Wheel-foot type rice planter

Abstract

The application belongs to the technical field of rice planting machines, and particularly relates to a wheel-foot type rice planting machine which comprises a track type walking mechanism, a vehicle body, a driving part, an automatic seedling tray supply device, a self-adaptive rice seedling transplanting device, a wheel-foot composite power device, a leg connector, a visual control system, an intelligent rice planting management system, a power system and an unmanned control system. The application solves the problems of poor terrain adaptability, low seedling transplanting precision, insufficient intelligent level and high artificial dependence of the traditional rice planting machine, has the characteristics of high work efficiency, strong terrain adaptability, energy saving, low disturbance and multifunctional expansion, and is suitable for large-scale, intelligent and green rice planting.

Description

Technical Field

[0001] This invention relates to the field of rice planting machine technology, specifically a wheel-foot type rice planting machine. Background Technology

[0002] Rice, as a traditional staple food and important grain crop in my country, plays a vital role in ensuring the basic dietary needs of residents and maintaining food security through stable and high yields and effective supply. Currently, rice production largely adopts mechanized planting methods, which not only significantly improves farming efficiency and reduces labor input but also effectively reduces production costs. Compared with traditional manual planting methods, it achieves significant optimization in terms of both time and manpower consumption.

[0003] The "Rice Planting Machine" disclosed in patent "CN222465321U" includes a top plate, a lifting mechanism, and a seedling insertion mechanism. The top plate has symmetrically arranged support rods at its front and rear, with bottom wheels mounted on the lower ends of the support rods. A seedling outlet is located on the lower right side of the top plate. A lifting mechanism for adjusting the height of the seedling insertion assembly is installed below the top plate to the left of the seedling outlet. A seedling insertion mechanism for clamping rice seedlings is located on the right end of the lifting mechanism. A second motor drives a first bevel gear to rotate, causing the lower tip of the clamping plate to first insert into the paddy field to form a planting position. Then, the motor reverses to release the clamping plate, allowing the seedling to fall into the paddy field. Subsequently, the clamping plate rises back to the seedling outlet to repeat the clamping and insertion process, improving the ease of operation of the planting machine.

[0004] However, its terrain adaptability is poor and it cannot meet the operational functions in specific environments.

[0005] To address these issues, the present invention provides a wheel-foot rice planting machine. Summary of the Invention

[0006] The purpose of this invention is to provide a wheel-foot rice planter to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a wheel-foot rice planter, comprising a tracked walking mechanism, a main body, a driving unit, an automatic seedling tray supply device, an adaptive transplanting device, a wheel-foot composite power device, a leg connector, a vision control system, an intelligent rice planting management system, a power system, and an unmanned driving control system. The vehicle body has a driving section inside, and an automatic seedling tray supply device is located at the rear of the driving section. Symmetrical leg connectors are located on both sides of the vehicle body, and a wheel-foot composite power device is fixed to the other end of the leg connector. A tracked walking mechanism is located at the other end of the wheel-foot composite power device. An adaptive rice transplanter is fixed to the rear of the vehicle body, and a vision control system is fixed to the front of the vehicle body. The vehicle body also houses an intelligent rice planting management system, a power system, and an unmanned driving control system.

[0008] Preferably, the tracked walking mechanism includes a track, track rollers, drive wheels, tension wheels, and load-bearing wheels; there are two tension wheels located at both ends below the drive wheels, and three load-bearing wheels rotatably connected between the two tension wheels; the track rollers are arranged on both sides of the drive wheels, and the track wraps around the track rollers, drive wheels, tension wheels, and load-bearing wheels.

[0009] Preferably, the wheel-foot composite power unit includes a track travel device bracket, a bracket side pivot support, a support pivot, a universal coupling, a cross shaft, a connector, a tension device, a hydraulic rod, and a hydraulic cylinder; the bracket side pivot support is located at the right end of the track travel device bracket, the support pivot is located at the right end of the bracket side pivot support, the universal coupling is fixedly connected to the right side of the support pivot, the connector is fixedly connected to the right side of the universal coupling, a hydraulic cylinder is located at the right end of the connector, a hydraulic rod is slidably connected to the left end of the hydraulic cylinder, the left end of the hydraulic rod is fixedly connected to the right side of the connector, and a tension device is fixedly located at the upper end of the hydraulic rod on the right side of the connector. Preferably, the automatic seedling tray supply device is equipped with a cylindrical shaft and a hexagonal multi-faceted sprocket conveying structure, with 8 seedling tray positions on each side, for a total of 48 seedling tray positions on all six sides.

