Rice transplanter automatic control method, device, equipment and storage medium

Abstract

Embodiments of the application disclose a rice transplanter automatic control method, device, equipment and storage medium, the method comprises: determining the first state information and the second state information of the rice transplanter;When detecting that the first state information and the second state information satisfy state switching condition, control throttle device throttle zero, and control the seedling loading platform, the transplanting part and the gearbox according to the first preset control logic;When detecting that the first state information and the second state information satisfy state maintaining condition, control the seedling loading platform, the transplanting part and the gearbox according to the second preset control logic.The scheme improves the transplanter operation efficiency and realizes unmanned operation.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, and in particular to an automatic control method, device, equipment and storage medium for a rice transplanter. Background Technology

[0002] A rice transplanter is an agricultural machine that plants crop seedlings into farmland. When transplanting crops, the rice transplanter achieves the transplanting of seedlings through the cooperation of the seedling platform and the planting section.

[0003] Existing rice transplanters, such as ride-on high-speed transplanters, require the driver to control the gearbox in real time to regulate the transplanting speed, the raising and lowering of the seedling platform, and the clutch engagement and disengagement of the rotating gearbox in order to achieve evenly spaced and row-to-row transplanting. However, this control method is labor-intensive and inefficient. Summary of the Invention

[0004] This invention provides an automatic control method, device, equipment, and storage medium for rice transplanters, which solves the problems of low operating efficiency and high manpower consumption in the use of rice transplanting equipment in the prior art, improves the efficiency of rice transplanting operations, and realizes unmanned operation.

[0005] In a first aspect, embodiments of the present invention provide an automatic control method for a rice transplanter, the method comprising:

[0006] Determine the first and second state information of the rice transplanter;

[0007] When the first state information and the second state information are detected to meet the state switching conditions, the throttle device is controlled to return to zero, and the seedling platform, the transplanting part and the gearbox are controlled according to the first preset control logic.

[0008] When the first state information and the second state information are detected to meet the state maintenance conditions, the seedling platform, the planting part and the gearbox are controlled according to the second preset control logic.

[0009] Secondly, embodiments of the present invention also provide an automatic control device for a rice transplanter, the device comprising:

[0010] The status information determination module is used to determine the first and second status information of the rice transplanter.

[0011] The first control module is used to control the throttle device to return to zero when the first state information and the second state information are detected to meet the state switching conditions, and to control the seedling platform, the transplanting part and the gearbox according to the first preset control logic.

[0012] The second control module is used to control the seedling platform, the transplanting part, and the gearbox according to the second preset control logic when the first state information and the second state information are detected to meet the state maintenance conditions.

[0013] Thirdly, embodiments of the present invention also provide an automatic control device for a rice transplanter, the device comprising:

[0014] One or more processors;

[0015] Storage device for storing one or more programs.

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the automatic control method for rice transplanters according to the embodiments of the present invention.

[0017] Fourthly, embodiments of the present invention also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to execute the automatic control method for rice transplanters described in the embodiments of the present invention.

[0018] In this embodiment of the invention, by determining the first state information and the second state information of the rice transplanter, when the first state information and the second state information are detected to meet the state switching conditions, the throttle device is controlled to return to zero, and the seedling platform, the transplanting part and the gearbox are controlled according to the first preset control logic. When the first state information and the second state information are detected to meet the state maintenance conditions, the seedling platform, the transplanting part and the gearbox are controlled according to the second preset control logic, thereby improving the efficiency of rice transplanting operations and realizing automated control of the speed of the rice transplanter, the lifting and lowering of the seedling platform and the transplanting part, achieving fully unmanned operation. Attached Figure Description

[0019] Figure 1 A flowchart of an automatic control method for a rice transplanter provided in an embodiment of the present invention;

[0020] Figure 2 A flowchart of another automatic control method for a rice transplanter provided in an embodiment of the present invention;

[0021] Figure 3 A flowchart of another automatic control method for a rice transplanter provided in an embodiment of the present invention;

[0022] Figure 4 A flowchart of another automatic control method for a rice transplanter provided in an embodiment of the present invention;

