mostly designed as a single unit, making it difficult to quickly adjust to the planting needs of different crops. For example, changing seeders of different specifications or adjusting the row spacing usually requires complex manual disassembly and assembly, which is inefficient.

[0006] The existing electronic control systems of seeders are mostly used only for simple speed monitoring and seed counting. For example, the patent with publication number CN102771226B, although it introduces the concept of automatic control, only realizes the seed quantity control through photoelectric encoder and motor drive. It cannot sense environmental parameters such as soil moisture and terrain slope in real time and adjust key parameters such as seeding depth and spacing accordingly.

[0007] Most seeders rely on human experience to set parameters, making it difficult to make intelligent decisions based on actual conditions during operation. For example, when faced with uneven soil fertility, they cannot automatically adjust seeding density and fertilizer application, leading to resource waste and yield variations.

[0008] Some seeders with certain intelligent functions rely on wired connections or short-range wireless communication for data communication. The transmission distance is limited and they are susceptible to interference, making it impossible to achieve remote monitoring and real-time data uploading, which is insufficient to meet the intelligent management needs of large-scale agricultural production.

[0009] Traditional fertilization methods are mostly extensive broadcasting or fixed-depth strip application, resulting in uneven fertilizer distribution and a utilization rate of only 30%-35% for nutrients such as nitrogen, phosphorus, and potassium. The large amount of fertilizer loss not only wastes resources but also exacerbates non-point source pollution. The multi-functional seeding, fertilizing, and mulching machine with publication number CN103988611B has such problems.

[0010] Existing seeders do not fully incorporate biomaterials technology, such as soil conditioners like polyglutamic acid, and therefore cannot improve seed germination rates and crop growth quality by optimizing the soil environment.

[0011] Most seeders rely on traditional fossil fuels such as diesel, which are energy-intensive and emit large amounts of carbon, and do not conform to the trend of green agriculture development. Against the backdrop of energy transition, it is urgent to introduce new energy technologies to reduce the environmental impact of agricultural production. Summary of the Invention

[0012] This invention aims to overcome the deficiencies or one of the deficiencies in existing technologies, and provides a depth-controlled variable-spacing seeding device suitable for hilly and mountainous areas, enabling dynamic adjustment of furrow depth and row spacing to adapt to complex terrains such as hilly and mountainous areas. The specific technical solution is as follows: A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas includes: A frame, wherein the bottom of the frame is equipped with wheels; Three crank-type plowshares are positioned below the front section of the frame; The variable pitch mechanism includes left-hand and right-hand lead screws and two nut seats. The left-hand and right-hand lead screws are laterally mounted on the frame, with the axial center plane as the boundary, the left side being a left-hand threaded section and the right side being a right-hand threaded section. A large bevel gear is fixed at one or both ends. The two nut seats are threaded with the lead screws and are symmetrically distributed relative to the axial center plane of the left-hand and right-hand lead screws. One crank plow body is fixed to the middle of the left-hand and right-hand lead screws, and the other two crank plow bodies are respectively fixed to the two nut seats. One or two variable pitch servo motors are fixed on the frame, and the output shaft of the variable pitch servo motor is fixed to a small bevel gear, which meshes with the large bevel gear. The depth control mechanism includes sliding grooves formed on the left and right sides of the frame and concentric with the left and right screws, and depth control sliding rods fixedly connected to the upper ends of the three crank plow bodies. The depth control sliding rods are slidably engaged with the two sliding grooves. One or two depth control servo motors are fixedly mounted on the frame. The output shafts of the depth control servo motors are fixedly connected to a swing plate. An elongated hole on the swing plate allows the end of the depth control sliding rod to pass through. Tilt sensors, mounted on the frame, collect terrain slope data in real time; A humidity sensor is installed at the lower end of one of the crank plowshares to collect soil moisture data in real time. The controller, electrically connected to the tilt sensor and humidity sensor, uses the input crop type, received terrain slope data and soil moisture data as input parameters based on the fuzzy control algorithm. It calculates the sowing depth and row spacing through preset control rules, and controls the corresponding execution amount of the variable pitch servo motor and depth control servo motor to achieve dynamic adjustment of row spacing and sowing depth.

[0013] Furthermore, it also includes a seeding system, the seeding system comprising... The seed box, located in the middle of the frame, is used to store seeds; The seed metering device, located below and connected to the seed box, has three seed metering holes; The seed metering channel includes an integrated pipe disposed below each crank plow body, and a flexible seed metering pipeline connecting the seed meterer and the integrated pipe. The seed metering device is electrically connected to the controller. The controller dynamically adjusts the seed metering frequency and flow rate based on crop type parameters, so that the seeds fall into the integrated pipe through the seed metering channel and are sown into the soil, with a single seed metering accuracy of ≥90%.

[0014] Furthermore, it also includes a seed enhancement system, which includes... The medicine tank, located at the rear of the frame, is used to hold polyglutamic acid solution; The pump, mounted on the frame and electrically connected to the controller, is used to deliver polyglutamic acid solution. The atomizing spraying assembly includes an integrated pipe disposed below each crank plow body and an atomizing pipe fixed inside the integrated pipe, wherein the atomizing pipe is connected to a drug pump via a drug delivery hose; During operation, the controller adjusts the pesticide pump based on soil moisture data, so that the polyglutamic acid solution is sprayed onto the soil around the seeds through the atomizing tube.

[0015] Furthermore, the seed enhancement system also includes a Zeta potential adjustment module disposed in the solution tank. The Zeta potential adjustment module changes the surface charge distribution of polyglutamic acid molecules by applying a controllable electric field of ±30mV, thereby adjusting the stability of the polyglutamic acid solution and making the sedimentation time of the polyglutamic acid solution greater than 72 hours.

[0016] Furthermore, the seed enhancement system also includes a Venturi tube cleaning device, which is connected in series between the drug delivery hose and the drug pump. The Venturi tube cleaning device includes a Venturi tube body and a reversing valve. The reversing valve is electrically connected to the controller and can periodically switch the fluid flow direction to generate turbulent flow with a Reynolds number > 12000 in the Venturi tube, clearing deposits from the inner wall of the pipeline and ensuring unobstructed spraying channels.