[0010] Preferably, the adaptive rice transplanter includes multiple transplanting units, a contour-following mechanism, a seedling separating claw, an automatic row spacing adjustment component, and a depth sensor.

[0011] Preferably, the adaptive rice transplanter includes five transplanting units, comprising a total of twenty transplanters. Each transplanting unit is equipped with an independent contouring mechanism, and the seedling separating claws on each transplanting unit adopt a curved surface design. Fine-tuning components are provided between adjacent transplanting units.

[0012] Preferably, the unmanned driving control system includes a sensor module, a data processing unit, and a decision control module. The sensor module includes a Beidou positioning sensor, a lidar, a camera, and a millimeter-wave radar.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention solves the problems of poor terrain adaptability, low transplanting accuracy, insufficient intelligence level, and high dependence on manual labor in traditional rice planting machines. It features high operating efficiency, strong terrain adaptability, energy saving and low disturbance, and multi-functional expansion, making it suitable for large-scale, intelligent, and green rice planting. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of a tracked walking mechanism; Figure 3 This is a schematic diagram of the wheel-foot composite power unit structure; Figure 4 A schematic diagram of the automatic seedling tray feeding device; Figure 5 This is a schematic diagram of the adaptive rice transplanter structure. Figure 6 This is a schematic diagram of the internal system structure of this application.

[0015] In the diagram: 1 Tracked walking mechanism, 2 Body body, 3 Driving unit, 4 Automatic seedling tray supply device, 5 Adaptive rice transplanting device, 6 Wheel-foot composite power unit, 7 Leg connector, 8 Vision control system, 9 Intelligent rice planting management system, 10 Power system, 11 Unmanned driving control system. 1.1 Tracks, 1.2 Track rollers, 1.3 Drive wheels, 1.4 Tensioner wheels, 1.5 Load-bearing wheels; 6.1 Track travel device bracket, 6.2 Side pivot support of the bracket, 6.3 Support pivot, 6.4 Universal coupling, 6.5 Cross shaft, 6.6 Connector, 6.7 Pulling device, 6.8 Hydraulic rod, 6.9 Hydraulic cylinder. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] Example: Please see Figure 1-6 The present invention provides a technical solution: A wheel-foot rice planter includes a tracked walking mechanism 1, a main body 2, a driving unit 3, an automatic seedling tray supply device 4, an adaptive transplanting device 5, a wheel-foot composite power unit 6, a leg connector 7, a vision control system 8, an intelligent rice planting management system 9, a power system 10, and an unmanned driving control system 11. This wheel-foot rice planter adopts a diesel / electric hybrid power mode, with a quick response mode switching, resulting in less soil compaction and less disturbance to mud in paddy fields. It can be equipped with modular components for transplanting, direct seeding, plant protection, and growth monitoring, enabling it to be used for multiple purposes. The vehicle body 2 has a driving section 3 inside. The rear end of the driving section 3 inside the vehicle body 2 has an automatic seedling tray supply device 4. Symmetrical leg connectors 7 are provided on both sides of the vehicle body 2. The other end of the leg connector 7 is fixed with a wheel-foot composite power device 6. The other end of the wheel-foot composite power device 6 is provided with a tracked walking mechanism 1. An adaptive rice transplanting device 5 is fixed on the rear side of the vehicle body 2. A vision control system 8 is fixed on the front side of the vehicle body 2. The vehicle body 2 has an intelligent rice planting management system 9, a power system 10 and an unmanned driving control system 11 inside.