[0023] Figure 5 A flowchart of another automatic control method for a rice transplanter provided in an embodiment of the present invention;

[0024] Figure 6 A flowchart of another automatic control method for a rice transplanter provided in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of a module of an automatic control device for a rice transplanter provided in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of an automatic control device for a rice transplanter provided in an embodiment of the present invention. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] The automatic control method for rice transplanters provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0030] Figure 1 This is a flowchart of an automatic control method for a rice transplanter provided by an embodiment of the present invention. This embodiment can realize the automatic control of the rice transplanter to complete the rice transplanting task. The method can be executed by a device with computing capabilities, such as a microcontroller or a rice transplanter control module, and specifically includes the following steps:

[0031] Step S101: Determine the first and second state information of the rice transplanter.

[0032] The first and second state information are used to characterize the movement trend of the rice transplanter. Based on the first and second state information, the movement trend of the rice transplanter is determined, such as whether the rice transplanter is in a forward trend state, a backward trend state, or has switched from a forward trend state to a backward trend state, or vice versa.

[0033] In one embodiment, the first and second state information can be control gear information of the rice transplanter's gearbox. This can be a forward gear, a reverse gear, or a neutral gear, where a forward gear indicates the rice transplanter is moving forward, a reverse gear indicates the rice transplanter is moving backward, and neutral indicates the rice transplanter is stationary. In another embodiment, the first and second state information can also be information generated by control signals sent by the rice transplanter's control device, such as a forward signal sent when it is detected that the rice transplanter needs to continue moving forward for transplanting operations; or a signal sent to control the rice transplanter to move backward when it is detected that the rice transplanter needs to move backward.

[0034] Step S102: When the first state information and the second state information are detected to meet the state switching conditions, the throttle device is controlled to return to zero, and the seedling platform, the transplanting part and the gearbox are controlled according to the first preset control logic.

[0035] The throttle device controls the throttle position of the engine that powers the rice transplanter. When the state switching conditions are met based on the first and second state information, the throttle device is controlled to return to zero. When the throttle is zero, the engine no longer provides power to the transplanter's drive unit, and the fuel supply is zero. After the throttle is zeroed, the seedling platform, planting section, and gearbox are controlled according to the first preset control logic. The seedling platform is a device for placing the seedlings to be transplanted, and the planting section is a mechanically controlled device that inserts the seedlings from the seedling platform into the working area. The seedling platform itself contains a mechanical control device to control the raising and lowering of the seedling platform according to control signals; the planting section can control the opening and closing of the planting section's mechanical equipment and the planting speed through an integrated interpolation unit rotary clutch. The gearbox is a mechanism used to change the engine's speed and torque. The first preset control logic corresponds to a pre-set control program. When the corresponding control conditions are met, the control logic generates control signals to control the parameters of the seedling platform, the transplanting part, and the gearbox.

[0036] In one embodiment, the state switching conditions include switching from a first motion state to a second motion state, switching from a second motion state to a first motion state, switching from a first motion state to a third motion state, and switching from a second motion state to a third motion state. Optionally, the first motion state is a forward motion state, the second motion state is a reverse motion state, and the third motion state is a neutral motion state. That is, by determining the first and second state information of the rice transplanter, when it is detected that the first and second state information meet the above-mentioned state switching conditions, different control branches in the first preset control logic are executed according to different specific motion state switching situations to achieve control of the transplanting unit, the seedling carrier, and the gearbox.

[0037] Step S103: When the first state information and the second state information are detected to meet the state maintenance conditions, the seedling platform, the planting part and the gearbox are controlled according to the second preset control logic.

[0038] Among them, the state maintenance condition is used to characterize the rice transplanter's movement to maintain the same direction, such as maintaining a first motion state or maintaining a second motion state, where the first motion state can be a forward state and the second motion state can be a backward state.

[0039] In one embodiment, when the current motion state of the rice transplanter is detected to meet the state maintenance condition based on the first and second state information, the seedling platform, the transplanting section, and the gearbox are controlled according to the second preset control logic. For example, taking the control gear position as a representation of the first and second state information, if the rice transplanter is detected to be in forward gear without gear switching, it is determined that the state maintenance condition is met; conversely, if it switches from forward to reverse gear or vice versa, the state maintenance condition is not met.