[0017] Furthermore, it also includes a soil covering system, the soil covering system comprising... A plate harrow, with its front end folded upwards and multiple harrow teeth evenly distributed on its lower surface, is used to cover the seed surface with soil turned over after trenching and to comb the soil. Two tie rods, the upper ends of which are hinged to the frame and the lower ends of which are hinged to the front side of the rake, adapt to the working angle of the rake and changes in terrain. One or more compaction blocks are fixedly mounted on a plate rake to moderately compact the covered soil.

[0018] Furthermore, it also includes a distributed energy system, which includes... The solar cell array, using polycrystalline silicon photovoltaic modules, is mounted on top of the rack and also serves as a rain shelter; The intelligent charge and discharge management unit integrates an MPPT controller and battery protection circuit. The energy storage unit uses a lithium iron phosphate battery pack and is communicatively connected to the controller. The distributed energy system provides power to the controller, servo motor, sensors, and spraying system.

[0019] Furthermore, the walking system adopts a four-wheel independent drive architecture, including: Four hub motors are integrated into the four wheels, with each motor having a rated power of ≥1.5kW and a torque of ≥80N・m. The all-terrain adaptive controller interacts with tilt sensor data to adjust the output torque of each wheel hub motor in real time. The differential compensation mechanism dynamically distributes the driving force between wheels based on the terrain slope, with a maximum climbing angle of ≥30°.

[0020] Furthermore, the fuzzy control algorithm executed by the controller includes the following steps: Data preprocessing: Kalman filtering is applied to the terrain slope data, the process noise covariance matrix is ​​configured as Q=diag([0.1,0.1]), and the measurement noise covariance matrix is ​​R=0.25, eliminating the random measurement error of ±1.5°; The soil moisture data were filtered by moving average, with a sampling window of 50ms × 10 points. An exponential weighting method was used to smooth out outliers with fluctuations greater than 5%RH, with a weighting coefficient α = 0.3. Blur: The crop type is mapped to the basic value D0 of the sowing depth, with the specific mapping relationship as follows: rice 2-3cm, wheat 3-5cm, corn 5-7cm, cotton 4-6cm; The terrain slope θ is divided into five fuzzy sets, and each fuzzy set is assigned a Gaussian membership function: Flat slope: μ1(θ)=exp(-((θ-0) / 3)²), θ∈[0°,5°) Gentle slope: μ2(θ)=exp(-((θ-10) / 5)²), θ∈[5°,15°) Mid-slope: μ3(θ)=exp(-((θ-20) / 5)²), θ∈[15°,25°) Steep slope: μ4(θ)=exp(-((θ-30) / 5)²), θ∈[25°,35°) Extremely steep slope: μ5(θ)=exp(-((θ-40) / 5)²), θ∈[35°,+∞) Soil moisture W is divided into three fuzzy sets, and a triangular membership function is used: Drying: μ1(W) = max(min((W-0) / (30-0),1),0), W∈[0%,30%) Suitable: μ2(W)=max(min((W-30) / (60-30),(90-W) / (90-60)),0),W∈[30%,60%) Moistening: μ3(W)=max(min((W-60) / (100-60),1),0),W∈[60%,100%) Fuzzy rule base: Rule 1: If θ∈flat slope and W∈suitable, then the sowing depth D=D0 and the row spacing L=L0; Rule 2: If θ∈steep slope and W∈dry, then D=D0+1.2cm, L=L0+3cm; Rule 3: If θ∈middle slope and W∈wet, then D=D0-0.8cm, L=L0-2cm; Rule 4: If θ ∈ extremely steep slope, trigger an alarm and suspend operations; Rule 5: If W∈Dry and the crop type is rice, then start the pre-wetting program, D=D0+0.5cm; Reasoning and decision-making: Fuzzy inference is performed using the Mamdani minimum operation rule, and the activation degree ωᵢ of each rule is calculated. The depth correction ΔD and line spacing correction ΔL are defuzzified using the centroid method, and the output control quantity u=[ΔD,ΔL] is given, where: ΔD=(∑ωᵢ·ΔDᵢ) / (∑ωᵢ), D=D0+ΔD ΔL=(∑ωᵢ·ΔLᵢ) / (∑ωᵢ), L=L0+ΔL Dynamic compensation module: Based on real-time data from the tilt sensor, depth compensation is performed on the starting and ending points of each row of seeds. The compensation coefficient is k = sinθ × 0.5 cm, and k ∈ [-1.5 cm, +1.5 cm]. When the slope change rate between two adjacent points is detected to be greater than 10% / m, a smooth transition algorithm is triggered. The S-curve function f(x)=1 / (1+e^(-5x)) is used to achieve gradual change of the control quantity and avoid abrupt changes.

[0021] Furthermore, the controller integrates a touch-screen human-computer interaction system, including: The industrial-grade touchscreen uses a 7-inch IPS panel with a resolution of 1024×600. The surface is covered with Corning Gorilla Glass, supports operation with gloves, and has a touch accuracy of ≤±1mm. Multimodal input module, capacitive touch layer, supports single-point / multi-point touch operation, response time ≤30ms; speech recognition unit, integrates a deep learning-based speech model, supports Mandarin and multiple dialect commands; The layered interactive interface displays real-time operating parameters such as sowing depth, row spacing, operating speed, and battery level, as well as terrain slope map and soil moisture distribution map on the main interface. The parameter setting interface supports crop type selection, including 12 common crops such as rice, wheat, and corn. The basic value of sowing depth can be adjusted from 1 to 10 cm with a step size of 0.1 cm, and the basic value of row spacing can be adjusted from 10 to 60 cm with a step size of 1 cm. The intelligent mode interface includes three preset modes: "Hillside Mode", "Plains Mode" and "Water-Saving Mode". Each mode corresponds to a set of optimized control parameters. The historical data interface stores the operation records for the most recent 30 days, including the operation area, seed usage, polyglutamic acid usage, and average depth / row spacing deviation. The system includes a data security mechanism and a user management system that supports three levels of access: administrator, operator, and observer. Users can log in via fingerprint recognition or password verification. The system also features data backup and recovery functions, automatically backing up job data to an SD card and a cloud server, and supporting restoration to the most recent job state after an abnormal power outage. The touch-screen human-machine interaction system communicates with the controller via a CAN bus, with a data transmission rate of ≥1Mbps, an interface switching response time of ≤200ms, and normal operation within an ambient temperature range of -20℃ to 60℃.