[0019] When the vision sensor in the vision control system 8 detects an obstacle ahead, such as a field ridge, rocks, or ditch, it transmits the obstacle's position, height, and distance information to the control system. After data processing, the control system sends an obstacle-crossing command to the wheel-foot composite power unit 6. Upon receiving the control signal, the pulling device 6.7 activates, pulling the hydraulic rod 6.8 upwards. This causes the hydraulic rod 6.8 to extend or compress relative to the hydraulic cylinder 6.9, thereby changing the spatial angle and direction of the universal coupling 6.4 and the cross shaft 6.5. The direction of the supporting shaft 6.3 changes accordingly, causing the tracked walking mechanism 1 to rise in height or change its direction of travel, enabling the equipment to cross obstacles.

[0020] Taking a 30cm high ridge as an example: When the equipment approaches the ridge, the vision sensor detects the edge of the ridge, and the control system calculates the required lifting height. The tensioning device 6.7 is activated, the hydraulic rod 6.8 extends upward, pushing the universal coupling 6.4 to rotate upward around the cross shaft 6.5, causing the axis of the support shaft 6.3 to tilt upward, and the front of the tracked walking mechanism 1 is lifted accordingly. After the front track contacts the upper surface of the ridge, the control system adjusts the extension of the hydraulic rod 6.8 to ensure a smooth transition of the equipment's center of gravity, completing the crossing action.

[0021] The tracked walking mechanism 1 includes a track 1.1, a track roller 1.2, a drive wheel 1.3, a tension wheel 1.4, and a load-bearing wheel 1.5. There are two tension wheels 1.4, located at both ends below the drive wheel. There are three load-bearing wheels, which are rotatably connected between the two tension wheels 1.4. The track rollers 1.2 are located on both sides of the drive wheel 1.3. The track 1.1 wraps around the track rollers 1.2, drive wheel 1.3, tension wheel 1.4, and load-bearing wheel 1.5 for stable walking in paddy fields and soft ground. The track 1.1 wraps around the outside of the wheel, making direct contact with the ground to provide friction and support. Its upper surface is patterned to enhance grip. The track support roller 1.2 is located below the track 1.1 to support it and prevent sagging. The drive wheel 1.3, located at the rear or front, has a toothed structure that meshes with the holes or teeth of the track 1.1, driving its rotation. The tension wheel 1.4 adjusts the tension of the track 1.1 to ensure good engagement between the track 1.1 and the drive wheel 1.3. Load-bearing rollers 1.5 are distributed on the inner side of the track 1.1 to support the weight of the equipment. This mechanism, through the large contact area between the track 1.1 and the ground, distributes the weight of the equipment, providing strong traction and support, effectively reducing pressure on the ground, and ensuring stable movement of the equipment in complex terrains such as mud, mountains, soft ground, or rugged terrain. The wheel-foot composite power unit 6 includes a track travel device bracket 6.1, a side pivot support 6.2, a support pivot 6.3, a universal coupling 6.4, a cross shaft 6.5, a connector 6.6, a tensioning device 6.7, a hydraulic rod 6.8, and a hydraulic cylinder 6.9. The side pivot support 6.2 is located at the right end of the track travel device bracket 6.1, the support pivot 6.3 is located at the right end of the side pivot support 6.2, the universal coupling 6.4 is fixedly connected to the right side of the support pivot 6.3, and the connector 6.6 is fixedly connected to the right side of the universal coupling 6.4. Connector 6.6 has a hydraulic cylinder 6.9 on its right end and a hydraulic rod 6.8 slidably connected to the left end of the hydraulic cylinder 6.9. The left end of the hydraulic rod 6.8 is fixedly connected to the right side of connector 6.6. A tensioning device 6.7 is fixed to the right side of connector 6.6 and above the hydraulic rod 6.8. This device is used to automatically switch between wheeled high-speed travel and footed obstacle climbing modes. The wheel-foot composite power unit 6 drives the universal coupling 6.4 and the cross shaft 6.5 to deflect through the hydraulic rod 6.8 and the hydraulic cylinder 6.9, thereby adjusting the posture of the tracked walking device and completing the terraced field operation.

