Abstract: Intelligent agricultural machinery is developing rapidly, autonomous driving technology research and application continues to deepen, and bionic technology has entered field of agricultural machinery research and gradually towards application．Combination of two technologies applied in field of agricultural machinery research will promote rapid development of agricultural machinery．An intelligent seeder based on earthworm was designed by combining autonomous driving technology and bionic technology, which integrated functions of soil loosening, seeding and spraying．According to characteristics that each section of earthworm can survive after subdivision, mechanical design was divided into 4 sections, first section was soil loosening device, two middle sections were sowing device, and tail section was spray device．It could be divided into independent monomers for operation, realizing autonomous driving technology through remote sensing control, completing their respective functions, and achieving a complete and reasonable coordinated system operation mode．Each monomer could also be connected and operated as a whole, and first section drove each monomer to adapt to different slopes and rugged terrain conditions in form of earthworm creeping．This technology provides technical support and theoretical reference for research and development of unmanned farm technology．