[0022] Compared with the prior art, the present invention has the following beneficial technical effects: 1. Enables dynamic adjustment of row spacing to adapt to the needs of various crops and terrains. Most existing seeders use a fixed row spacing design, which requires manual disassembly and adjustment. This makes it difficult to adapt to the planting spacing requirements of different crops (such as rice and corn), and the fixed row spacing can easily lead to uneven sowing in complex hilly and mountainous terrain.

[0023] This invention utilizes a variable-pitch mechanism consisting of a left- and right-hand screw, a nut seat, and a variable-pitch servo motor. Combined with three symmetrically distributed crank-shaped plowshares (the middle one fixed, the two sides moving synchronously in opposite directions with the nut seat), the variable-pitch servo motor drives the screw to rotate, allowing real-time adjustment of the row spacing between the two plowshares. This structure requires no manual intervention and can dynamically change the row spacing according to parameters such as crop type and terrain slope, solving the problems of fixed row spacing and cumbersome adjustments in traditional seeders, and improving adaptability to multi-crop planting and complex terrain.

[0024] 2. Enables precise dynamic adjustment of sowing depth to adapt to changes in hilly and mountainous terrain. In existing technologies, the furrowing depth of seeders is mostly a fixed value. In hilly and mountainous areas, due to changes in slope, the problem of "too shallow at the top of the slope and too deep at the bottom of the slope" is likely to occur, with a depth deviation of up to ±2cm, which affects the germination rate.

[0025] This invention utilizes a depth control mechanism comprised of a chute, a depth control slide rod, a depth control servo motor, and a swing plate. Combined with real-time terrain slope data collected by an inclination sensor, the controller drives the depth control servo motor to rotate. The swing plate's movement causes the depth control slide rod to slide up and down along the chute, simultaneously adjusting the soil penetration depth of the three crank plowshares. This design can compensate for depth deviations caused by terrain slope in real time. Combined with soil moisture data from a humidity sensor (e.g., reducing depth in moist soil and increasing depth in dry soil), it achieves precise dynamic adjustment of sowing depth, solving the problem of uneven sowing depth in traditional seeders operating in hilly and mountainous terrain.

[0026] 3. Integrating multiple sensors and intelligent algorithms to achieve adaptive environmental control. In the existing technology, the electronic control system of seeders is mostly used only for simple speed monitoring or seed counting. It cannot sense environmental parameters such as soil moisture and terrain slope in real time, and it cannot intelligently adjust the operating parameters accordingly, relying on manual experience to set them.

[0027] This invention integrates a tilt sensor (for terrain measurement), a humidity sensor (for soil measurement), and a controller. The controller, based on a fuzzy control algorithm, takes crop type, terrain slope, and soil moisture as input parameters, calculates the optimal sowing depth and row spacing using preset control rules, and drives a servo motor to execute these parameters. This closed-loop control logic of "perception-decision-execution" overcomes the limitations of traditional seeders' "passive operation," enabling proactive adaptation to environmental changes, reducing manual intervention, and improving the level of intelligent sowing.

[0028] 4. Servo motor drive improves adjustment accuracy and response speed. In the existing technology, some seeders use ordinary motors or mechanical transmissions to adjust row spacing / depth, which has the problems of low adjustment accuracy and slow response, making it difficult to meet the needs of precision agriculture.

[0029] The pitch-changing mechanism and depth-controlling mechanism of this invention are both driven by servo motors, combined with bevel gear transmission (pitch changing) and swing plate linkage structure (depth control), enabling high-precision control of row spacing and depth (the angular accuracy of the servo motor can be directly converted into fine-tuning accuracy of spacing and depth). This driving method has a fast response speed and high control accuracy, ensuring the timeliness and accuracy of row spacing and depth adjustment, and significantly improving the control accuracy of sowing parameters compared with traditional mechanical adjustment methods.

[0030] 5. The overall structure is adapted to complex hilly and mountainous terrain, improving operational stability. In existing technologies, when seeders operate in hilly and mountainous areas, the machine body is prone to tilting due to the undulating terrain, which in turn affects the uniformity of sowing and the effect of soil covering.

[0031] This invention, through the symmetrical layout of three crank-type plowshares, a pitch / depth control mechanism adapted to the frame, and real-time terrain perception based on tilt sensors, ensures that the relative positions of each plowshare remain stable even on sloping terrain, guaranteeing the synchronization of row spacing and depth adjustments. Simultaneously, the design of the wheels and frame further enhances operational stability in hilly and mountainous terrain, solving the problem of instability in complex terrain operated by traditional seeders. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the present invention.

[0033] Figure 2 yes Figure 1 A magnified view of a portion of point A in the middle.

[0034] Figure 3 This is a structural schematic diagram from another perspective of the present invention.

[0035] Figure 4 yes Figure 3 A magnified view of a section at point B in the middle.

[0036] Figure 5 yes Figure 3 A magnified view of a section at point C.

[0037] Figure 6 This is a structural schematic diagram from another perspective of the present invention.

[0038] Figure 7 yes Figure 6 A magnified view of a section at point D. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings.

[0040] like Figure 1-7The device shown is a depth-controlled variable-distance seeding device suitable for hilly and mountainous terrain. The device uses a frame 100 as its main support structure, which is welded from high-strength steel and possesses sufficient rigidity to withstand various loads during operation. Its principle is to ensure structural stability through the mechanical properties of high-strength steel, preventing component displacement caused by the bumps and vibrations of hilly terrain. Compared to ordinary carbon steel frames, rigidity is increased by 40%, providing a fundamental support for the overall machine's operational accuracy. The traveling wheels 101 are installed at the bottom of the frame 100 and are rotatably connected to the frame 100 via axles. The traveling wheels 101 feature a wide tire design, enhancing grip and stability in hilly and mountainous terrain. The wide tire design increases the ground contact area, reducing soil pressure (pressure ≤ 0.2 MPa). Combined with a deep tread pattern (tread depth ≥ 15 mm), grip is increased by 30% compared to ordinary narrow tires, effectively preventing slippage on slopes and ensuring smooth machine movement.

[0041] Three crank-type plowshares 200 are arranged below the front section of the frame 100 for ditching operations. The plow tip of each crank-type plowshare 200 is made of wear-resistant alloy material, which can adapt to the ditching requirements under different soil hardness conditions. The wear-resistant alloy material (containing 12% chromium and 2% molybdenum) has a hardness of HRC58-62, and its wear resistance is 5 times that of ordinary cast iron plow tips. It can withstand the impact of gravel and hard soil clods commonly found in hilly and mountainous areas, reduce plow tip wear and deformation, ensure continuous and regular ditching trajectory, and avoid sowing position deviation due to plow tip damage.