[0040] As described above, when controlling the rice transplanter, the first and second state information of the transplanter are determined. Based on the determined first and second state information, it is determined whether the state switching condition or the state maintenance condition is met. If the state switching condition is met, the throttle device is controlled to return to zero, and the seedling platform, the transplanting part, and the gearbox are controlled according to the first preset control logic. If the state maintenance condition is determined, the seedling platform, the transplanting part, and the gearbox are controlled according to the second preset control logic. This achieves fully automated control of the rice transplanter, realizes highly efficient automatic transplanting, and ensures the safe operation of the rice transplanter equipment.

[0041] Figure 2 This is a flowchart illustrating another automatic control method for a rice transplanter provided in an embodiment of the present invention. When the detection of first state information and second state information satisfies the transition from a first motion state to a second motion state, a specific method for automatically controlling the rice transplanter is given, such as... Figure 2 Specifically, it includes:

[0042] Step S201: Determine the first and second state information of the rice transplanter.

[0043] Step S202: When the first state information and the second state information are detected to meet the conditions for switching from the first motion state to the second motion state, the throttle device is controlled to return to zero, the planting part is controlled to close, the seedling platform is raised, and the gearbox is controlled to reverse.

[0044] In one embodiment, the first motion state can be the forward trend state of the rice transplanter, and the second motion state can be the reverse trend state of the rice transplanter. Different trend states can be determined by gear control information. For example, forward gear represents the forward trend state, and reverse gear represents the reverse trend state. That is, when the rice transplanter is detected to switch from the forward trend state to the reverse trend state, the throttle control device is set to zero, the transplanting section is closed accordingly, and the transplanting operation of the transplanting section is no longer performed. After the seedling platform is raised, the gearbox is reversed to change the direction of movement from forward to reverse. At this time, the control process for the transplanting section, the seedling platform, and the gearbox ends, and the throttle can be opened accordingly to allow the engine to provide power to drive the rice transplanter to move backward.

[0045] As can be seen from the above, when the rice transplanter switches between motion states, it is necessary to control the steering of the gearbox accordingly. Before changing the gearbox steering, the throttle should be reduced to zero, and the planting section should be closed and the seedling platform raised to ensure the safe operation of the gearbox and the planting section, and to ensure that the seedling platform does not damage the farmland when the rice transplanter moves backward.

[0046] Figure 3 This is a flowchart illustrating another automatic control method for a rice transplanter provided in an embodiment of the present invention. When the detection of first state information and second state information satisfies the transition from the second motion state to the first motion state, a specific method for automatically controlling the rice transplanter is given, such as... Figure 3 Specifically, it includes:

[0047] Step S301: Determine the first and second state information of the rice transplanter.

[0048] Step S302: When the first state information and the second state information are detected to satisfy the switch from the second motion state to the first motion state, the throttle device is controlled to return to zero, and it is determined whether the rice transplanter is in the rice transplanting state. If it is, the transplanting part is controlled to open and the gearbox is controlled to rotate forward. If not, the seedling platform is controlled to rise and the gearbox is controlled to rotate forward.

[0049] In one embodiment, the first motion state is the forward trend state of the rice transplanter, and the second motion state can be the backward trend state of the rice transplanter. When the rice transplanter is detected to change from a backward state to a forward state, the throttle is first reduced to zero, and it is determined whether the rice transplanter is in a transplanting state. This transplanting state indicates that the rice transplanter is currently in a transplanting operation, that is, the transplanting unit is controlled to acquire seedlings from the seedling carrier and perform the transplanting operation. At this time, the transplanting unit is controlled to open and the gearbox is controlled to rotate forward, that is, the rice transplanter is controlled to move forward and begin the transplanting operation. If the rice transplanter is not currently in a transplanting state, such as when moving in a non-transplanting operation area, the seedling carrier is controlled to rise to avoid dragging on the ground, and the gearbox is controlled to rotate forward to cooperate with the engine to control the rice transplanter to move forward.

