An automatic transplanting device and method for gravel ground conditions

Abstract

The invention discloses an automatic transplanting device and method for gravel ground, and relates to the field of planting, agricultural equipment technology, which comprises a planting mechanism, a vehicle body, a detection piece and a control device. The planting mechanism comprises a driving piece and a transplanting piece, the driving piece is used to drive the transplanting piece to move between a first position and a second position, at the first position, the transplanting piece receives the seedling to be transplanted, at the second position, the transplanting piece inserts the seedling to be transplanted into the soil hole. The vehicle body drives the planting mechanism to move, the detection piece can detect whether the transplanting piece is blocked by an obstacle during the movement from the first position to the second position. When the transplanting piece is blocked, the control device controls the driving piece to drive the transplanting piece to move to the first position by a preset distance, and then move to the second position, while the vehicle body drives the transplanting piece to move horizontally, so that when the transplanting piece moves to the second position again, the obstacle can be avoided, and automatic obstacle avoidance is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of planting and agricultural equipment, and more particularly to an automatic moving device and method for nettle in gravel conditions. BACKGROUND

[0002] Transplanting is a planting technique that can effectively avoid climate problems such as low temperature and frost, and improve the survival rate of seedlings. With the progress of science and technology, transplanting machines have been applied in the field of agricultural planting. In order to ensure the emergence rate of nettle, the method of seedling transplanting is generally used, but due to the complex ground conditions in some areas, there are many gravels. If there are gravels in the planting point during planting, on the one hand, it will lead to planting failure, and finally the distance between two successfully planted seedlings is twice or even more than the normal distance, reducing the yield, and if artificial replanting is used, the nettle will sting people, and there is no special seedling taking mechanism for nettle transplanting at present; on the other hand, it will damage the seedling pushing claw of the planting mechanism, increasing the production cost.

[0003] The prior art discloses a seedling protection transplanting device for agricultural machinery and a use method, a mobile platform top surface is provided with an equal-interval transplanting mechanism, a seedling throwing mechanism is arranged on the equal-interval transplanting mechanism, an auxiliary protection mechanism is connected to a discharging end of the seedling throwing mechanism, and a protection structure supply mechanism located on the mobile platform top surface is arranged at one end of the equal-interval transplanting mechanism. The equal-interval transplanting mechanism realizes equal intervals between adjacent transplanted seedlings, avoids the problem of mutual extrusion of seedlings after growth, reduces the labor cost of later maintenance, and reduces losses. The cooperation of the seedling throwing mechanism and the auxiliary protection mechanism realizes the transplanting operation of the seedlings into the soil holes, and makes each seedling enter the transplanted soil hole together with the protection frame, the protection frame is sleeved on the periphery of the seedling, and the seedling is protected and supported, the problem of seedling falling is avoided, and the survival rate of the seedling is improved. However, the present application does not have a self-protection function, and cannot realize automatic detection and perception of gravels when encountering gravel conditions, and thus cannot realize self-protection of the planting mechanism.

[0004] The prior art also discloses an automatic vegetable transplanting robot and a transplanting method thereof, which comprises a moving chassis, a seedling box assembly, a seedling taking mechanism, a seedling planting mechanism, a transmission box mechanism and a walking mechanism. The automatic vegetable transplanting robot can realize automatic tracking walking, automatic leveling of the moving chassis and automatic transplanting integration function. The automatic vegetable transplanting robot can also ensure that the moving chassis is in a horizontal state and maintains a preset distance from the ridge under various ridge working conditions, such as a ridge with a slope in a hilly area, various different ridge widths and adjacent ridge spacings, so as to ensure the high straightness of the seedlings after transplanting under various ridge working conditions, reduce the damage rate of the seedlings in the transplanting process, reduce the labor cost and widen the application range of a single fixed-size transplanting robot. However, the automatic vegetable transplanting robot does not have a self-protection function and cannot realize automatic detection and sensing of gravel when encountering a gravel condition, so that the planting mechanism cannot be protected.

