A control method and control system for an electric planting movement

Abstract

The present invention provides a control method and control system for an electric planting movement, including a duckbill planter, a planter slide rail, an opening and closing cylinder, a driving unit, a displacement sensor, and a control system; the opening and closing cylinder is used to drive the duckbill of the duckbill planter to open and close; the duckbill planter is installed on the planter slide rail, and the driving unit is used to drive the duckbill planter to move on the planter slide rail; the displacement sensor is used to detect the distance between the initial position of the duckbill planter and the ridge surface position; the control system controls the duckbill planter to complete a planting movement according to the distance detected by the displacement sensor, the planting spacing, the forward speed of the machine, the set V B , the set A, and the set Y. The present invention can meet the requirements of different planting spacings, planting frequencies, and planting depths, and changes the disadvantages of complex structure and difficult adjustment brought about by the traditional mechanical transmission method for adjusting the plant spacing.

Description

Technical Field

[0001] The present invention relates to the field of precise control of transplanters, and particularly to a control method and control system for electric planting motion. Background Art

[0002] As an important component for completing the final transplanting task, the planting mechanism of a transplanter is one of the key mechanisms of the transplanter. Currently, the planting of semi-automatic and fully automatic transplanters both uses a pure mechanical structure, and these mechanical planting components can only change the plant spacing and planting depth by manually adjusting the mechanical structure.

[0003] According to a feeding and planting device for a transplanter proposed in a Chinese published invention patent, it is to solve the problem that it is more troublesome to change the plant spacing, planting frequency, and planting depth of a traditional self-propelled transplanter, which requires a complex mechanical structure to complete and will affect the transplanting efficiency. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention provides a control method and control system for electric planting motion. By setting five key nodes, namely the zero position, ridge surface position, duckbill opening point, planting lowest point, and duckbill closing point, the planting process is divided into five stages, and the coordinated cooperation of the planter moving downward to make a hole, moving upward to pick up seedlings, the duckbill of the planter opening to drop seedlings and closing to pick up seedlings is completed within one plant spacing. It can meet the requirements of different plant spacings, planting frequencies, and planting depths, and changes the disadvantages of complex structure and difficult adjustment brought by the traditional mechanical transmission method for adjusting the plant spacing.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A control method for electric planting motion includes the following steps:

[0007] Set a zero position A, a deceleration point B, a ridge surface position C, a duckbill opening point D, a planting lowest point E, and a duckbill closing point F during the movement of the duckbill planter. Among them, the zero position A is the initial position of the duckbill planter; the ridge surface position C is the ridge surface position; the duckbill opening point D is the position where the duckbill of the duckbill planter opens, and the duckbill opening point D is at a position less than or equal to 20 mm below the ridge surface position C; the planting lowest point E is the position where the duckbill finally reaches; the duckbill closing point F is the position where the duckbill of the duckbill planter closes during the reset process; the deceleration point B is at a position less than or equal to 20 mm above the ridge surface position C;

[0008] The duckbill planter moves downward from the zero position A with uniform acceleration first and then at a constant speed to the deceleration point B;

[0009] The duckbill planter decelerates uniformly from the deceleration point B to the ridge surface position C, and then moves at a constant speed to the duckbill opening point D;

[0010] When the duckbill planter reaches the duckbill opening point D, the duckbill planter opens the duckbill for seedling dropping. At the same time, the duckbill planter decelerates uniformly from the duckbill opening point D to the lowest planting point E;

[0011] The duckbill planter moves upward with uniform acceleration. When the duckbill planter moves to the duckbill closing point F, the duckbill planter closes the duckbill; then the duckbill planter returns to the zero position A through uniform motion first and then decelerated motion to complete a planting motion;

[0012] The control system controls the duckbill planter to perform cyclic planting motion.