[0042] The pitch-changing mechanism 300 is the core component for adjusting line spacing. It mainly consists of left and right helical lead screws 301, nut seats 302, a large bevel gear 303, a pitch-changing servo motor 304, and a small bevel gear 305. The left and right helical lead screws 301 are horizontally mounted on the frame 100 and rotate with it via bearings. The left and right helical lead screws 301 are machined with a left-hand thread on their axial center plane and a right-hand thread on their right side. The large bevel gear 303 is fixed to one end of the left and right helical lead screws 301 and meshes with the small bevel gear 305 on the output shaft of the pitch-changing servo motor 304. The pitch-changing servo motor 304 is fixed to the frame 100 and provides power for the rotation of the left and right helical lead screws 301. Two nut seats 302 respectively mate with the left-hand and right-hand threaded sections of the left and right helical lead screws 301 and are symmetrically distributed about the axial center plane of the left and right helical lead screws 301. Of the three crank-type plowshares 200, one is fixed to the middle of the left and right helical screws 301, and the other two are fixed to two nut seats 302 respectively. When the variable-pitch servo motor 304 operates, it drives the left and right helical screws 301 to rotate through the transmission of the small bevel gear 305 and the large bevel gear 303. The two nut seats 302 will move in opposite directions along the left and right helical screws 301, thereby changing the spacing between the three crank-type plowshares 200 and realizing the adjustment of the row spacing. The principle is to use the symmetrical transmission characteristics of the left and right helical screws to make the two nut seats 302 move synchronously in opposite directions. With the reduction ratio of the bevel gears 5:1, the high-speed rotation of the servo motor is converted into the smooth displacement of the plowshares. The adjustment accuracy is ±0.5mm, and the row spacing adjustment range is 30-60cm. It can quickly adapt to the needs of different crops such as rice (row spacing 30cm) and corn (row spacing 60cm). Compared with traditional manual adjustment, the efficiency is increased by 80%, and the uneven row spacing caused by unilateral adjustment is avoided.

[0043] The depth control mechanism 400 is used to adjust the sowing depth and includes a chute 401, a depth control slide rod 402, a depth control servo motor 403, and a swing plate 404. The chute 401 is located on the left and right sides of the frame 100 and is concentric with the left and right lead screws 301. The depth control slide rod 402 is fixedly connected to the upper ends of the three crank plow bodies 200, and both ends of the depth control slide rod 402 pass through the chute 401 on both sides of the frame 100, allowing it to slide along the chute 401. The depth control servo motor 403 is fixed to the frame 100, and its output shaft is fixedly connected to the swing plate 404. The swing plate 404 has an elongated hole, into which the end of the depth control slide rod 402 passes. When the depth control servo motor 403 rotates, the swing plate 404 swings accordingly, pushing the depth control slide rod 402 up and down along the slide groove 401 through the elongated hole. This, in turn, drives the three crank plow bodies 200 to synchronously change their soil penetration depth, thus adjusting the sowing depth. The principle is that the swing plate 404 converts rotational motion into linear motion of the depth control slide rod 402. The slide groove 401 guides and ensures that the three plow bodies rise and fall synchronously. The adjustment range is 1-10cm, with a step size of 0.1cm. It can be dynamically adjusted according to soil moisture (0.5-1cm deeper in dry soil) and slope, solving the problem of "shallow at the top and deep at the bottom" on slopes caused by the fixed depth of traditional seeders. This ensures that the seed penetration depth deviation is ≤±0.5cm, increasing the germination rate by 15%.

[0044] The tilt sensor is mounted on the frame 100, and its installation position should be as close as possible to the center of gravity of the frame 100 to ensure accurate acquisition of terrain slope data. Installation close to the center of gravity reduces measurement errors caused by frame vibration. With a sampling frequency of 10Hz and an angle measurement accuracy of ±0.1°, it can capture real-time changes in terrain slope, providing the controller with precise slope parameters and avoiding untimely adjustments due to lag. A humidity sensor is installed at the lower end of one of the crank plowshares 200, entering the soil along with it to collect soil moisture information in real time. Direct soil penetration measurement provides the true humidity of the cultivated layer (0-100%RH, accuracy ±2%RH), which is more consistent with the seed growth environment than surface measurement, providing a reliable basis for adjusting polyglutamic acid spraying dosage and controlling sowing depth.

[0045] The controller is connected to the tilt sensor and humidity sensor via wires, receiving terrain slope data and soil moisture data transmitted from them. The controller has a pre-set fuzzy control algorithm. Users can input crop type information into the controller, which uses the crop type, terrain slope data, and soil moisture data as input parameters. Based on preset control rules, the controller calculates the required sowing depth and row spacing, then sends control signals to the variable-pitch servo motor 304 and the depth-controlled servo motor 403 to control their operation, thereby achieving dynamic adjustment of row spacing and sowing depth. Its principle is to construct a closed-loop system of "environmental perception - intelligent decision-making - execution adjustment." The fuzzy control algorithm can handle nonlinear parameters such as terrain and humidity. Compared to traditional PID control, it improves the adjustment response speed by 40% when there are sudden slope changes (e.g., 10°→20°), ensuring that sowing parameters are always optimal under complex terrain.

[0046] The seed metering system 600 includes a seed box 601, a seed metering device 602, and a seed metering channel. The seed box 601, located in the middle of the frame 100, stores seeds to be sown. It has a feeding port at the top and is connected to the seed metering device 602 at the bottom. The seed metering device 602, located below the seed box 601, has three seed metering holes corresponding to the positions of the three crank plow bodies 200. The seed metering channel consists of an integrated pipe 603 and a flexible seed metering pipeline. The integrated pipe 603 is located below each crank plow body 200, and the flexible seed metering pipeline connects the seed metering device 602 to the integrated pipe 603. The seed metering device 602 is electrically connected to a controller. The controller dynamically adjusts the seed metering frequency and rate of the seed metering device 602 according to crop type parameters, ensuring that seeds pass through the seed metering device 602 and the flexible seed metering pipeline into the integrated pipe 603, and are finally sown into the soil, guaranteeing a single-seed metering accuracy of ≥90%. Its principle is to drive the seed metering device 602 with a stepper motor, adjust the speed and seed metering hole size according to the seed size (2-3mm for rice, 5-8mm for corn), reduce seed collision damage through flexible pipeline, and achieve synchronous "ditching-sowing" through integrated tube 603. The single-seed accuracy is ≥90%, which solves the problems of missed sowing and over-sowing of traditional seed metering devices and improves seed utilization rate by 20%.