[0022] The tracked walking device bracket 6.1 and the side pivot support 6.2 are fixed components. The pivot support 6.3 drives the tracked walking device 1.1 forward by rotation. The universal coupling 6.4 and the cross shaft 6.5 form a universal transmission mechanism, and the connector 6.6 is used to connect the various transmission components. The tension device 6.7, the hydraulic rod 6.8, and the hydraulic cylinder 6.9 constitute the drive unit. During normal operation, each component maintains its predetermined posture. When the vision sensor detects an obstacle ahead, the control system receives the signal, the tension device 6.7 pulls upward, and the hydraulic rod 6.8 and the hydraulic cylinder 6.9 perform compression or extension movements, changing the rotation direction of the universal coupling 6.4 and the cross shaft 6.5, causing the tracked walking device to lift or turn, thus achieving the obstacle-crossing function.

[0023] The automatic seedling tray supply device 4 is supported by an external square frame and has an internal hexagonal rotatable structure. Each side is equipped with a sprocket device for the repeated back-and-forth transport of seedling trays. Each hexagonal face can store eight seedling trays. When all the seedling trays on one side are supplied, the internal cylindrical shaft automatically rotates, moving the automatic seedling tray supply device 4 on the other side to the front of the seedling conveying device for the next round of transplanting. This device automates and intelligently manages seedling tray storage and supply, effectively reducing manual labor. The automatic seedling tray supply device 4 is equipped with a cylindrical shaft and a hexagonal multi-faceted sprocket conveying structure. Each side has 8 seedling tray positions, for a total of 48 seedling tray positions across the six sides. After supplying seedlings to one side, it automatically rotates to switch to the next side, achieving continuous seedling supply. Combined with visual recognition and servo control, it realizes automatic tray supply and tray shortage warning.

[0024] The adaptive rice transplanter 5 includes multiple transplanting units, a contour-following mechanism, seedling separating claws, an automatic row spacing adjustment component, and a depth sensor. It is used to automatically adjust the transplanting depth, plant spacing, and row spacing according to the terrain and soil parameters. The adaptive rice transplanter 5 adopts PID algorithm closed-loop control to correct the transplanting depth and frequency in real time, reduce the error in transplanting depth and plant spacing uniformity, and the row spacing can be automatically and continuously adjusted.

[0025] The adaptive rice transplanter 5 includes five transplanting units, containing a total of twenty transplanters. Each transplanting unit is equipped with an independent contour-following mechanism that can adjust the transplanting depth in real time according to the undulations of the field surface to ensure that the seedlings are planted at a consistent depth. The seedling separating claws on each transplanting unit adopt a curved surface design, which can more accurately separate the seedlings and reduce the seedling damage rate. Fine-tuning components are set between adjacent transplanting units. When it is necessary to change the row spacing, the spacing between each unit can be precisely adjusted through the control system to ensure uniform row spacing.

[0026] The unmanned driving control system 11 includes a sensor module, a data processing unit, and a decision control module. The sensor module includes a Beidou positioning sensor, a lidar, a camera, and a millimeter-wave radar. These are used to acquire the device's geographical location, construct a 3D point cloud map of the surrounding environment, collect image information, and detect the speed and distance of nearby objects, respectively. The data processing unit rapidly processes and analyzes the large amount of data collected by the sensors, using PID algorithms and machine learning models to understand and judge environmental information. The decision control module makes driving decisions based on the data processing results, including planning the driving path, controlling speed, and adjusting direction, while also interacting and coordinating with the rice transplanter control system and the intelligent rice planting management system.

[0027] The working process is as follows: When the rice planter travels in the field, the ground wheel rotates to provide power for the transplanting device; each transplanting unit operates in sequence, the seedling separating claw separates the seedlings from the seedling conveyor belt, and then the transplanting arm moves the seedlings into the paddy field; during the transplanting process, the sensors installed on the transplanting device monitor the transplanting density and depth in real time. If the transplanting density in a certain area does not meet the set standard, the control system automatically adjusts the seedling separating frequency of the seedling separating claw; if the depth is abnormal, the contouring mechanism is finely adjusted in time.

[0028] During operation, the operator first sets the work area and route plan in the system. The Beidou positioning sensor determines the initial position of the equipment, while lidar and cameras scan the surrounding environment in real time. The data is transmitted to the processing unit for analysis. If an obstacle is detected ahead, the decision control module plans a new path and controls the equipment to turn or decelerate to avoid it. During operation, the path is continuously and dynamically adjusted according to changes in the environment to ensure accurate travel along the planned route.

