Breeding plot intelligent seeding control method, system, device and medium

Abstract

The application relates to the technical field of agricultural breeding, and provides a breeding plot intelligent seeding control method, system, device and medium, the method comprising the following steps: acquiring real-time position information of a seeding machine; matching the real-time position information with spatial position information of each plot to determine a target plot currently located in; judging whether the seeding machine is about to leave the target plot and enter an interval passageway according to real-time seeding travel progress information; when the judgment is yes, adjusting operation parameters of a seed metering device according to target plant spacing of a next plot and a real-time advancing speed of the seeding machine, so that the seed metering device is switched to a seed metering rate matched with the target plant spacing of the next plot when entering the next plot. The breeding plot intelligent seeding control method provided by the application realizes double adaptive regulation and control of row length and plant spacing in the breeding plot seeding process, can automatically switch seed metering parameters between different plots without manual intervention, and significantly improves the precision and automation level of breeding plot seeding.

Description

Technical Field

[0001] This application relates to the field of agricultural breeding technology, and in particular to a method, system, equipment and medium for intelligent seeding control of breeding plots. Background Technology

[0002] Sowing in breeding plots is a crucial step in the crop breeding process, characterized by a large number of plots, small areas, many varieties, and high reproducibility. Unlike traditional field production, which aims for uniform planting density, breeding experiments often require different planting densities in different plots due to variations in variety characteristics, soil fertility, and breeding objectives. Specifically, each plot has different row lengths and plant spacing parameters.

[0003] However, existing breeding plot sowing techniques struggle to simultaneously meet the dual control requirements of variable row length and density. On one hand, most existing seeders operate with a fixed plant spacing. When it is necessary to switch plant spacing between different plots, manual intervention is usually required, which is inefficient and prone to adjustment errors. On the other hand, while some prescription map-based sowing control schemes achieve precise control of sowing length, the seed metering device only completes the switching of operating parameters after crossing plots. This results in a switching lag when the seed metering device operates across plots, which can easily create uneven seeding transition zones at plot boundaries, affecting the accuracy of breeding experiments. Summary of the Invention

[0004] This application provides a method, system, device, and medium for intelligent seeding control in breeding plots, which solves the problem that existing technologies cannot simultaneously meet the dual control requirements of variable row length and variable density.

[0005] Firstly, this application provides a method for intelligent seeding control in breeding plots, comprising: Obtain the real-time location information of the seeder; The target plot where the seeder is currently located is determined by matching the real-time location information with the spatial location information of each plot in the breeding plot sowing prescription map; the breeding plot sowing prescription map is pre-constructed based on the plot information and sowing parameters of multiple plots. Based on the real-time sowing progress information of the seeder in the target area, determine whether the seeder is about to leave the target area and enter the passageway. When the seeder is about to leave the target plot and enter the passageway, the operating parameters of the seed metering device are adjusted according to the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when entering the next plot.

[0006] In one embodiment, the step of matching the real-time location information with the spatial location information of each plot in the breeding plot sowing prescription map to determine the target plot where the seeder is currently located includes: The latitude and longitude coordinates in the real-time location information are converted into plane rectangular coordinates. The point-to-surface inclusion relationship between the plane rectangular coordinates and the boundaries of each plot in the breeding plot sowing prescription map is determined, and the target plot where the seeder is currently located is determined.

[0007] In one embodiment, determining whether the seeder is about to leave the target plot and enter the passageway based on the real-time sowing progress information of the seeder in the target plot includes: Determine the length of seeds already sown; Subtract the target row length of the target cell from the already sown length to obtain the remaining sown length; When the sown length is not equal to the target row length or the remaining sown length is not equal to zero, it is determined that the seeder has not left the target plot; When the sown length equals the target row length or the remaining sown length equals zero, it is determined that the seeder is about to leave the target plot and enter the inter-plot passage.

[0008] In one embodiment, adjusting the operating parameters of the seed metering device based on the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate matching the target plant spacing of the next plot when entering the next plot, includes: Divide the real-time forward speed of the seeder by the target plant spacing of the next plot to obtain the target rotational speed of the seed metering device; The motor driving the seed metering device in the passageway switches the current speed of the seed metering device to the target speed and continues to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when it enters the next cell.

[0009] In one embodiment, the intelligent seeding control method for breeding plots further includes: The compensation distance is calculated based on the system delay time and the real-time forward speed of the seeder; the system delay time includes electromechanical response delay, program execution delay, and seed falling delay. Based on the real-time location information of the seeder and the boundary coordinates of the target plot, calculate the real-time distance from the current position of the seeder to the end boundary of the sowing of the target plot; When the real-time distance equals the compensation distance, the motor driving the seed metering device switches the current speed of the seed metering device to the target speed and continues to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when entering the next plot.

[0010] In one embodiment, the breeding plot sowing prescription map is pre-constructed in the following manner: Based on the plot layout of the breeding base, each plot is configured with a plot ID, boundary coordinates, target row length, and target plant spacing; Based on the cell ID, boundary coordinates, target row length, and target plant spacing of each cell, a breeding cell sowing prescription map containing cell information and sowing parameters of each cell is generated.

[0011] Secondly, this application also provides an intelligent seeding control system for breeding plots, comprising: The prescription map storage module is used to pre-construct breeding plot sowing prescription maps based on the plot information and sowing parameters of multiple plots, and to store the breeding plot sowing prescription maps; A high-precision positioning module is used to acquire the real-time location information of the seeder; The row length expectation calculation module is used to match the real-time location information with the spatial location information of each cell in the breeding cell sowing prescription map to determine the target cell where the seeder is currently located; the breeding cell sowing prescription map is pre-constructed based on the cell information and sowing parameters of multiple cells; based on the real-time sowing progress information of the seeder in the target cell, it is determined whether the seeder is about to leave the target cell and enter the interval passage. The plant spacing decision module is used to calculate the target rotation speed of the seed metering device based on the target plant spacing of the next plot and the real-time forward speed of the seeder when the seeder is about to leave the target plot and enter the inter-plot passage. The motor drive module is used to drive the motor of the seed metering device in the passageway of the interval, and switch the current speed of the seed metering device to the target speed for continuous operation, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when it enters the next cell.