[0047] The seed enhancement system 700 consists of a pesticide tank 701, a pesticide pump 702, and an atomizing spraying assembly. The pesticide tank 701, located at the rear of the frame 100, holds the polyglutamic acid solution. The pesticide pump 702, mounted on the frame 100 and electrically connected to a controller, draws and delivers the polyglutamic acid solution from the pesticide tank 701 under the controller's control. The atomizing spraying assembly includes an integrated pipe 603 and an atomizing pipe 703. The atomizing pipe 703 is fixed within the integrated pipe 603 and connected to the pesticide pump 702 via a delivery hose 704. During operation, the controller adjusts the operating status of the pesticide pump 702 based on soil moisture data, causing the polyglutamic acid solution to be atomized through the atomizing pipe 703 and sprayed onto the soil surrounding the seeds. The principle is that polyglutamic acid has water and fertilizer retention properties. The solution is atomized into 50-80μm particles through the 703 atomizing tube (0.3mm aperture), which evenly covers the soil around the seed within 5cm, increasing the soil water holding capacity by 30% and fertilizer utilization by 25%. The controller adjusts the spraying amount according to the humidity (20% more for dry soil) to avoid waste, making it more precise and efficient than traditional fertilization.

[0048] The seed enhancement system 700 also includes a Zeta potential adjustment module installed in the pesticide tank 701. This module can change the surface charge distribution of polyglutamic acid molecules by applying a controllable electric field of ±30mV, thereby regulating the stability of the polyglutamic acid solution and ensuring that the settling time of the polyglutamic acid solution is greater than 72 hours. The principle is to use an electric field to make polyglutamic acid molecules carry the same charge, preventing aggregation and sedimentation through electrostatic repulsion. This solves the problem of stratification after 24 hours of standing in traditional solutions, ensuring uniform solution concentration within 72 hours, reducing pipeline blockage, and achieving a spraying dosage deviation of ≤±5%.

[0049] The Venturi tube cleaning device is connected in series between the drug delivery hose 704 and the drug pump 702, and consists of the Venturi tube body and a reversing valve. The reversing valve is electrically connected to the controller, which can control the reversing valve to periodically switch the fluid flow direction, generating turbulent flow with a Reynolds number >12000 inside the Venturi tube, removing deposits from the inner wall of the pipeline and ensuring unobstructed spraying channels. Its principle is that the "contraction-expansion" structure of the Venturi tube generates high-speed turbulence (flow velocity >15m / s) during fluid reversal, which uses impact force to peel off deposits such as polyglutamic acid crystals adhering to the pipe wall, achieving a cleaning efficiency of ≥95%. It automatically triggers once every 12 hours, solving the problem of reduced spraying volume caused by pipeline blockage after long-term use and extending the equipment maintenance cycle.

[0050] The soil covering system 800 includes a plate harrow 801, tie rods 802, and compaction blocks 803. The front end of the plate harrow 801 is folded upwards, and multiple harrow teeth are evenly distributed on its lower surface to cover the seed surface with soil turned over after trenching and to compact the soil. The upper ends of the two tie rods 802 are hinged to the frame 100, and the lower ends are hinged to the front side of the plate harrow 801, which can adapt to the working angle of the plate harrow 801 and changes in terrain. One or more compaction blocks 803 are fixedly installed on the plate harrow 801 to moderately compact the covered soil during the movement of the device. The principle is that the front end of the plate harrow 801 flips up to guide the soil back into the furrow, and the harrow teeth break up soil clods to avoid compressing the seeds; the tie rod 802 is hinged so that the harrow body can automatically conform to the terrain (slope adaptation range 0-30°), solving the problem of uneven soil covering on slopes; the compaction block 803 (5kg / block) compacts the soil to a density of 1.2g / cm³, which ensures that the seeds are in close contact with the soil without hindering germination, with a soil covering thickness deviation of ≤±0.5cm, and increases the germination rate by 10%.

[0051] The distributed energy system 900 includes a solar cell array 901, an intelligent charge / discharge management unit, and an energy storage unit. The solar cell array 901 uses polycrystalline silicon photovoltaic modules and is mounted on top of the rack 100, also serving as a rain shelter to protect other components on the rack 100 from rain and sunlight. The intelligent charge / discharge management unit integrates an MPPT controller and battery protection circuitry, managing the electrical energy generated by the solar cell array 901. The energy storage unit uses a lithium iron phosphate battery pack, communicating with the controller to store electrical energy and provide power to the controller, servo motors, sensors, and spraying system. Its principle is that the solar cell array (300W power, 18% conversion efficiency) converts light energy into electrical energy, the MPPT controller tracks the maximum power point (improving energy utilization by 15%), and the lithium iron phosphate battery pack (100Ah capacity) stores electrical energy, meeting the requirements for 8 hours of continuous operation. Compared to diesel power, it has zero emissions and reduces operating costs by 60%, and its rain shelter protects electronic components from rain.

[0052] The walking system adopts a four-wheel independent drive architecture, including four hub motors, an all-terrain adaptive controller, and a differential compensation mechanism. The four hub motors are integrated into the four walking wheels 101, with a single motor rated power ≥1.5kW and torque ≥80N・m. The all-terrain adaptive controller interacts with tilt sensors to adjust the output torque of each hub motor in real time according to the terrain slope. The differential compensation mechanism dynamically distributes the driving force between the wheels based on the terrain slope, enabling the device to achieve a maximum climbing angle ≥30°. The principle is that the four-wheel independent drive, through the all-terrain controller, dynamically distributes torque according to the slope (e.g., on a 30° slope, the torque of the motor on the downhill side increases by 30%), and differential compensation eliminates wheel slippage. Compared to traditional two-wheel drive, climbing ability is improved by 50%, and driving stability on muddy and gravel slopes is significantly enhanced.

[0053] The fuzzy control algorithm executed by the controller includes steps such as data preprocessing, fuzzification, fuzzy rule base, inference decision and dynamic compensation module.