[0029] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The control method of this invention is through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming. It should be noted that the electrical components mentioned in this invention have been sorted according to the actual situation during manufacturing, so as not to cause the wire harness to become tangled or affect the operation. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or basic characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the invention is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wheel-foot rice planting machine, characterized in that, It includes a tracked walking mechanism (1), a vehicle body (2), a driving unit (3), an automatic seedling tray supply device (4), an adaptive rice transplanting device (5), a wheel-foot composite power device (6), a leg connector (7), a vision control system (8), an intelligent rice planting management system (9), a power system (10), and an unmanned driving control system (11). The vehicle body (2) is equipped with a driving section (3) inside. The vehicle body (2) is equipped with an automatic seedling tray supply device (4) located at the rear end of the driving section (3). Symmetrical leg connectors (7) are provided on both sides of the vehicle body (2). A wheel-foot composite power device (6) is fixed at the other end of the leg connector (7). A tracked walking mechanism (1) is provided at the other end of the wheel-foot composite power device (6). An adaptive rice transplanting device (5) is fixed at the rear side of the vehicle body (2). A vision control system (8) is fixed at the front side of the vehicle body (2). The vehicle body (2) is equipped with an intelligent rice planting management system (9), a power system (10), and an unmanned driving control system (11).

2. The wheel-foot rice planter according to claim 1, characterized in that: The tracked walking mechanism (1) includes a track (1.1), a track roller (1.2), a drive wheel (1.3), a tension wheel (1.4), and a load-bearing wheel (1.5). There are two tension wheels (1.4) located at both ends below the drive wheel. There are three load-bearing wheels rotatably connected between the two tension wheels (1.4). The track roller (1.2) is located on both sides of the drive wheel (1.3). The track (1.1) wraps around the track roller (1.2), drive wheel (1.3), tension wheel (1.4), and load-bearing wheel (1.5).

3. The wheel-foot rice planter according to claim 1, characterized in that: The wheel-foot composite power unit (6) includes a track travel device bracket (6.1), a bracket side pivot support (6.2), a support pivot (6.3), a universal coupling (6.4), a cross shaft (6.5), a connector (6.6), a tensioning device (6.7), a hydraulic rod (6.8), and a hydraulic cylinder (6.9). The bracket side pivot support (6.2) is located at the right end of the track travel device bracket (6.1), and the support pivot (6.3) is located at the right end of the bracket side pivot support (6.2). The coupling (6.4) is fixedly connected to the right side of the support shaft (6.3), the connector (6.6) is fixedly connected to the right side of the universal coupling (6.4), the right end of the connector (6.6) is provided with a hydraulic cylinder (6.9), the left end of the hydraulic cylinder (6.9) is slidably connected with a hydraulic rod (6.8), the left end of the hydraulic rod (6.8) is fixedly connected to the right side of the connector (6.6), and the right side of the connector (6.6) is fixedly connected to the upper end of the hydraulic rod (6.8) at the upper end of the hydraulic rod (6.8).

4. The wheel-foot rice planter according to claim 1, characterized in that: The automatic seedling tray supply device (4) is equipped with a cylindrical shaft and a hexagonal multi-faceted sprocket conveying structure, with 8 seedling tray positions on one side and a total of 48 seedling tray positions on the six sides.

5. A wheel-foot rice planter according to claim 1, characterized in that: The adaptive rice transplanting device (5) includes multiple transplanting units, a contouring mechanism, a seedling separating claw, an automatic row spacing adjustment component, and a depth sensor.

6. A wheel-foot rice planter according to claim 1, characterized in that: The adaptive rice transplanter (5) includes five groups of rice transplanting units, which contain a total of twenty transplanters. Each rice transplanting unit is equipped with an independent contouring mechanism. The seedling separating claws on each rice transplanting unit adopt a curved surface design, and fine-tuning components are set between adjacent rice transplanting units.

7. A wheel-foot rice planter according to claim 1, characterized in that: The unmanned driving control system (11) includes a sensor module, a data processing unit and a decision control module. The sensor module includes a Beidou positioning sensor, a lidar, a camera and a millimeter-wave radar.

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