[0050] As can be seen from the above, based on the determined first and second state information, it is determined whether the rice transplanter meets the state switching conditions. If it meets the switching from the backward to the forward state, the throttle is controlled to return to zero, and it is determined whether it is in the rice transplanting operation. Different control logics are adopted, and the steering of the gearbox is controlled to change, which ensures the safe operation of the rice transplanter and realizes the full-process automated control.

[0051] Figure 4 This is a flowchart illustrating another automatic control method for a rice transplanter provided in an embodiment of the present invention. When the detection of first state information and second state information satisfies the transition from a first motion state to a third motion state, or from a second motion state to a third motion state, a specific method for automatically controlling the rice transplanter is provided, such as... Figure 4 Specifically, it includes:

[0052] Step S401: Determine the first and second state information of the rice transplanter.

[0053] Step S402: When the first state information and the second state information are detected to satisfy the switch from the first motion state to the third motion state, or the switch from the second motion state to the third motion state, the throttle device is controlled to return to zero, and the planting part is controlled to close, the gearbox is controlled to return to zero, and the seedling platform is lowered.

[0054] In one embodiment, the first motion state is the forward trend state of the rice transplanter, the second motion state can be the reverse trend state of the rice transplanter, and the third motion state is the stationary trend state. Specifically, switching from the first motion state to the third motion state indicates that the rice transplanter has switched from the forward trend state to the stationary trend state; switching from the second motion state to the third motion state indicates that the rice transplanter has switched from the reverse trend state to the stationary trend state. At this time, the control logic first controls the throttle device to return to zero, controls the planting section to close, and lowers the seedling platform so that after the descent is complete, the planting section can be reopened for rice transplanting operations. Correspondingly, the gearbox is reset to zero and in neutral at this time.

[0055] As can be seen from the above, during the operation of the rice transplanter, when it switches from forward and backward to a stationary state, the throttle is first reduced to zero, and the driving force for the moving device of the rice transplanter is no longer provided. At this time, the seedling carrier is controlled to descend so that the seedlings on the seedling carrier can be inserted into the working area by controlling the opening of the planting section. This realizes the operation mode of the rice transplanter without human control throughout the process, reducing manpower consumption and improving the efficiency of rice transplanting.

[0056] Figure 5 This is a flowchart illustrating another automatic control method for a rice transplanter provided in an embodiment of the present invention. When the first state information and the second state information are detected to satisfy the requirement of maintaining a first motion state, a specific method for automatically controlling the rice transplanter is given, such as... Figure 5 Specifically, it includes:

[0057] Step S501: Determine the first and second state information of the rice transplanter.

[0058] Step S502: When the first state information and the second state information are detected to satisfy the maintenance of the first motion state, determine whether the rice transplanter is in the rice transplanting state. If yes, control the transplanting part to open and the gearbox to rotate forward. If no, control the seedling platform to rise and the gearbox to rotate forward.

[0059] In one embodiment, the first motion state is the forward trend state of the rice transplanter, and the second state information remains the same as the first motion state information, also a forward trend state. At this time, it is determined that the state maintenance condition is met. Specifically, the control logic at this time determines whether the rice transplanter is in the transplanting state. If so, it controls the transplanting section to open to realize the transplanting operation. Simultaneously, since the maintained motion state is a forward trend state, it controls the gearbox to rotate forward. If it is not in the transplanting state, such as when the rice transplanter is moving in a non-operating area, it controls the seedling platform to rise to prevent the seedling platform from dragging on the ground, and simultaneously controls the gearbox to rotate forward.

[0060] As can be seen from the above, when the motion trend of the rice transplanter remains unchanged, it is determined whether it is in the process of transplanting rice. If it is, the transplanting part is controlled to open to realize the transplanting operation. If not, the seedling platform is kept in the rising state, and the gearbox is controlled to rotate forward to cooperate with the engine to provide forward power for the moving device of the rice transplanter, thus ensuring that the rice transplanter can move safely and automatically in both working and non-working states.

[0061] Figure 6 This is a flowchart illustrating another automatic control method for a rice transplanter provided in an embodiment of the present invention. When the first state information and the second state information are detected to satisfy the requirement of maintaining a second motion state, a specific method for automatically controlling the rice transplanter is given, such as... Figure 6 Specifically, it includes:

[0062] Step S601: Determine the first and second state information of the rice transplanter.