[0012] In one embodiment, the intelligent seeding control system for the breeding plot further includes: The rotation speed switching compensation module is used to calculate the compensation distance based on the system delay time and the real-time forward speed of the seeder; and to calculate the real-time distance from the current position of the seeder to the sowing end boundary of the target plot based on the real-time position information of the seeder and the boundary coordinates of the target plot. The expected line length calculation module is also used to determine whether the real-time distance is equal to the compensation distance; The motor drive module is also used to drive the motor of the seed metering device when the real-time distance is equal to the compensation distance, to switch the current speed of the seed metering device to the target speed and continue to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when entering the next cell.

[0013] Thirdly, this application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the intelligent seeding control method for breeding plots as described above.

[0014] Fourthly, this application also provides a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the intelligent seeding control method for breeding plots as described above.

[0015] Fifthly, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by the processor, it implements the steps of any of the above-described intelligent seeding control methods for breeding plots.

[0016] The intelligent seeding control method, system, equipment, and medium for breeding plots provided in this application automatically determine the target plot where the seeder is currently located by acquiring the real-time location information of the seeder and matching it with the spatial location information of each plot in the breeding plot seeding prescription map. This eliminates the need for manual intervention in identifying the seeder's operating position, overcoming the low efficiency problem of manual plant spacing switching in existing technologies. Then, based on the real-time seeding progress information of the seeder in the target plot, it determines whether the seeder is about to leave the target plot and enter the inter-plot passage. When it is determined that the seeder is about to leave, the target plant spacing for the next plot is determined. By adjusting the seed metering device's operating parameters in advance within the inter-cell aisle according to the real-time forward speed of the seeder, the device can switch to a seeding rate that matches the target plant spacing of the next cell when entering the next cell. This pre-switching of seeding parameters is achieved when the seeder crosses cells, effectively eliminating the switching lag problem caused by the seed metering device switching parameters only after crossing cells. It also avoids uneven seeding transition zones at cell boundaries caused by switching lag, realizing dual adaptive and precise control of row length and plant spacing during the sowing process in breeding cells, and significantly improving the precision and automation level of sowing in breeding cells. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is one of the flowcharts of the intelligent seeding control method for breeding plots provided in this application.

[0019] Figure 2 This is one of the flowcharts of the intelligent seeding control method for breeding plots provided in this application.

[0020] Figure 3 This is a schematic diagram of the sowing prescription diagram for the breeding plots provided in this application.

[0021] Figure 4 This is a flowchart illustrating the process for calculating the expected travel time provided in this application.

[0022] Figure 5 This is a schematic diagram illustrating the principle of boundary switching compensation provided in this application.

[0023] Figure 6 This is a schematic diagram of the human-computer interaction interface provided in this application.

[0024] Figure 7 This is a schematic diagram of the intelligent seeding control system for breeding plots provided in this application.

[0025] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. In the description of this specification, the reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and combine the different embodiments or examples and the features of different embodiments or examples described in this specification. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein.

[0028] The following is combined with Figures 1-8 This application describes the intelligent seeding control method, system, equipment, and medium for breeding plots.

[0029] The intelligent seeding control method for breeding plots provided in this application can be implemented based on the intelligent seeding control system for breeding plots. Therefore, this application uses the intelligent seeding control system for breeding plots as the execution subject to describe the intelligent seeding control method for breeding plots.

[0030] Figure 1 This is one of the flowcharts illustrating the intelligent seeding control method for breeding plots provided in this application. Figure 2 This is the second flowchart of the intelligent seeding control method for breeding plots provided in this application.

[0031] like Figure 1 As shown, the intelligent seeding control method for breeding plots includes the following steps: Step 101: Obtain the real-time location information of the seeder.

[0032] Specifically, the seeder is a specialized seeding device for breeding, equipped with a high-precision positioning module. This module allows for real-time location tracking of the seeder, with the system directly reading the real-time positioning information from its output interface. The seeder's location information includes, but is not limited to, latitude and longitude, heading angle, and forward speed. Latitude and longitude determine the seeder's geographical location; combined with the spatial location information of the plot, the current work area can be determined. The heading angle determines the seeder's direction of travel, preventing deviation during operation. The forward speed provides the parameter basis for controlling the seed metering mechanism.

[0033] A typical positioning method utilizes a Global Navigation Satellite System (GNSS), including but not limited to the BeiDou Navigation Satellite System (BDS) and the Global Positioning System (GPS). Differential positioning technologies (such as RTK and DGPS) are used to improve positioning accuracy to the centimeter level to meet high-precision positioning requirements. Furthermore, the real-time forward speed of the seeder can be obtained through displacement differential calculations or directly measured by speed sensors mounted on the wheels.

[0034] Step 102: Match the real-time location information with the spatial location information of each plot in the breeding plot sowing prescription map to determine the target plot where the seeder is currently located; the breeding plot sowing prescription map is pre-constructed based on the plot information and sowing parameters of multiple plots.