[0054] During data preprocessing, a Kalman filter was applied to the terrain slope data, with the process noise covariance matrix Q=diag([0.1,0.1]) and the measurement noise covariance matrix R=0.25 to eliminate random measurement errors of ±1.5°. A moving average filter was applied to the soil moisture data, with a sampling window of 50ms×10 points. An exponential weighting method was used to smooth outliers with fluctuations >5%RH, with a weighting coefficient α=0.3. This data preprocessing effectively filters out environmental interference (such as vibration and electromagnetic noise), improving the signal-to-noise ratio of the slope data by 30% and reducing the fluctuation range of the moisture data to ≤3%RH, providing reliable input for subsequent fuzzification.

[0055] During the fuzzification process, crop types are mapped to the basic sowing depth value D0, specifically 2-3cm for rice, 3-5cm for wheat, 5-7cm for corn, and 4-6cm for cotton. The terrain slope θ is divided into five fuzzy sets, each using a Gaussian membership function: flat slope μ1(θ) = exp(-((θ-0) / 3)²), θ∈[0°, 5°); gentle slope μ2(θ) = exp(-((θ-10) / 5)²), θ∈[5°, 15°); medium slope μ3(θ) = exp(-((θ-20) / 5)²), θ∈[15°, 25°); and steep slope μ4(θ) = exp(-((θ-30) / 5)²), θ∈[20°, 25°, 30 ... 5°, 35°); extremely steep slope is μ5(θ)=exp(-((θ-40) / 5)²), θ∈[35°,+∞); soil moisture W is divided into three fuzzy sets, using triangular membership functions, dry is μ1(W)=max(min((W-0) / (30-0),1),0),W∈[0%,30%); suitable is μ2(W)=max(min((W-30) / (60-30),(90-W) / (90-60)),0),W∈[30%,60%); moist is μ3(W)=max(min((W-60) / (100-60),1),0),W∈[60%,100%). Fuzzification transforms precise input into fuzzy linguistic variables, Gaussian membership functions make slope division smoother, and triangular membership functions simplify humidity calculations, balancing accuracy and efficiency to achieve flexible processing of complex environmental parameters.

[0056] The fuzzy rule base contains multiple rules. Rule 1 states that if θ ∈ flat slope and W ∈ suitable, then the sowing depth D = D0 and the row spacing L = L0. Rule 2 states that if θ ∈ steep slope and W ∈ dry, then D = D0 + 1.2 cm and L = L0 + 3 cm. Rule 3 states that if θ ∈ medium slope and W ∈ moist, then D = D0 - 0.8 cm and L = L0 - 2 cm. Rule 4 states that if θ ∈ extremely steep slope, then an alarm is triggered and operations are suspended. Rule 5 states that if W ∈ dry and the crop type is rice, then a pre-wetting program is initiated, with D = D0 + 0.5 cm. The rule base is built based on agricultural production experience and experimental data, covering typical scenarios such as flat slopes, steep slopes, dry conditions, and moist conditions. It allows for targeted parameter adjustments, such as the pre-wetting rule for rice in dry environments, to improve crop adaptability.

[0057] During inference and decision-making, the Mamdani minimum operation rule is used for fuzzy inference, and the activation degree ωᵢ of each rule is calculated. The depth correction amount ΔD and the line spacing correction amount ΔL are defuzzified using the centroid method, and the output control quantity u=[ΔD,ΔL], where ΔD=(∑ωᵢ・ΔDᵢ) / (∑ωᵢ), D=D0+ΔD; ΔL=(∑ωᵢ・ΔLᵢ) / (∑ωᵢ), L=L0+ΔL. The inference and decision-making process integrates multiple rules by activation degree weighting, and the centroid method defuzzification transforms the fuzzy output into precise control quantities, making the depth and line spacing adjustments smoother and avoiding abrupt changes, with accuracies of ±0.3cm and ±0.5cm, respectively.

[0058] In the dynamic compensation module, based on real-time data from the tilt sensor, depth compensation is performed on the starting and ending points of each row of sowing. The compensation coefficient is k = sinθ × 0.5 cm, and k ∈ [-1.5 cm, +1.5 cm]. When the slope change rate between two adjacent points is detected to be greater than 10% / m, a smooth transition algorithm is triggered. An S-curve function f(x) = 1 / (1 + e^(-5x)) is used to achieve gradual changes in the control quantity, avoiding abrupt changes. Dynamic compensation solves the depth deviation at the top / bottom of the slope, and the S-curve transition reduces mechanical impact and extends the life of the servo motor. In scenarios with continuous slope changes, depth consistency is improved by 20%.

[0059] The controller integrates a touch-based human-machine interface system, including an industrial-grade touchscreen 500, a multimodal input module, a layered interactive interface, an intelligent mode interface, a historical data interface, and a data security mechanism. The industrial-grade touchscreen 500 uses a 7-inch IPS panel with a resolution of 1024×600, covered with Corning Gorilla Glass, supporting operation with gloves, and boasting a touch accuracy of ≤±1mm. Corning glass has a Mohs hardness of 7, is scratch-resistant, and allows for operation with gloves in muddy field environments; its high touch accuracy ensures accurate parameter settings. The multimodal input module includes a capacitive touch layer and a voice recognition unit. The capacitive touch layer supports single-point / multi-point touch operation with a response time of ≤30ms; the voice recognition unit integrates a deep learning-based voice model, supporting Mandarin and various dialect commands. Multimodal input combines touch and voice input; dialect recognition (such as Sichuanese and Northeastern Mandarin) facilitates operation for middle-aged and elderly users, and the fast response improves operational efficiency. The layered interactive interface displays real-time operating parameters such as sowing depth, row spacing, operating speed, and battery level, as well as terrain slope and soil moisture distribution maps. The parameter setting interface supports crop type selection, including 12 common crops such as rice, wheat, and corn. The basic sowing depth adjustment range is 1-10cm with a step size of 0.1cm, and the basic row spacing adjustment range is 10-60cm with a step size of 1cm. The layered interface clearly presents information, and the parameter setting steps are precise to meet the needs of different crops. The visualized slope and moisture maps allow users to intuitively monitor the operating environment. The intelligent mode interface includes three preset modes: "Hillside Mode," "Plains Mode," and "Water-Saving Mode," each corresponding to a set of optimized control parameters. The preset modes simplify operation, allowing users to select the appropriate mode without professional knowledge. For example, the Hillside Mode automatically enhances slope compensation, improving operating efficiency. The historical data interface stores the operating records for the past 30 days, including the operating area, seed usage, polyglutamic acid usage, and average depth / row spacing deviation. Historical data facilitates user analysis of operating results and optimization of subsequent planting plans, and the data storage period meets the needs of the agricultural production cycle. The data security mechanism includes a user management system and data backup and recovery functions. The user management system supports three levels of permissions: administrator, operator, and observer, with login via fingerprint recognition or password verification. The data backup and recovery function automatically backs up work data to an SD card and a cloud server, supporting restoration to the most recent work state after an abnormal power outage. Three-level permission management ensures data security, while dual backup (SD card + cloud) and power outage recovery prevent data loss, adapting to complex field power environments. The touch-screen human-machine interface system communicates with the controller via a CAN bus, with a data transmission rate ≥1Mbps, an interface switching response time ≤200ms, and normal operation within an ambient temperature range of -20℃ to 60℃. The CAN bus has strong anti-interference capabilities, high transmission rates, and a wide-temperature design suitable for hilly and mountainous environments with large diurnal temperature variations, ensuring normal operation under extreme temperatures.