[0013] Further, the total time of the one planting motion is T, T = T AB +T BC +T CD +T DE +T EF +T FA ; T AB is the time for the duckbill planter to move from the zero position A to the deceleration point B; T BC is the time for the duckbill planter to move from the deceleration point B to the ridge surface position C; T CD is the time for the duckbill planter to move from the ridge surface position C to the duckbill opening point D; T DE is the time for the duckbill planter to move from the duckbill opening point D to the lowest planting point E; T EF is the time for the duckbill planter to move from the lowest planting point E to the duckbill closing point F; T FA is the time for the duckbill planter to move from the duckbill closing point F to the zero position A;

[0014] The displacement amounts in each stage of the one planting motion are respectively:

[0015]

[0016]

[0017]

[0018]

[0019] Among them:

[0020] X AB is the distance between the zero position A and the deceleration point; X BC is the distance between the deceleration point B and the ridge surface position C; X CE is the distance between the ridge surface position C and the lowest planting point E;EA is the distance between the lowest planting point E and the zero point position A;

[0021] A AB’ is the acceleration of the duckbill planter moving downward with uniform acceleration from the zero point position A; V B is the speed of the duckbill planter reaching the deceleration point B; T BB’ is the time for the duckbill planter to move from 0 with uniform acceleration to V B ;

[0022] V C is the speed of the duckbill planter reaching the ridge surface position C;

[0023] A DE is the acceleration of the duckbill planter moving with uniform deceleration from the duckbill opening point D to the lowest planting point E;

[0024] V F is the speed of the duckbill planter reaching the duckbill closing point F;

[0025] A EF is the acceleration of the duckbill planter moving with uniform acceleration from the lowest planting point E to the duckbill closing point F;

[0026] T FF’ is the time for the duckbill planter to move from V F with uniform deceleration to 0;

[0027] A F’A is the acceleration of the duckbill planter during the time T FF’ ;

[0028] Furthermore, during the one-time planting movement,

[0029] the distance X between the zero point position A and the ridge surface position C is detected by a sensor AC , denoted as X;

[0030] The distance X between the ridge surface position C and the lowest planting point E is determined according to the type of transplanted plant CE , denoted as Y;

[0031] The distance X between the lowest planting point E and the zero point position A AE , denoted as S, S = X + Y;

[0032] The control system controls the acceleration A of the duckbill planter during the time T FF’ , the acceleration A of the duckbill planter moving with uniform deceleration from the duckbill opening point D to the lowest planting point E F’A , the acceleration A of the duckbill planter moving with uniform acceleration from the lowest planting point E to the duckbill closing point F DE , the acceleration A of the duckbill planter moving downward with uniform acceleration from the zero point position A EF ​AB’ All are equal and set as A;

[0033] The control system controls the speed V of the duckbill planter reaching the deceleration point B B to be the same as the speed V of the duckbill planter reaching the duckbill closing point F; F Same;

[0034] The time T for the duckbill planter to move from the deceleration point B to the ridge surface position C BC is expressed as:

[0035]

[0036] The control system obtains the following relationship:

[0037]

[0038]

[0039]

[0040] Based on the total time T of a single planting movement set, the set V B , the set A, and the determined Y, the control system obtains V C , T B’B , T CD and T FF’ relationship;

[0041] Based on the relationship of V C , T B’B , T CD and T FF’ , the control system controls the duckbill planter to complete a single planting movement.

[0042] Furthermore, the total time T of a single planting movement can be expressed as:

[0043]

[0044] In the formula, L is the plant spacing, in mm; V is the forward speed of the machine, in km / h.

[0045] A control system for a control method of an electric planting movement, including a duckbill planter, a planter slide rail, an opening and closing cylinder, a driving unit, a displacement sensor, and a control system; the opening and closing cylinder is used to drive the duckbill of the duckbill planter to open and close; the duckbill planter is installed on the planter slide rail, and the driving unit is used to drive the duckbill planter to move on the planter slide rail; the displacement sensor is used to detect the distance between the initial position of the duckbill planter and the ridge surface position;

[0046] The control system controls the duckbill planter to complete a planting motion according to the distance detected by the displacement sensor, the plant spacing, the forward speed of the machine, the set V B , the set A, and the set Y.

[0047] The beneficial effects of the present invention are as follows:

[0048] 1. The control method and control system for the electric planting motion according to the present invention divide the planting process into five stages by setting five key nodes: the zero position, the ridge surface position, the duckbill opening point, the lowest planting point, and the duckbill closing point, and complete the coordinated cooperation of the planter to dig holes downward, pick up seedlings upward, open the duckbill of the planter to drop seedlings and close to pick up seedlings within a plant spacing. It can meet the requirements of different plant spacings, planting frequencies, and planting depths, and overcomes the disadvantages of complex structure and difficult adjustment caused by the traditional mechanical transmission method for adjusting the plant spacing.