[0035] Specifically, breeding plot sowing is characterized by small area, numerous varieties, and significant parameter differences. Traditional manual adjustment of parameters zone by zone is inefficient and prone to errors. Therefore, a prescription map-based control method can transform the knowledge of breeding experts into digital instructions. Breeding experts draw the boundaries of each plot on an electronic map through a human-computer interface and assign target row length and target plant spacing to each plot. The system automatically generates a breeding plot sowing prescription map containing plot information (such as plot ID, spatial boundary information, etc.) and sowing parameters (such as target row length, target plant spacing, sowing amount, variety, etc.). The breeding plot sowing prescription map can be stored in a structured prescription map file in Shapefile or GeoJSON format, thereby realizing full-process digitalization from experimental design to sowing execution. This allows the seeder to automatically retrieve and execute the target sowing parameters of the corresponding plot based on its real-time location during operation.

[0036] After the seeder starts operation and obtains its real-time location information, the real-time location information of the seeder is compared with the spatial boundaries of each plot in the breeding plot sowing prescription map in turn to determine which plot's spatial range the real-time location falls into, thus determining the target plot for the current operation and completing the location matching.

[0037] To improve matching efficiency, spatial indexes can be pre-established for all plots in the breeding plot sowing prescription map. During matching, the search range can be narrowed directly through the index, avoiding traversing all plot boundaries one by one, shortening the matching time, and ensuring real-time control.

[0038] After identifying the target plot, all sowing parameters associated with that plot are extracted from the sowing prescription map of the breeding plot to provide a basis for subsequent control decisions.

[0039] Step 103: Based on the real-time sowing progress information of the seeder in the target area, determine whether the seeder is about to leave the target area and enter the passageway.

[0040] Specifically, the inter-cell passage is the dividing area between adjacent cells. Its width is pre-marked in the seeding prescription map of the breeding cell, providing a transition space for the seeder to switch to the seeding parameters of the next cell after completing the seeding of the current cell.

[0041] After identifying the target plot and obtaining its sowing parameters, it is necessary to monitor the sowing progress of the seeder within that plot in real time to accurately determine whether the seeder is about to leave the current plot and enter the passageway between adjacent plots. The calculation of sowing progress information can employ various strategies based on the seeder's movement pattern and the geometric characteristics of the target plot. One feasible calculation method is to start from the moment the seeder enters the boundary of the target plot, accumulate time by integrating the seeder's forward speed, calculate the distance traveled, use this as the sown length, and then compare it with the target row length of the target plot. When the sown length equals the target row length, it is determined that the seeder is about to leave. Another feasible calculation method is based on the geometric distance between the seeder's real-time position coordinates and the plot's ending boundary. That is, calculate the shortest perpendicular distance from the current position point to the plot's ending boundary line; when this distance is less than a preset threshold, it is determined that the seeder is about to leave.

[0042] In practical applications, since the trajectory of the seeder in the plot may not be completely parallel to the long side of the plot, there may be a certain angle or a curved path. Therefore, the calculation of the sowing progress information can be combined with the heading angle information for projection correction, and the actual travel path can be projected onto the length direction of the plot for measurement.

[0043] Step 104: When the seeder is about to leave the target plot and enter the passageway, adjust the operating parameters of the seed metering device according to the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when entering the next plot.

[0044] Specifically, in traditional breeding plot sowing operations, the seed metering parameters are usually adjusted after moving to the next plot based on its sowing parameters. This method can easily lead to the seed spacing in the first few rows of a plot not meeting the design requirements, affecting the accuracy of subsequent breeding experiment data. Since the aisles between plots do not require sowing, they can be used as transitional spaces to complete the adjustment of operating parameters in advance. Errors in seed metering that occur during this adjustment process will not fall into the plots, thus not affecting the sowing accuracy of the plots.

[0045] Adjusting the operating parameters of the seed metering device essentially means adjusting its rotation speed. The target rotation speed that the seed metering device needs to achieve when sowing in the next plot can be calculated based on the target plant spacing of the next plot and the real-time forward speed of the seeder.

[0046] After calculating the target speed, a speed adjustment command is generated and sent to the motor drive module so that the motor drive module drives the motor to gradually adjust the seed metering device to the target speed. The entire adjustment process is completed within the interval passage. When the seeder moves into the next plot, the seed metering device is already running stably at the seeding rate that matches the target plant spacing, ensuring that the next plot meets the seeding parameter requirements from the first row of seeds.

[0047] Repeat all the above steps to complete the sowing operation of all plots in sequence, and finally realize the automatic continuous sowing operation of all breeding plots.

[0048] The intelligent sowing control method for breeding plots provided in this application acquires the real-time location information of the seeder and matches it with the spatial location information of each plot in the breeding plot sowing prescription map. This automatically determines the target plot where the seeder is currently located, and identifies the working position of the seeder without manual intervention. This overcomes the problem of low efficiency in manually switching plant spacing in existing technologies. Then, based on the real-time sowing progress information of the seeder in the target plot, it determines whether the seeder is about to leave the target plot and enter the interval passage. When it is determined that the seeder is about to leave, the operating parameters of the seed metering device are adjusted in advance in the interval passage according to the target plant spacing of the next plot and the real-time forward speed of the seeder. This ensures that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when it enters the next plot. This achieves pre-switching of seeding parameters when the seeder is working across plots, effectively eliminating the switching lag problem caused by the seed metering device switching parameters only after crossing plots. It also avoids uneven seeding transition zones caused by switching lag at the plot boundaries. This achieves dual adaptive and precise control of row length and plant spacing during the sowing process in breeding plots, significantly improving the precision and automation level of breeding plot sowing.

[0049] In one embodiment, the breeding plot sowing prescription map is pre-constructed in the following manner: Based on the plot layout of the breeding base, each plot is configured with a plot ID, boundary coordinates, target row length, and target plant spacing; Based on the cell ID, boundary coordinates, target row length, and target plant spacing of each cell, a breeding cell sowing prescription map containing cell information and sowing parameters of each cell is generated.