[0060] In actual operation, the user inputs information such as crop type to the controller through a touch-screen human-machine interface system. After the device starts, the tilt sensor and humidity sensor collect terrain slope data and soil moisture data, respectively, and transmit them to the controller. The controller runs a fuzzy control algorithm, combines the input crop type, calculates the sowing depth and row spacing, and controls the variable pitch servo motor 304 and depth control servo motor 403 to adjust the row spacing and soil penetration depth of the crank plow body 200. Under the control of the controller, the seed metering system 600 sows the seeds into the soil, and the seed enhancement system 700 simultaneously sprays polyglutamic acid solution. The soil covering system 800 covers and compacts the sown seeds, the distributed energy system 900 supplies power to the entire device, and the walking system adjusts the driving force according to the terrain to ensure stable operation of the device.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas, characterized in that, include: A frame (100) is provided with wheels (101) at the bottom of the frame. Three crank plow bodies (200) are disposed below the front section of the frame (100); The variable pitch mechanism (300) includes left and right helical lead screws (301) and two nut seats (302). The left and right helical lead screws (301) are laterally mounted on the frame, with the left side being a left-hand threaded section and the right side being a right-hand threaded section, with one or both ends fixed with a large bevel gear (303). The two nut seats (302) are threaded with the lead screws and are symmetrically distributed relative to the axial center plane of the left and right helical lead screws. One crank plow body (200) is fixed to the middle of the left and right helical lead screws (301), and the other two crank plow bodies (200) are respectively fixed on the two nut seats (302). One or two variable pitch servo motors (304) are fixed on the frame (100). The output shaft of the variable pitch servo motor (304) is fixed to a small bevel gear (305), and the small bevel gear (305) meshes with the large bevel gear (303). The depth control mechanism (400) includes sliding grooves (401) formed on the left and right sides of the frame (100) and concentric with the left and right screws (301), and depth control sliding rods (402) fixedly connected to the upper ends of the three crank plow bodies (303). The depth control sliding rods (402) are slidably engaged with the two sliding grooves (401). One or two depth control servo motors (403) are fixedly mounted on the frame (100). The output shaft of the depth control servo motor (403) is fixedly connected to a swing plate (404). An elongated hole on the swing plate (404) allows the end of the depth control sliding rod (402) to pass through. Tilt sensors, mounted on the frame, collect terrain slope data in real time; A humidity sensor is installed at the lower end of one of the crank plowshares (200) to collect soil moisture data in real time; The controller is electrically connected to the tilt sensor and the humidity sensor. Based on the fuzzy control algorithm, it takes the input crop type, the received terrain slope data and soil moisture data as input parameters, calculates the sowing depth and row spacing through preset control rules, and controls the corresponding execution amount of the variable pitch servo motor (304) and the depth control servo motor (403) to realize the dynamic adjustment of row spacing and sowing depth.

2. The depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 1, characterized in that, It also includes a seeding system (600), the seeding system (600) including A seed box (601) is located in the middle of the frame (100) and is used to store seeds; The seed metering device (602) is located below the seed box (601) and communicates with the seed box, and has 3 seed metering holes; The seeding channel includes an integrated pipe (603) disposed below each crank plow body (200), and a flexible seeding pipeline connecting the seed meterer (602) and the integrated pipe (603); The seed metering device (602) is electrically connected to the controller. The controller dynamically adjusts the seed metering frequency and quantity based on crop type parameters, so that the seeds fall into the integrated pipe (603) through the seed metering channel and are sown into the soil, with a single seed metering accuracy of ≥90%.

3. The depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 1, characterized in that, It also includes a seed enhancement system (700), which includes A medicine tank (701) is located at the rear of the frame (100) and is used to hold polyglutamic acid solution; A drug pump (702), mounted on a frame (100) and electrically connected to a controller, is used to deliver polyglutamic acid solution; The atomizing spraying assembly includes an integrated pipe (603) disposed below each crank plow body (200) and an atomizing pipe (703) fixed inside the integrated pipe, wherein the atomizing pipe is connected to the drug pump (702) through a drug delivery hose (704); During operation, the controller adjusts the medicine pump (702) based on soil moisture data, so that the polyglutamic acid solution is sprayed onto the soil around the seeds through the atomizing tube (703).

4. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 3, characterized in that, The seed enhancement system also includes a Zeta potential adjustment module installed in the solution tank. The Zeta potential adjustment module changes the surface charge distribution of polyglutamic acid molecules by applying a controllable electric field of ±30mV, thereby adjusting the stability of the polyglutamic acid solution and making the sedimentation time of the polyglutamic acid solution greater than 72 hours.

5. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 3, characterized in that, The seed enhancement system also includes a Venturi tube cleaning device, which is connected in series between the drug delivery hose (704) and the drug pump. The Venturi tube cleaning device includes the Venturi tube body and a reversing valve. The reversing valve is electrically connected to the controller and can periodically switch the fluid flow direction to generate turbulent flow with a Reynolds number >12000 in the Venturi tube, remove deposits from the inner wall of the pipeline, and ensure unobstructed spraying channels.

6. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 1, characterized in that, It also includes a soil covering system (800), which includes The plate harrow (801) has its front end folded upwards and multiple harrow teeth evenly distributed on its lower surface. It is used to cover the seed surface with the soil turned out after trenching and to comb the soil. Two tie rods (802) are respectively hinged at the upper end to the frame (100) and at the lower end to the front side of the plate rake (801), which adapts to the working angle and terrain changes of the plate rake. One or more compaction blocks (803) are fixedly set on a plate rake (801) for moderately compacting the covered soil.

7. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 1, characterized in that, It also includes a distributed energy system (900), which includes... The solar cell array (901), which uses polycrystalline silicon photovoltaic modules, is set on the top of the rack (100) and also serves as a canopy; The intelligent charge and discharge management unit integrates an MPPT controller and battery protection circuit. The energy storage unit uses a lithium iron phosphate battery pack and is communicatively connected to the controller. The distributed energy system (900) provides power to the controller, servo motor, sensors and spraying system.

8. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 1, characterized in that, The walking system adopts a four-wheel independent drive architecture, including: Four hub motors are integrated into the four wheels (101), with a rated power of ≥1.5kW and a torque of ≥80N・m for each motor. The all-terrain adaptive controller interacts with tilt sensor data to adjust the output torque of each wheel hub motor in real time. The differential compensation mechanism dynamically distributes the driving force between wheels based on the terrain slope, with a maximum climbing angle of ≥30°.

9. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 1, characterized in that, The fuzzy control algorithm executed by the controller includes the following steps: Data preprocessing: Kalman filtering is applied to the terrain slope data, the process noise covariance matrix is ​​configured as Q=diag([0.1,0.1]), and the measurement noise covariance matrix is ​​R=0.25, eliminating the random measurement error of ±1.5°; The soil moisture data were filtered by moving average, with a sampling window of 50ms × 10 points. An exponential weighting method was used to smooth out outliers with fluctuations greater than 5%RH, with a weighting coefficient α = 0.

3. Blur: The crop type is mapped to the basic value D0 of the sowing depth, with the specific mapping relationship as follows: rice 2-3cm, wheat 3-5cm, corn 5-7cm, cotton 4-6cm; The terrain slope θ is divided into five fuzzy sets, and each fuzzy set is assigned a Gaussian membership function: Flat slope: μ1(θ)=exp(-((θ-0) / 3)²), θ∈[0°,5°) Gentle slope: μ2(θ)=exp(-((θ-10) / 5)²), θ∈[5°,15°) Mid-slope: μ3(θ)=exp(-((θ-20) / 5)²), θ∈[15°,25°) Steep slope: μ4(θ)=exp(-((θ-30) / 5)²), θ∈[25°,35°) Extremely steep slope: μ5(θ)=exp(-((θ-40) / 5)²), θ∈[35°,+∞) Soil moisture W is divided into three fuzzy sets, and a triangular membership function is used: Drying: μ1(W) = max(min((W-0) / (30-0),1),0), W∈[0%,30%) Suitable: μ2(W)=max(min((W-30) / (60-30),(90-W) / (90-60)),0),W∈[30%,60%) Moistening: μ3(W)=max(min((W-60) / (100-60),1),0),W∈[60%,100%) Fuzzy rule base: Rule 1: If θ∈flat slope and W∈suitable, then the sowing depth D=D0 and the row spacing L=L0; Rule 2: If θ∈steep slope and W∈dry, then D=D0+1.2cm, L=L0+3cm; Rule 3: If θ∈middle slope and W∈wet, then D=D0-0.8cm, L=L0-2cm; Rule 4: If θ ∈ extremely steep slope, trigger an alarm and suspend operations; Rule 5: If W∈Dry and the crop type is rice, then start the pre-wetting program, D=D0+0.5cm; Reasoning and decision-making: Fuzzy inference is performed using the Mamdani minimum operation rule, and the activation degree ωᵢ of each rule is calculated. The depth correction ΔD and line spacing correction ΔL are defuzzified using the centroid method, and the output control quantity u=[ΔD,ΔL] is given, where: ΔD=(∑ωᵢ·ΔDᵢ) / (∑ωᵢ), D=D0+ΔD ΔL=(∑ωᵢ·ΔLᵢ) / (∑ωᵢ), L=L0+ΔL Dynamic compensation module: Based on real-time data from the tilt sensor, depth compensation is performed on the starting and ending points of each row of seeds. The compensation coefficient is k = sinθ × 0.5 cm, and k ∈ [-1.5 cm, +1.5 cm]. When the slope change rate between two adjacent points is detected to be greater than 10% / m, a smooth transition algorithm is triggered. The S-curve function f(x)=1 / (1+e^(-5x)) is used to achieve gradual change of the control quantity and avoid abrupt changes.

10. A depth-controlled variable-distance seeding device suitable for hilly and mountainous areas according to claim 1, characterized in that, The controller integrates a touch-screen human-computer interaction system, including: The industrial-grade touchscreen (500) uses a 7-inch IPS panel with a resolution of 1024×600. The surface is covered with Corning Gorilla Glass, supports operation with gloves, and has a touch accuracy of ≤±1mm. Multimodal input module, capacitive touch layer, supports single-point / multi-point touch operation, response time ≤30ms; speech recognition unit, integrates a deep learning-based speech model, supports Mandarin and multiple dialect commands; The layered interactive interface displays real-time operating parameters such as sowing depth, row spacing, operating speed, and battery level, as well as terrain slope map and soil moisture distribution map on the main interface. The parameter setting interface supports crop type selection, including 12 common crops such as rice, wheat, and corn. The basic value of sowing depth can be adjusted from 1 to 10 cm with a step size of 0.1 cm, and the basic value of row spacing can be adjusted from 10 to 60 cm with a step size of 1 cm. The intelligent mode interface includes three preset modes: "Hills Mode", "Plains Mode" and "Water Saving Mode". Each mode corresponds to a set of optimized control parameters. The historical data interface stores the operation records for the most recent 30 days, including the operation area, seed usage, polyglutamic acid usage, and average depth / row spacing deviation. The system includes a data security mechanism and a user management system that supports three levels of access: administrator, operator, and observer. Users can log in via fingerprint recognition or password verification. The system also features data backup and recovery functions, automatically backing up job data to an SD card and a cloud server, and supporting restoration to the most recent job state after an abnormal power outage. The touch-screen human-machine interaction system communicates with the controller via a CAN bus, with a data transmission rate of ≥1Mbps, an interface switching response time of ≤200ms, and normal operation within an ambient temperature range of -20℃ to 60℃.

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