[0049] 2. The control method and control system for the electric planting motion according to the present invention use an ultrasonic sensor to measure the height of the ridge surface in real time and adjust the downward distance of the planting mechanism in real time under the condition of consistent planting depth. It can always maintain the consistency of the planting depth and solve the problem that the change in the height of the ridge surface during the forward movement of the machine causes the planting depth to be too deep or too shallow, thereby affecting the planting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. The drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, it is obvious that other drawings can also be obtained based on these drawings.

[0051] Figure 1 It is the front view of the electric planting device of the present invention.

[0052] Figure 2 It is the right view of the electric planting device of the present invention.

[0053] Figure 3 It is the schematic diagram of the motion process of the duckbill planter of the present invention.

[0054] Figure 4 It is the motion control curve of the duckbill planter.

[0055] Figure 5 It is the control schematic diagram of the duckbill planter.

[0056] In the figure:

[0057] 1 - seedling guide tube; 2 - seedling receiving funnel; 3 - duckbill planter; 4 - planter slide rail; 5 - opening and closing cylinder; 6 - motor. Detailed implementation manners

[0058] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0059] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0060] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0061] In the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0062] The electric planting motion process control method described in the present invention includes the following steps:

[0063] S01: Set a zero position A, a deceleration point B, a ridge surface position C, a duckbill opening point D, a planting lowest point E, and a duckbill closing point F during the movement of the duckbill planter 3, as Figure 3 shown.

[0064] Among them, the zero point position A is the initial position of the duckbill planter 3; the ridge surface position C is the ridge surface position; the duckbill opening point D is the position where the duckbill of the duckbill planter 3 opens, and the duckbill opening point D is at a position less than or equal to 20 mm below the ridge surface position C; the lowest planting point E is the position where the planted object finally reaches; the duckbill closing point F is the position where the duckbill of the duckbill planter 3 closes during the reset process; the deceleration point B is at a position less than or equal to 20 mm above the ridge surface position C;

[0065] S02: The duckbill planter 3 moves downward from the zero point position A with uniform acceleration first and then at a constant speed to the deceleration point B;

[0066] S03: The duckbill planter 3 moves with uniform deceleration from the deceleration point B to the ridge surface position C, and then moves at a constant speed to the duckbill opening point D;

[0067] S04: When the duckbill planter 3 reaches the duckbill opening point D, the duckbill planter 3 opens the duckbill to drop the seedlings, and at the same time the duckbill planter 3 moves with uniform deceleration from the duckbill opening point D to the lowest planting point E;

[0068] S05: The duckbill planter 3 moves upward with uniform acceleration. When the duckbill planter 3 moves to the duckbill closing point F, the duckbill planter 3 closes the duckbill; then the duckbill planter 3 returns to the zero point position A through uniform motion first and then uniform deceleration, completing one planting motion;

[0069] S06: The control system controls the duckbill planter 3 to perform cyclic planting motion.

[0070] The total time T of one planting motion of the duckbill planter 3 is related to the moving speed of the machine, and is generally expressed as:

[0071]

[0072] In the formula, L is the planting spacing, unit mm; V is the forward speed of the machine, unit km / h.

[0073] Combined with Figure 4 As shown, the total time of one planting motion is T, T = T AB + T BC + T CD + T DE + T EF + T FA ; T AB is the time for the duckbill planter 3 to move from the zero point position A to the deceleration point B; T BC is the time for the duckbill planter 3 to move from the deceleration point B to the ridge surface position C; T CD is the time for the duckbill planter 3 to move from the ridge surface position C to the duckbill opening point D; T DEThe time for the duckbill planter 3 to move from the duckbill opening point D to the lowest planting point E; T EF The time for the duckbill planter 3 to move from the lowest planting point E to the duckbill closing point F; T FA The time for the duckbill planter 3 to move from the duckbill closing point F to the zero position A;

[0074] The displacement in each stage during one planting movement is respectively:

[0075]

[0076]

[0077]

[0078]

[0079] Among them:

[0080] X AB The distance from the zero position A to the deceleration point; X BC The distance from the deceleration point B to the ridge surface position C; X CE The distance from the ridge surface position C to the lowest planting point E; X EA The distance from the lowest planting point E to the zero position A;