[0050] Specifically, breeding experts use a human-computer interface to draw the boundary polygons of each plot on an electronic map, planning the plot layout of the breeding base. Based on this, each plot is assigned core parameters such as a unique ID (which can be a numerical code, alphanumeric code, or a combination of both), boundary coordinates (describing the plot's geometry and location as a set of polygon vertex coordinates), target row length (the designed sowing length along the sowing direction), and target plant spacing (the designed spacing between adjacent plants within the plot). In addition to these core parameters, other sowing parameters can be added as needed, including but not limited to sowing rate, sowing depth, variety information, and aisle width, to enrich the information capacity of the breeding plot sowing prescription map.

[0051] Based on each plot's plot ID, boundary coordinates, target row length, target plant spacing, and other associated sowing parameters, a breeding plot sowing prescription map containing information about each plot and its sowing parameters is generated. The breeding plot sowing prescription map can be stored in a structured prescription map file using Shapefile or GeoJSON format. During subsequent operations, the parameter information for each plot can be retrieved from the prescription map file in a timely manner, driving the seed metering device to operate precisely.

[0052] Figure 3 This is a schematic diagram of the seeding prescription diagram for the breeding plots provided in this application. For example... Figure 3 As shown, the breeding base is divided into several rectangular plots, each plot corresponding to a unique ID, and associated with the target row length and target plant spacing of that plot. The seeder operates in a shuttle-like back-and-forth path in the field, with its sowing mechanism simultaneously sowing on both the left and right sides. Each side corresponds to a different column of plots, so the seeder can complete the sowing of two plots at the same time when it passes through a row. For example, when the seeder enters the first row from the left, the left sowing mechanism corresponds to the first column of plots (e.g., A101, row length 5.0m, plant spacing 0.20m), and the right sowing mechanism corresponds to the second column of plots (e.g., A102, row length 3.0m, plant spacing 0.18m). Since the row length and plant spacing parameters of the left and right plots are different, it is necessary to calculate and execute different target rotation speeds for the seed metering devices on the left and right sides according to the independent settings of each plot in the prescription diagram. When passing through the interval passage, the seed metering devices on both sides are simultaneously switched to the next set of plot parameters, thereby realizing the parallel and precise sowing operation of plots with different parameters on both sides.

[0053] The embodiments of this application are based on a prescription map control method, which transforms the knowledge and experimental design of breeding experts into digital instructions. It is easy to operate, highly reliable, and suitable for high-frequency switching scenarios in large-scale breeding bases.

[0054] In one embodiment, the step of matching the real-time location information with the spatial location information of each plot in the breeding plot sowing prescription map to determine the target plot where the seeder is currently located includes: The latitude and longitude coordinates in the real-time location information are converted into plane rectangular coordinates. The point-to-surface inclusion relationship between the plane rectangular coordinates and the boundaries of each plot in the breeding plot sowing prescription map is determined, and the target plot where the seeder is currently located is determined.

[0055] Specifically, the raw location data acquired by the high-precision positioning module is usually latitude and longitude coordinates, while the boundary coordinates of each plot in the breeding plot sowing prescription map may use a Cartesian coordinate system. Therefore, it is necessary to convert the latitude and longitude coordinates to the coordinates corresponding to the breeding plot sowing prescription through projection transformation. Figure 1 A plane rectangular coordinate system.

[0056] Then, a point-to-surface inclusion relationship algorithm is used to determine the cell to which the current Cartesian coordinates belong. The ray method is a commonly used and stable implementation. It determines the cell by counting the number of intersections between the Cartesian coordinates and the boundary edges of the target cell. If the number of intersections is odd, the point is inside the cell boundary, which is the target cell; if the number of intersections is even, the point is outside the cell boundary. The process continues with other cells until the target cell where the seeder is currently located is determined. Alternatively, the corner method, grid index method, or a fast retrieval algorithm based on a spatial index structure can be used. For rectangular or regular-shaped cells, a simple comparison of coordinate ranges can also be used for quick determination.

[0057] This application embodiment, through real-time positioning of the seeder and matching of the spatial location of each plot, can automatically identify the target plot that the seeder is currently working on. It is applicable to breeding plots with different layouts and shapes, providing a location basis for subsequent precise operation according to the plot sowing parameters, and effectively improving the automation level and operation efficiency of breeding plot sowing operations.

[0058] In one embodiment, determining whether the seeder is about to leave the target area and enter the passageway based on the real-time sowing progress information of the seeder in the target area includes: Determine the length of seeds already sown; Subtract the target row length of the target cell from the already sown length to obtain the remaining sown length; When the sown length is not equal to the target row length or the remaining sown length is not equal to zero, it is determined that the seeder has not left the target plot; When the sown length equals the target row length or the remaining sown length equals zero, it is determined that the seeder is about to leave the target plot and enter the inter-plot passage.

[0059] Specifically, the length of sowing can be used as a direct quantitative representation of the real-time sowing progress information. Since the seeder continuously records the real-time position during operation, each time a new positioning point is obtained, the distance between the two points can be calculated with the previous positioning point, and this distance is added to the length of sowing, so as to realize the dynamic update of the completed sowing journey.

[0060] Of course, other calculation methods can be flexibly selected according to the actual application scenario: one method is to take the moment when the seeder enters the current plot boundary as the starting point and calculate the travel distance by integrating the real-time forward speed of the seeder over time; another method is to calculate based on the geometric distance between the real-time position coordinates of the seeder and the plot entrance boundary, that is, to directly obtain the sown length by calculating the perpendicular distance from the current position point to the starting boundary line of the plot. Alternatively, multiple methods can be combined for comprehensive estimation to improve reliability.

[0061] The target row length is the number of rows to be sown in the target area. Given the target row length and the already sown length, the remaining sown length can be calculated by subtracting the two. Both the already sown length and the remaining sown length can be displayed as real-time sowing progress information on the real-time status monitoring interface, allowing operators to intuitively grasp the current operation progress.