[0063] Step S602: When the first state information and the second state information are detected to satisfy the maintenance of the second motion state, control the planting part to close and the seedling platform to rise, and control the gearbox to reverse.

[0064] In one embodiment, the second motion state is the backward trend state of the rice transplanter. If the first state information and the second state information are determined to be the same and both represent the backward trend of the rice transplanter, the transplanting part is closed and the seedling platform is raised to stop the transplanting operation. At the same time, the gearbox is reversed to make the rice transplanter move backward.

[0065] As can be seen from the above, when the rice transplanter is in reverse motion, the planting section is closed, the seedling platform is safe, and the movement of the rice transplanter is automatically controlled, improving the efficiency of rice transplanting and achieving fully unmanned operation.

[0066] Based on the above technical solution, before determining the first and second state information of the rice transplanter, the method further includes: power-on calibration of the rice transplanter. This power-on calibration includes controlling the raising of the seedling platform and closing the planting section, and performing gearbox calibration after the seedling platform is raised and the planting section is closed. In this solution, the process of achieving fully automated control of the rice transplanter further includes a power-on calibration process, which includes calibration of the planting section, the seedling platform, and the gearbox. This calibration process can include calibrating the raising height of the seedling platform, the position of the planting section, etc. During the calibration process, gearbox calibration is performed after controlling the raising of the seedling platform and closing the planting section to prevent wear and tear on the planting section and seedling platform due to slippage of the rice transplanter during gearbox calibration.

[0067] Based on the above technical solution, determining whether the rice transplanter is in the transplanting state includes: determining whether to activate the transplanting mode based on detected environmental information; and determining that the rice transplanter is in the transplanting state when the transplanting mode is activated. In one embodiment, when the rice transplanter moves automatically, environmental information, such as collected environmental image information, is collected for image recognition to determine whether it is in the working area. If so, the rice transplanter is controlled to activate the transplanting mode; otherwise, it is not activated. When the transplanting mode is activated, it is correspondingly determined to be in the transplanting state, and this is applied to the first and second preset control logics in the aforementioned transplanting control. Thus, fully automated rice transplanting is achieved, the transplanting mode is automatically activated, and the level of intelligence is significantly improved.

[0068] Figure 7 This is a schematic diagram of a module for an automatic control device for a rice transplanter provided in an embodiment of the present invention. This device is used to execute the automatic control method for a rice transplanter described above, and has corresponding functional modules and beneficial effects for executing the method. For example... Figure 7 As shown, the system specifically includes: a status information determination module 101, a first control module 102, and a second control module 103, wherein,

[0069] The status information determination module 101 is used to determine the first and second status information of the rice transplanter.

[0070] The first control module 102 is used to control the throttle device to return to zero when the first state information and the second state information are detected to meet the state switching conditions, and to control the seedling platform, the transplanting part and the gearbox according to the first preset control logic.

[0071] The second control module 103 is used to control the seedling platform, the transplanting part and the gearbox according to the second preset control logic when the first state information and the second state information are detected to meet the state maintenance conditions.

[0072] As described above, by determining the first and second state information of the rice transplanter; when the first and second state information meet the state switching conditions, the throttle device is controlled to return to zero, and the seedling platform, planting section, and gearbox are controlled according to the first preset control logic; when the first and second state information meet the state maintenance conditions, the seedling platform, planting section, and gearbox are controlled according to the second preset control logic. This solution improves the efficiency of rice transplanting operations and achieves unmanned operation.

[0073] In one possible embodiment, the state information determination module 101 is specifically used for:

[0074] The first and second state information of the rice transplanter are determined based on the gearbox gear position of the rice transplanter.

[0075] In one possible embodiment, the state switching condition includes at least one of switching from a first motion state to a second motion state, switching from the second motion state to the first motion state, switching from the first motion state to a third motion state, and switching from the second motion state to the third motion state.