[0081] A AB’ The acceleration of the duckbill planter 3 moving downward with uniform acceleration from the zero position A; V B The speed of the duckbill planter 3 reaching the deceleration point B; T BB’ The time for the duckbill planter 3 to move from 0 with uniform acceleration to V B ;

[0082] V C The speed of the duckbill planter 3 reaching the ridge surface position C;

[0083] A DE The deceleration of the duckbill planter 3 moving from the duckbill opening point D to the lowest planting point E;

[0084] V F The speed of the duckbill planter 3 reaching the duckbill closing point F;

[0085] A EF The acceleration of the duckbill planter 3 moving from the lowest planting point E to the duckbill closing point F with uniform acceleration;

[0086] T FF’ The time for the duckbill planter 3 to move from V F with uniform deceleration to 0;

[0087] AF’A is the acceleration of the duckbill planter 3 at time T FF’ in time.

[0088] The motion control curve of the duckbill planter is as shown Figure 4 and is divided into multiple acceleration and deceleration motion processes. For the convenience of control, the control system controls the acceleration A of the duckbill planter 3 at time T FF’ in time, the acceleration A of the duckbill planter 3 during the uniformly decelerated motion from the duckbill opening point D to the lowest planting point E F’A , the acceleration A of the duckbill planter 3 during the uniformly accelerated motion from the lowest planting point E to the duckbill closing point F DE , and the acceleration A of the duckbill planter 3 during the uniformly accelerated motion downward from the zero position A at first to be equal, denoted as A; the control system controls the speed V of the duckbill planter 3 reaching the deceleration point B EF to be the same as the speed V of the duckbill planter 3 reaching the duckbill closing point F AB’ ; B F F the same;

[0089] First, from the zero position A to the deceleration point B, it successively experiences the uniformly accelerated and uniform motion stages. Among them, point A is the zero position, so its speed is 0, and point B is the deceleration point, and the speed starts to decrease from this point position; from the deceleration point B to the ridge surface position C, it experiences the uniformly decelerated stage, and the speed decreases appropriately; from the ridge surface position C to the duckbill opening point D, it maintains a uniform motion state, and then experiences the uniformly decelerated state to reach the lowest planting point E; after reaching the lowest planting point E, it needs to move in the reverse direction, so from E to F, it successively experiences the reverse uniformly accelerated stage. Among them, point F is the duckbill closing point. To reduce the motion time, the speed should be fast at this time; after returning from F to the zero position, the speed decreases to 0. The acceleration and deceleration motion process of the planting motion is shown in Table 1.

[0090] Table 1

[0091] Stage Initial position velocity Motion process Final position velocity A - B <![CDATA[V A = 0]]> Uniform acceleration, uniform motion <![CDATA[V B > B - C <![CDATA[V B > Uniform deceleration <![CDATA[V C > C - D <![CDATA[V C > Uniform motion <![CDATA[V D > D - E <![CDATA[V D > Uniform deceleration <![CDATA[V E = 0]]> E - F <![CDATA[V E = 0]]> Reverse uniform acceleration <![CDATA[V F > F - A <![CDATA[V F > Uniform motion, reverse uniform deceleration <![CDATA[V A = 0]]>

[0092] In order to measure the ridge surface height in real time, an ultrasonic sensor is installed on the frame directly in front of the machine, as shown Figure 5 . In the figure, the distance X between the zero position A and the ridge surface position C is detected by the sensor AC , denoted as X, with the unit of mm; the distance X between the ridge surface position C and the lowest planting point E is determined according to the type of transplanted plants CE , denoted as Y; according to the dryland planting machinery industry standard, the planting depth is the vertical distance from the intersection point of the seedling and the soil covering surface to the root of the seedling. In the embodiment, the planting depth is taken as 60 mm as an example. To sum up, the downward distance X of the duckbill can be obtained AE, that is, the distance between the lowest planting point E and the zero point position A, denoted as S, S = X + Y; by changing S in real time through the control system, the planting depth can be ensured to be consistent when facing the uneven ridge surface.

[0093] The time T for the duckbill planter 3 to move from the deceleration point B to the ridge surface position C BC It is expressed as:

[0094]

[0095] The control system obtains the following relationship:

[0096]

[0097]

[0098]

[0099] The control system calculates V according to the total time T set for one planting movement, the set V B , the set A and the determined Y, and obtains V C , T B’B , T CD and T FF’ relationship;

[0100] The control system calculates according to V C , T B’B , T CD and T FF’ relationship to control the duckbill planter 3 to complete one planting movement.