[0062] In terms of judgment logic, a direct comparison between the already sown length and the target row length can be used as the criterion. When the two are equal, it is considered that the seeder has reached the end of the plot and will enter the interval passage. Alternatively, the criterion can be whether the remaining sown length is zero. The two judgment methods are logically equivalent, and one of them can be flexibly selected. A combined judgment logic can also be used to avoid calculation errors that may occur with a single judgment method and improve the accuracy of the arrival judgment.

[0063] This application embodiment can automatically identify whether the seeder is about to leave the target plot and enter the passageway by monitoring the real-time sowing progress of the seeder, so as to ensure that the speed switch is completed within the passageway. There is no need for manual monitoring and manual operation to switch the working mode, avoiding the problem of inaccurate sowing caused by delays or errors in manual judgment.

[0064] Combining the two embodiments above, Figure 4 This is a flowchart illustrating the expected travel distance calculation provided in this application. In one specific embodiment, the expected travel distance calculation module includes a cell identification unit, a sowing progress calculation unit, and an interval passage identification unit. The cell identification unit converts the GPS coordinates of the current position of the seeder into UTM plane rectangular coordinates, uses the ray method to determine the inclusion relationship between the coordinate point and the boundaries of each cell in the prescription map, and identifies the unique ID of the current cell; the sowing progress calculation unit calculates in real time the distance already traveled by the seeder in the current cell and the remaining sowing distance; the interval passage identification unit identifies whether the current position is outside the cell boundary based on the cell boundary information in the prescription map, outputs an interval passage flag, and if the interval passage flag is correct, triggers a speed switching command.

[0065] In one embodiment, adjusting the operating parameters of the seed metering device based on the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate matching the target plant spacing of the next plot when entering the next plot, includes: Divide the real-time forward speed of the seeder by the target plant spacing of the next plot to obtain the target rotational speed of the seed metering device; The motor driving the seed metering device in the passageway switches the current speed of the seed metering device to the target speed and continues to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when it enters the next cell.

[0066] Specifically, when the seeder's forward speed is constant, the smaller the target plant spacing, the more seeds are required to be discharged per unit time, and correspondingly, the seed metering device's rotation speed is higher. Therefore, the target rotation speed is directly proportional to the forward speed and inversely proportional to the target plant spacing.

[0067] The target rotational speed of the seed metering device is calculated based on the real-time forward speed of the seeder and the target plant spacing for the next plot, using the following formula: in, V is the target rotational speed, V is the real-time forward speed of the seeder, and S is the target plant spacing.

[0068] After calculating the target speed, a speed adjustment command is generated and sent to the motor drive module.

[0069] Based on this instruction, the motor drive module drives the motor within the aisle to gradually adjust the seed metering device to the target speed. The motor drive method can be flexibly selected according to the actual configuration, including brushless DC motors, stepper motors, or servo motors, etc. Stepless speed regulation is achieved by changing the frequency, duty cycle, or control voltage of the drive signal. When the seeder moves into the next plot, the seed metering device is already running stably at a seeding rate matching the target plant spacing, ensuring that the next plot meets the seeding parameter requirements from the very first row of seeds.

[0070] This application embodiment achieves a smooth transition without impact or transition zone within the inter-cell passage by triggering the speed switching command in advance and completing the speed switching of the seed metering device before entering the next cell. This significantly improves the precision and automation level of seeding in the breeding cell, thus providing advanced basic support for the innovation of breeding technology for crops such as corn and soybeans.

[0071] In one embodiment, the intelligent sowing control method for breeding plots further includes: The compensation distance is calculated based on the system delay time and the real-time forward speed of the seeder; the system delay time includes electromechanical response delay, program execution delay, and seed falling delay. Based on the real-time location information of the seeder and the boundary coordinates of the target plot, calculate the real-time distance from the current position of the seeder to the end boundary of the sowing of the target plot; When the real-time distance equals the compensation distance, the motor driving the seed metering device switches the current speed of the seed metering device to the target speed and continues to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when entering the next plot.

[0072] Specifically, considering the time lag between the issuance of the control signal, the completion of the seed metering device's speed adjustment, and the final seed landing in actual operation, if the switching command is issued only after the seeder reaches the boundary, the optimal switching opportunity will be missed, resulting in seeds still being discharged from some sections of the aisle and wasting seeds. Therefore, a speed switching compensation mechanism is adopted. By calculating the distance that needs to be compensated, the speed switching command is issued in advance when the seeder is one compensation distance away from the boundary, and the speed adjustment is completed.

[0073] The compensation distance is calculated based on the system delay time and the real-time forward speed of the seeder, using the following formula: L c =V×T T = t1 + t2 + t3 Among them, L c To compensate for the distance, V is the real-time forward speed of the seeder, T is the system delay time, t1 is the electromechanical response delay, t2 is the program execution delay, and t3 is the seed falling delay.

[0074] Meanwhile, using algorithms such as the Pythagorean theorem, the real-time distance from the current position of the seeder to the end boundary of the target plot is calculated based on the real-time position coordinates of the seeder and the boundary coordinates of the target plot.

[0075] When the real-time distance equals the compensation distance, a speed adjustment command is sent to the motor drive module before the seeder reaches the boundary. This causes the motor drive module to drive the motor to gradually adjust the seed metering device to the target speed. Only after the seed metering device speed is fully adjusted can the seeder enter the boundary of the next target plot. This avoids wasting seeds by planting in the aisle and ensures that each plot meets the preset plant spacing requirements from the beginning.

[0076] The embodiments of this application are based on the compensation distance to trigger the speed switching command in advance, which can better match the actual operation delay of the seeder, effectively avoid the problems of seed retention in the aisle of the plot and the failure to meet the initial plant spacing of the plot caused by the switching lag, and improve the sowing accuracy and seed utilization rate.