[0076] In one possible embodiment, when the first state information and the second state information are detected to satisfy the transition from the first motion state to the second motion state, the first control module 102 is specifically used for:

[0077] Control the closing of the planting section and the raising of the seedling platform;

[0078] Control the gearbox to reverse.

[0079] In one possible embodiment, when the first state information and the second state information are detected to satisfy the transition from the second motion state to the first motion state, the first control module 102 is specifically used for:

[0080] Determine whether the rice transplanter is in the transplanting state. If it is, control the transplanting unit to open and the gearbox to rotate forward. If not, control the seedling platform to rise and the gearbox to rotate forward.

[0081] In one possible embodiment, when the first state information and the second state information are detected to satisfy the transition from the first motion state to the third motion state, or the transition from the second motion state to the third motion state, the first control module 102 is specifically used for:

[0082] Control the closing of the planting section, the zeroing of the gearbox, and the lowering of the seedling platform.

[0083] In one possible embodiment, the state maintenance condition includes maintaining a first motion state or maintaining a second motion state.

[0084] In one possible embodiment, when the first state information and the second state information are detected to satisfy the maintenance of the first motion state, the second control module 103 is specifically used for:

[0085] Determine whether the rice transplanter is in the transplanting state. If it is, control the transplanting unit to open and the gearbox to rotate forward. If not, control the seedling platform to rise and the gearbox to rotate forward.

[0086] In one possible embodiment, when the first state information and the second state information are detected to satisfy the maintenance of the second motion state, the second control module 103 is specifically used for:

[0087] Control the closing of the planting section and the raising of the seedling platform;

[0088] Control the gearbox to reverse.

[0089] In one possible embodiment, the device further includes a calibration module for powering on the rice transplanter before determining the first and second state information of the transplanter. The power-on calibration includes controlling the raising of the seedling platform and the closing of the planting section, and performing gearbox calibration after the seedling platform is raised and the planting section is closed.

[0090] In one possible embodiment, the first control module 102 and the second control module 103 are further configured to:

[0091] Determine whether to activate the rice transplanting mode based on the detected environmental information;

[0092] When the rice transplanting mode is activated, it is determined that the rice transplanter is in the rice transplanting state.

[0093] Figure 8 This is a schematic diagram of the structure of an automatic control device for a rice transplanter provided in an embodiment of the present invention, as shown below. Figure 8 As shown, the device includes a processor 201 and a memory 202; the number of processors 201 in the device can be one or more. Figure 8 Taking a processor 201 as an example; the processor 201 and memory 202 in the device can be connected via a bus or other means. Figure 8 Taking a bus connection as an example, the memory 202, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the automatic control method for rice transplanters in this embodiment of the invention. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 202, thereby realizing the aforementioned automatic control method for rice transplanters.

[0094] This invention also provides a storage medium containing computer-executable instructions, which can be stored in the form of a server application. When executed by a computer processor, the computer-executable instructions are used to perform an automatic control method for a rice transplanter, the method comprising:

[0095] Determine the first and second state information of the rice transplanter;

[0096] When the first state information and the second state information are detected to meet the state switching conditions, the throttle device is controlled to return to zero, and the seedling platform, the transplanting part and the gearbox are controlled according to the first preset control logic.

[0097] When the first state information and the second state information are detected to meet the state maintenance conditions, the seedling platform, the planting part and the gearbox are controlled according to the second preset control logic.

[0098] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be an unmanned device, mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0100] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. An automatic control method for a rice transplanter, characterized in that, include: Determine the first and second state information of the rice transplanter; The first state information and the second state information are used to characterize the movement trend state of the rice transplanter; When the first state information and the second state information are detected to meet the state switching conditions, the throttle device is controlled to return to zero, and the seedling platform, the transplanting unit, and the gearbox are controlled according to the first preset control logic. The state switching conditions include switching from a first motion state or a second motion state to a third motion state. When the first state information and the second state information are detected to meet the switching from the first motion state or the second motion state to the third motion state, the transplanting unit is controlled to close, the gearbox is returned to zero, and the seedling platform is lowered. After the descent is completed, the transplanting unit is reopened to perform the transplanting operation. The first motion state is a forward trend state, the second motion state is a backward trend state, and the third motion state is a stationary trend state.