[0101] Embodiment

[0102] The height of the duckbill zero point position A from the ground is set to 500 mm, the height of the ridge surface position C from the ground is set to 200 mm, the planting depth Y is set to 60 mm, so the distance between the zero point position A and the ridge surface position C is 300 mm, and the distance between the ridge surface position C and the lowest planting point E is 60 mm. The duckbill opening point D is at a position 20 mm below the ridge surface position C; the deceleration point B is at a position 20 mm above the ridge surface position C;

[0103] According to the dryland planting machinery industry standard, the planting frequency is the number of seedlings planted per row per minute by the transplanter. The forward speed of the machine is designed to be 1.168 km / h, and the plant spacing is 300 mm, so the cycle T is 0.92 seconds, that is, the system needs to control the planting mechanism to complete a planting action within 0.92 seconds. Further, the planting frequency of the whole machine is 65 plants / row / minute.

[0104] The duckbill planter 3 needs to complete the downward planting action and return above the ridge surface within 0.92 seconds. Without considering the acceleration and deceleration processes, the mechanism only needs to perform two one-way movements. The distance of one one-way movement is 360 mm, that is, the distance from the zero position A to the lowest planting point E. It can be obtained through the velocity-time formula V = X / T. The average speed of its operation is 782 mm / s. Therefore, the average speed during the planting movement is at least 782 mm / s. In the present invention, acceleration and deceleration control is added during the planting movement, and V B = V F = 800 mm / s. The acceleration time of the motor is 0.1 s. After determining V B , the value of A, and the value of X measured by the ultrasonic wave, the relationships of V C , T B’B , T CD , T FF’ can be obtained. After satisfying this relationship, the control system controls the movement of the duckbill planter 3, so as to ensure that a planting movement needs to be completed within 0.92 seconds.

[0105] As Figure 1 and Figure 2 shown, the control system of the control method for the electric planting movement described in the present invention includes a duckbill planter 3, a planter slide rail 4, an opening and closing cylinder 5, a driving unit, a displacement sensor, and a control system; the opening and closing cylinder 5 is used to drive the duckbill of the duckbill planter 3 to open and close; the duckbill planter 3 is installed on the planter slide rail 4, and the driving unit is used to drive the duckbill planter 3 to move on the planter slide rail 4; the displacement sensor is used to detect the distance between the initial position of the duckbill planter 3 and the ridge surface position; the control system controls the duckbill planter 3 to complete a planting movement according to the distance detected by the displacement sensor, the planting spacing, the forward speed of the implement, the set V B , the set A, and the set Y.