[0077] Figure 5 This is a schematic diagram illustrating the principle of boundary switching compensation provided in this application. The seeder's seed metering device continuously plants seeds within plot 1 at a rotation speed ω1. When the distance from the end boundary of plot 1 equals the compensation distance L... c At that time, the plant spacing decision speed mechanism is triggered in advance, the target speed ω2 of plot 2 is calculated, the motor starts to adjust the speed of the seed metering device, and after the seeder enters the interval passage, the speed switching is completed, and then it enters plot 2 to continuously meter seeds at speed ω2.

[0078] As can be seen from the above embodiments, this application proposes a sowing control method that addresses the dual needs of variable row length and variable density in breeding plots. By coordinating the calculation of travel progress and the rotation speed for plant spacing decision, it achieves stepless adjustment of the sowing row length and plant spacing in the plot, thus meeting the personalized needs of breeding experiments for different plot planting densities.

[0079] Figure 6 This is a schematic diagram of the human-computer interaction interface provided in this application. The human-computer interaction interface includes a prescription map visualization area, a real-time status monitoring area, an alarm and prompt area, a control operation area, and a seeding data management area. The prescription map visualization area graphically displays the layout of the entire breeding base, with each plot labeled with a unique ID, target row length, and target plant spacing, and highlighting the plot where the current operation is located. Operators can zoom and pan to view different areas via touch. The real-time status monitoring area includes current plot information, real-time operation parameters, and sowing progress sub-areas. The current plot information sub-area displays the ID of the plot being sown, the target row length, and the target plant spacing. The real-time operation parameter sub-area displays the forward speed, real-time rotation speed of the seed metering device, the number of seeds sown, and the real-time plant spacing fed back by the infrared counter. The sowing progress sub-area displays the completion status of the current plot and the overall operation progress in the form of a progress bar and percentage. The alarm and prompt area displays the system status and action predictions, allowing operators to anticipate system behavior. The control operation area provides buttons for loading prescription maps, setting parameters, starting operations, pausing operations, and emergency stop. The sowing data management area provides functions for viewing sowing data, saving to local storage, and uploading to the cloud, and displays data synchronization status and storage space information. During sowing, the system automatically records data such as the actual number of seeds sown, the actual sowing length, and the actual plant spacing distribution for each plot. Operators can use this area to trace data and perform remote synchronization.

[0080] Figure 7 This is a schematic diagram of the intelligent seeding control system for breeding plots provided in this application.

[0081] like Figure 7 As shown, the intelligent seeding control system for the breeding plot includes: The prescription map storage module 1 is used to pre-construct breeding plot sowing prescription maps based on the plot information and sowing parameters of multiple plots, and to store the breeding plot sowing prescription maps; High-precision positioning module 2 is used to acquire the real-time location information of the seeder; The row length expectation calculation module 3 is used to match the real-time location information with the spatial location information of each cell in the breeding cell sowing prescription map to determine the target cell where the seeder is currently located; the breeding cell sowing prescription map is pre-constructed based on the cell information and sowing parameters of multiple cells; based on the real-time sowing progress information of the seeder in the target cell, it is determined whether the seeder is about to leave the target cell and enter the interval passage. The plant spacing decision module 4 is used to calculate the target rotation speed of the seed metering device based on the target plant spacing of the next plot and the real-time forward speed of the seeder when the seeder is about to leave the target plot and enter the inter-plot passage. The motor drive module 5 is used to drive the motor of the seed metering device in the passageway of the interval, and switch the current speed of the seed metering device to the target speed for continuous operation, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when it enters the next cell.

[0082] The intelligent seeding control system for breeding plots provided in this application acquires the real-time location information of the seeder and matches it with the spatial location information of each plot in the breeding plot seeding prescription map. It can automatically determine the target plot where the seeder is currently located, and identify the working position of the seeder without manual intervention. This overcomes the problem of low efficiency in manual plant spacing switching in the prior art. Then, based on the real-time seeding progress information of the seeder in the target plot, it determines whether the seeder is about to leave the target plot and enter the interval passage. When it is determined that it is about to leave, it adjusts the operating parameters of the seed metering device in advance in the interval passage according to the target plant spacing of the next plot and the real-time forward speed of the seeder. This ensures that the seed metering device has completed the switching to the seeding rate that matches the target plant spacing of the next plot when entering the next plot. This achieves pre-switching of seeding parameters when the seeder is working across plots, effectively eliminating the switching lag problem caused by the seed metering device completing the parameter switching after crossing plots. It avoids uneven seeding transition zones caused by switching lag at the plot boundaries. It realizes dual adaptive and precise control of row length and plant spacing during the seeding process of breeding plots, significantly improving the precision and automation level of seeding in breeding plots.

[0083] In one embodiment, the intelligent seeding control system for the breeding plot further includes: The rotation speed switching compensation module 6 is used to calculate the compensation distance based on the system delay time and the real-time forward speed of the seeder; and to calculate the real-time distance from the current position of the seeder to the sowing end boundary of the target plot based on the real-time position information of the seeder and the boundary coordinates of the target plot. The bank president expectation calculation module 3 is also used to determine whether the real-time distance is equal to the compensation distance; The motor drive module 5 is also used to drive the motor of the seed metering device when the real-time distance is equal to the compensation distance, to switch the current speed of the seed metering device to the target speed and continue to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when entering the next cell.

[0084] In one embodiment, the prescription image storage module 1 is specifically used for: Based on the plot layout of the breeding base, each plot is configured with a plot ID, boundary coordinates, target row length, and target plant spacing; Based on the cell ID, boundary coordinates, target row length, and target plant spacing of each cell, a breeding cell sowing prescription map containing cell information and sowing parameters of each cell is generated and stored.