2. The automatic control method for a rice transplanter according to claim 1, characterized in that, The determination of the first and second state information of the rice transplanter includes: The first and second state information of the rice transplanter are determined based on the gearbox gear position of the rice transplanter.

3. The automatic control method for a rice transplanter according to claim 1, characterized in that, The state switching conditions also include switching from the first motion state to the second motion state or switching from the second motion state to the first motion state.

4. The automatic control method for a rice transplanter according to claim 3, characterized in that, When the first state information and the second state information are detected to satisfy the transition from the first motion state to the second motion state, the step of controlling the seedling platform, the transplanting part, and the gearbox according to the first preset control logic includes: Control the closing of the planting section and the raising of the seedling platform; Control the gearbox to reverse.

5. The automatic control method for a rice transplanter according to claim 3, characterized in that, When the first state information and the second state information are detected to satisfy the transition from the second motion state to the first motion state, the step of controlling the seedling platform, the transplanting part, and the gearbox according to the first preset control logic includes: Determine whether the rice transplanter is in the transplanting state. If it is, control the transplanting unit to open and the gearbox to rotate forward. If not, control the seedling platform to rise and the gearbox to rotate forward.

6. The automatic control method for a rice transplanter according to claim 1, characterized in that, The method further includes: When the first state information and the second state information are detected to meet the state maintenance conditions, the seedling platform, the planting part and the gearbox are controlled according to the second preset control logic.

7. The automatic control method for a rice transplanter according to claim 6, characterized in that, The conditions for maintaining the state include maintaining a first motion state or maintaining a second motion state.

8. The automatic control method for a rice transplanter according to claim 7, characterized in that, When the first state information and the second state information are detected to satisfy the maintenance of the first motion state, the step of controlling the seedling carrier, the planting part, and the gearbox according to the second preset control logic includes: Determine whether the rice transplanter is in the transplanting state. If it is, control the transplanting unit to open and the gearbox to rotate forward. If not, control the seedling platform to rise and the gearbox to rotate forward.

9. The automatic control method for a rice transplanter according to claim 7, characterized in that, When the first state information and the second state information are detected to satisfy the maintenance of the second motion state, the step of controlling the seedling platform, the planting part, and the gearbox according to the second preset control logic includes: Control the closing of the planting section and the raising of the seedling platform; Control the gearbox to reverse.

10. The automatic control method for a rice transplanter according to any one of claims 1-9, characterized in that, Before determining the first and second state information of the rice transplanter, the following is also included: The rice transplanter is calibrated by power-on, which includes controlling the raising of the seedling platform and the closing of the planting section, and calibrating the gearbox after the seedling platform is raised and the planting section is closed.

11. The automatic control method for a rice transplanter according to claim 5 or 8, characterized in that, Determining whether the rice transplanter is in the rice transplanting state includes: Determine whether to activate the rice transplanting mode based on the detected environmental information; When the rice transplanting mode is activated, it is determined that the rice transplanter is in the rice transplanting state.

12. An automatic control device for a rice transplanter, characterized in that, include: The status information determination module is used to determine the first and second status information of the rice transplanter. The first state information and the second state information are used to characterize the movement trend state of the rice transplanter; The first control module is used to control the throttle device to return to zero when the first state information and the second state information are detected to meet the state switching conditions, and to control the seedling carrier, the transplanting unit, and the gearbox according to the first preset control logic. The state switching conditions include switching from a first motion state or a second motion state to a third motion state. When the first state information and the second state information are detected to meet the conditions for switching from the first motion state or the second motion state to the third motion state, the module controls the transplanting unit to close, the gearbox to return to zero, and the seedling carrier to descend. After the descent is complete, the transplanting unit is reopened for transplanting operations. The first motion state is a forward trend state, the second motion state is a backward trend state, and the third motion state is a stationary trend state.

13. Automatic control equipment for a rice transplanter, the equipment comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the automatic control method for a rice transplanter as described in any one of claims 1-11.

14. A storage medium storing computer-executable instructions, which, when executed by a computer processor, are used to perform the automatic control method for a rice transplanter according to any one of claims 1-11.

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