[0106] It should be understood that although this specification is described according to each embodiment, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0107] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not used to limit the protection scope of the present invention. Any equivalent embodiments or changes made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for an electric planting movement, characterized in that, It includes the following steps: During the movement of the duckbill planter (3), set the zero position A, deceleration point B, ridge surface position C, duckbill opening point D, lowest planting point E, and duckbill closing point F. Among them, the zero position A is the initial position of the duckbill planter (3); the ridge surface position C is the ridge surface position; the duckbill opening point D is the position where the duckbill of the duckbill planter (3) opens, and the duckbill opening point D is at a position less than or equal to 20 mm below the ridge surface position C; the lowest planting point E is the position where the duckbill finally arrives; the duckbill closing point F is the position where the duckbill of the duckbill planter (3) closes during the reset process; the deceleration point B is at a position less than or equal to 20 mm above the ridge surface position C; The duckbill planter (3) moves downward from the zero position A with uniform acceleration first and then at a constant speed to the deceleration point B; The duckbill planter (3) moves from the deceleration point B with uniform deceleration to the ridge surface position C, and then moves at a constant speed to the duckbill opening point D; When the duckbill planter (3) reaches the duckbill opening point D, the duckbill planter (3) opens the duckbill to drop the seedlings, and at the same time the duckbill planter (3) moves from the duckbill opening point D with uniform deceleration to the lowest planting point E; The duckbill planter (3) moves upward with uniform acceleration. When the duckbill planter (3) moves to the duckbill closing point F, the duckbill planter (3) closes the duckbill; then the duckbill planter (3) returns to the zero position A through uniform motion first and then uniform deceleration motion to complete one planting motion; The control system controls the cyclic planting motion of the duckbill planter (3); The total time of the first planting motion is T, and T = T AB + T BC + T CD + T DE + T EF + T FA ; T AB is the time for the duckbill planter (3) to move from the zero point position A to the deceleration point B; T BC is the time for the duckbill planter (3) to move from the deceleration point B to the ridge surface position C; T CD is the time for the duckbill planter (3) to move from the ridge surface position C to the duckbill opening point D; T DE is the time for the duckbill planter (3) to move from the duckbill opening point D to the lowest planting point E; T EF is the time for the duckbill planter (3) to move from the lowest planting point E to the duckbill closing point F; T FA is the time for the duckbill planter (3) to move from the duckbill closing point F to the zero point position A; The displacement amounts of each stage in one planting motion are respectively: Wherein: X AB is the distance between the zero point position A and the deceleration point B; X BC is the distance between the deceleration point B and the ridge surface position C; X CE is the distance between the ridge surface position C and the lowest planting point E; X EA is the distance between the lowest planting point E and the zero point position A; A AB’ is the acceleration of the duckbill planter (3) moving downward from the zero position A with uniform acceleration first; V B is the speed of the duckbill planter (3) reaching the deceleration point B; T B’B is the time for the duckbill planter (3) to move from 0 with uniform acceleration to V B ; V C is the speed at which the duckbill planter (3) reaches the ridge surface position C; A DE is the acceleration of the duckbill planter (3) during the uniformly decelerated motion from the duckbill opening point D to the lowest planting point E; V F is the speed at which the duckbill planter (3) reaches the duckbill closing point F; A EF is the acceleration of the duckbill planter (3) during the uniformly accelerated motion from the lowest planting point E to the duckbill closing point F; T FF’ is the time for the duckbill planter (3) to decelerate uniformly from V F to 0; A F’A is the acceleration of the duckbill planter (3) at FF’ time T; In one planting motion, Detect the distance X between the zero position A and the ridge surface position C through the sensor AC , denoted as X; Determine the distance X between the ridge surface position C and the lowest planting point E according to the type of transplanted plant CE , denoted as Y; The distance X between the lowest planting point E and the zero point position A AE , denoted as S, S = X + Y; The control system controls the duckbill planter (3) in T FF’ Acceleration in time A F’A , Duckbill Planter (3) The acceleration A of the uniform deceleration motion from the duckbill opening point D to the planting lowest point E DE , the acceleration A of the duckbill planter (3) from the lowest point E to the duckbill closing point F EF , the duckbill implanter (3) first moves downward from the zero position A with uniform acceleration A AB’ are equal, set to A; The control system controls the speed V of the duckbill planter (3) reaching the deceleration point B B to be the same as the speed V of the duckbill planter (3) reaching the duckbill closing point F F ; And the time T for the duckbill planter (3) to move from the deceleration point B to the ridge surface position C BC It is expressed as: The control system obtains the following relationship: The control system calculates the relationships of V B , A, and the determined Y based on the set total time T of the first planting movement and the set V C , T B’B , T CD , and T FF’ ; The control system controls the duckbill planter (3) to complete a planting motion according to the relationship of V C , T B’B , T CD and T FF’ .

2. The control method of the electric planting movement according to claim 1, characterized in that, The total time T of one planting motion is expressed as: In the formula, L is the planting spacing, unit mm; V is the forward speed of the machine, unit km / h.

3. A control system for the control method of the electric planting movement according to any one of claims 1-2, characterized in that, It includes a duckbill planter (3), a planter slide rail (4), an opening and closing cylinder (5), a driving unit, a displacement sensor, and a control system; the opening and closing cylinder (5) is used to drive the opening and closing of the duckbill of the duckbill planter (3); the duckbill planter (3) is installed on the planter slide rail (4), and the driving unit is used to drive the duckbill planter (3) to move on the planter slide rail (4); the displacement sensor is used to detect the distance between the initial position of the duckbill planter (3) and the ridge surface position; The control system controls the duckbill planter (3) to complete a planting movement according to the distance detected by the displacement sensor, the plant spacing, the forward speed of the machine, the set V B , the set A, and the set Y.

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