[0085] In one embodiment, the line length expectation calculation module 3 includes a cell identification unit 3-1, specifically used for: The latitude and longitude coordinates in the real-time location information are converted into plane rectangular coordinates. The point-to-surface inclusion relationship between the plane rectangular coordinates and the boundaries of each plot in the breeding plot sowing prescription map is determined, and the target plot where the seeder is currently located is determined.

[0086] In one embodiment, the row length expectation calculation module 3 includes a sowing progress calculation unit 3-2, specifically used for: Determine the length of seeds already sown; Subtract the target row length of the target cell from the already sown length to obtain the remaining sown length.

[0087] In one embodiment, the line length expectation calculation module 3 includes an interval passage identification unit 3-3, specifically used for: When the sown length is not equal to the target row length or the remaining sown length is not equal to zero, it is determined that the seeder has not left the target plot; When the sown length equals the target row length or the remaining sown length equals zero, it is determined that the seeder is about to leave the target plot and enter the inter-plot passage.

[0088] In one embodiment, the plant spacing decision module 4 is specifically used for: The target rotational speed of the seed metering device is obtained by dividing the real-time forward speed of the seeder by the target plant spacing of the next plot.

[0089] In one embodiment, the motor drive module 5 is specifically used for: The motor driving the seed metering device in the passageway switches the current speed of the seed metering device to the target speed and continues to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when it enters the next cell.

[0090] like Figure 7As shown, the prescription map storage module 1 contains a breeding plot sowing prescription map containing the unique identifier ID, boundary coordinates, target row length, and target plant spacing for each plot; the high-precision positioning module 2 acquires the centimeter-level position information of the seeder in real time; the row length expectation calculation module 3 is connected to the high-precision positioning module 2 and the prescription map storage module 1, and calculates the sown length and remaining sown length of the current plot in real time based on the relationship between the current position of the seeder and the boundary position of the current plot in the breeding plot sowing prescription map, and determines whether the plot boundary has been reached; the speed switching compensation module 6 is connected to the row length expectation calculation module 3 and the motor drive module respectively. 5. When the row length expectation calculation module 3 determines that the seeder has left the current plot boundary and entered the interval passage, it triggers the plant spacing decision module 4 to recalculate the target speed of the seed metering device based on the target plant spacing of the next plot, and controls the motor drive module 5 to drive the seed metering device to the target speed of the next plot, completing the speed switch within the interval passage; the plant spacing decision module 4 is connected to the row length expectation calculation module 3, and calculates the target speed of the seed metering device based on the target plant spacing of the current plot and the real-time forward speed of the seeder; the motor drive module 5 is connected to the plant spacing decision module 4, and drives the motor of the seed metering device to run continuously according to the target speed.

[0091] Furthermore, the expected calculation module 3 includes a cell identification unit 3-1, a sowing progress calculation unit 3-2, and an interval passage identification unit 3-3. The cell identification unit 3-1 determines the point-to-surface inclusion relationship between the current position of the seeder and the boundaries of each cell in the breeding cell sowing prescription map, and identifies the unique ID of the current cell; the sowing progress calculation unit 3-2 calculates in real time the distance the seeder has traveled in the current cell and the remaining sowing distance; the interval passage identification unit 3-3 identifies whether the current position is an interval passage based on the cell boundary information in the breeding cell sowing prescription map.

[0092] Furthermore, the speed switching compensation module 6 calculates the compensation distance based on the total system delay time and the real-time forward speed of the seeder. When the row length expectation calculation module 3 determines that the distance between the seeder and the current plot boundary is equal to the compensation distance, it triggers the plant spacing decision module 5 in advance to calculate the target speed of the next plot and sends a seeding speed switching command to the motor drive module 5. The motor drive module 5 then drives the motor of the seed meterer to run continuously according to the target speed.

[0093] It should be noted that the intelligent seeding control system for breeding plots provided in this application can execute the intelligent seeding control method for breeding plots described in any of the above embodiments during actual operation, which will not be elaborated in this embodiment.

[0094] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application, such as... Figure 8As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communications bus 840. The processor 810 can call logic instructions in the memory 830 to execute a breeding plot intelligent sowing control method. The method includes: acquiring the real-time location information of the seeder; matching the real-time location information with the spatial location information of each plot in the breeding plot sowing prescription map to determine the target plot where the seeder is currently located; the breeding plot sowing prescription map is pre-constructed based on the plot information and sowing parameters of multiple plots; determining whether the seeder is about to leave the target plot and enter the interval passage based on the real-time sowing progress information of the seeder in the target plot; when the seeder is about to leave the target plot and enter the interval passage, adjusting the operating parameters of the seed metering device according to the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a sowing rate that matches the target plant spacing of the next plot when entering the next plot.

[0095] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] On the other hand, this application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, and when the program instructions are executed by the computer, the computer can execute the intelligent seeding control method for breeding plots provided in the above embodiments. The method includes: acquiring the real-time location information of the seeder; matching the real-time location information with the spatial location information of each plot in the breeding plot seeding prescription map to determine the target plot where the seeder is currently located; the breeding plot seeding prescription map is pre-constructed based on the plot information and seeding parameters of multiple plots; determining whether the seeder is about to leave the target plot and enter the interval passage based on the real-time seeding progress information of the seeder in the target plot; when the seeder is about to leave the target plot and enter the interval passage, adjusting the operating parameters of the seed metering device according to the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when entering the next plot.

[0097] In another aspect, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program is implemented to perform the intelligent seeding control method for breeding plots provided in the above embodiments. The method includes: acquiring real-time location information of a seeder; matching the real-time location information with the spatial location information of each plot in a breeding plot seeding prescription map to determine the target plot where the seeder is currently located; the breeding plot seeding prescription map is pre-constructed based on the plot information and seeding parameters of multiple plots; determining whether the seeder is about to leave the target plot and enter an inter-plot passage based on the real-time seeding progress information of the seeder in the target plot; when the seeder is about to leave the target plot and enter the inter-plot passage, adjusting the operating parameters of the seed metering device based on the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate matching the target plant spacing of the next plot when entering the next plot.

[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for intelligent sowing control in breeding plots, characterized in that, The intelligent seeding control method for the breeding plot includes: Obtain the real-time location information of the seeder; The target plot where the seeder is currently located is determined by matching the real-time location information with the spatial location information of each plot in the breeding plot sowing prescription map; the breeding plot sowing prescription map is pre-constructed based on the plot information and sowing parameters of multiple plots. Based on the real-time sowing progress information of the seeder in the target area, determine whether the seeder is about to leave the target area and enter the passageway. When the seeder is about to leave the target plot and enter the passageway, the operating parameters of the seed metering device are adjusted according to the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when entering the next plot.

2. The intelligent sowing control method for breeding plots according to claim 1, characterized in that, The step of matching the real-time location information with the spatial location information of each plot in the breeding plot sowing prescription map to determine the target plot where the seeder is currently located includes: The latitude and longitude coordinates in the real-time location information are converted into plane rectangular coordinates. The point-to-surface inclusion relationship between the plane rectangular coordinates and the boundaries of each plot in the breeding plot sowing prescription map is determined, and the target plot where the seeder is currently located is determined.

3. The intelligent sowing control method for breeding plots according to claim 1, characterized in that, The step of determining whether the seeder is about to leave the target area and enter the passageway based on the real-time sowing progress information of the seeder in the target area includes: Determine the length of seeds already sown; Subtract the target row length of the target cell from the already sown length to obtain the remaining sown length; When the sown length is not equal to the target row length or the remaining sown length is not equal to zero, it is determined that the seeder has not left the target plot; When the sown length equals the target row length or the remaining sown length equals zero, it is determined that the seeder is about to leave the target plot and enter the inter-plot passage.

4. The intelligent sowing control method for breeding plots according to claim 1, characterized in that, The step of adjusting the operating parameters of the seed metering device based on the target plant spacing of the next plot and the real-time forward speed of the seeder, so that the seed metering device has switched to a seeding rate matching the target plant spacing of the next plot when entering the next plot, includes: Divide the real-time forward speed of the seeder by the target plant spacing of the next plot to obtain the target rotational speed of the seed metering device; The motor driving the seed metering device in the passageway switches the current speed of the seed metering device to the target speed and continues to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when it enters the next cell.

5. The intelligent sowing control method for breeding plots according to claim 4, characterized in that, The intelligent seeding control method for breeding plots also includes: The compensation distance is calculated based on the system delay time and the real-time forward speed of the seeder; the system delay time includes electromechanical response delay, program execution delay, and seed falling delay. Based on the real-time location information of the seeder and the boundary coordinates of the target plot, calculate the real-time distance from the current position of the seeder to the end boundary of the sowing of the target plot; When the real-time distance equals the compensation distance, the motor driving the seed metering device switches the current speed of the seed metering device to the target speed and continues to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next plot when entering the next plot.

6. The intelligent seeding control method for breeding plots according to any one of claims 1 to 5, characterized in that, The seeding prescription map for the breeding plots is pre-constructed in the following manner: Based on the plot layout of the breeding base, each plot is configured with a plot ID, boundary coordinates, target row length, and target plant spacing; Based on the cell ID, boundary coordinates, target row length, and target plant spacing of each cell, a breeding cell sowing prescription map containing cell information and sowing parameters of each cell is generated.

7. A smart seeding control system for breeding plots, characterized in that, The intelligent seeding control system for the breeding plot includes: The prescription map storage module is used to pre-construct breeding plot sowing prescription maps based on the plot information and sowing parameters of multiple plots, and to store the breeding plot sowing prescription maps; A high-precision positioning module is used to acquire the real-time location information of the seeder; The row length expectation calculation module is used to match the real-time location information with the spatial location information of each cell in the breeding cell sowing prescription map to determine the target cell where the seeder is currently located; the breeding cell sowing prescription map is pre-constructed based on the cell information and sowing parameters of multiple cells; based on the real-time sowing progress information of the seeder in the target cell, it is determined whether the seeder is about to leave the target cell and enter the interval passage. The plant spacing decision module is used to calculate the target rotation speed of the seed metering device based on the target plant spacing of the next plot and the real-time forward speed of the seeder when the seeder is about to leave the target plot and enter the inter-plot passage. The motor drive module is used to drive the motor of the seed metering device in the passageway of the interval, and switch the current speed of the seed metering device to the target speed for continuous operation, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when it enters the next cell.

8. The intelligent seeding control system for breeding plots according to claim 7, characterized in that, The intelligent seeding control system for the breeding plot also includes: The rotation speed switching compensation module is used to calculate the compensation distance based on the system delay time and the real-time forward speed of the seeder; and to calculate the real-time distance from the current position of the seeder to the sowing end boundary of the target plot based on the real-time position information of the seeder and the boundary coordinates of the target plot. The expected line length calculation module is also used to determine whether the real-time distance is equal to the compensation distance; The motor drive module is also used to drive the motor of the seed metering device when the real-time distance is equal to the compensation distance, to switch the current speed of the seed metering device to the target speed and continue to operate, so that the seed metering device has switched to a seeding rate that matches the target plant spacing of the next cell when entering the next cell.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the intelligent seeding control method for breeding plots as described in any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, wherein a computer program is stored on the non-transitory computer-readable storage medium, characterized in that, When the computer program is executed by the processor, it implements the steps of the intelligent seeding control method for breeding plots as described in any one of claims 1 to 6.

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