[0005] Therefore, how to protect the planting mechanism when encountering a gravel condition becomes a technical problem to be solved by those skilled in the art. SUMMARY

[0006] Therefore, how to protect the planting mechanism when encountering a gravel condition becomes a technical problem to be solved by those skilled in the art.

[0007] Another object of the present application is to provide an automatic transplanting method for avoiding obstacles in a field by using the automatic transplanting device.

[0008] To achieve the above object, the present application provides the following technical scheme.

[0009] An automatic nettle transplanting device for a gravel condition, comprising:

[0010] A planting mechanism comprising a driving member and a transplanting member, the driving member and the transplanting member being drivingly connected to drive the transplanting member to move between a first position and a second position. In the first position, the transplanting member receives seedlings to be transplanted. In the second position, the transplanting member inserts the seedlings to be transplanted into a soil hole.

[0011] A vehicle body, wherein the planting mechanism is arranged on the vehicle body, and the vehicle body is used to drive the planting mechanism to move.

[0012] A detection member is arranged to detect whether the transplanting member is blocked by an obstacle during movement from the first position to the second position.

[0013] A control device is arranged to control the driving member to drive the transplanting member to move a preset distance towards the first position and then move towards the second position when the transplanting member is blocked.

[0014] Optionally, in the above-described automatic transplanting device for gravel ground, the driving member is a driving motor, and the detecting member is configured to detect the rotation speed and the number of rotations of the driving member when the transplanting member moves from the first position to the second position.

[0015] If the rotation speed of the driving member per unit time changes by more than a preset value AV, and the number of rotations of the driving member is less than a preset value N1, the transplanting member is blocked, and the preset value N1 is the number of rotations of the driving member during the movement of the transplanting member from the first position to the second position.

[0016] Optionally, in the above-described automatic transplanting device for gravel ground, the transplanting member comprises:

[0017] a seedling feeding claw configured to insert the seedling to be transplanted into the soil hole;

[0018] a seedling guide cylinder connected to the upper end of the seedling feeding claw and configured to guide the seedling to be transplanted to the seedling feeding claw;

[0019] a first control assembly connected to the driving member and controlled by the control device, and the first control assembly is arranged between the seedling guide cylinder and the seedling feeding claw, so as to control the seedling feeding claw to open when reaching the second position, so that the seedling to be transplanted falls into the soil hole.

[0020] Optionally, in the above-described automatic transplanting device for gravel ground, the device further comprises a seedling taking mechanism, and the seedling taking mechanism comprises:

[0021] a seedling raising tray arranged on the vehicle body and configured to store the seedling to be transplanted;

[0022] a transfer tray arranged on the vehicle body, and a plurality of transfer cups for carrying the seedling to be transplanted are arranged on the transfer tray and rotate thereon, and a transfer position is formed on the transfer tray, and the transplanting member corresponds to the transfer cup located in the transfer position when the transplanting member is in the first position, so as to receive the seedling to be transplanted in the transfer cup located in the transfer position;

[0023] a seedling taking shovel arranged on the vehicle body and configured to transfer the seedling to be transplanted located in the seedling raising tray to the transfer cup.

[0024] Optionally, in the above-described automatic transplanting device for gravel ground, the first position is located below the transfer position, each of the transfer cups is provided with a seedling unloading opening, and a second control assembly for controlling the communication between the seedling unloading opening and the transplanting member is arranged on the transfer position, and the second control assembly is controlled by the control device.

[0025] When the transplanting piece moves to the first position, the second control assembly controls the communication between the transfer cup at the transfer position and the transplanting piece, so that the to-be-transplanted seedling in the transfer cup falls into the transplanting piece.

[0026] Optionally, in the automatic transplanting device for gravel ground of nettle, a transmission member is connected between the driving piece and the transplanting piece, and the transmission member comprises:

[0027] A transmission sprocket is connected to the driving piece;

[0028] An eccentric wheel is connected to the transplanting piece, and is used to control the time ratio of the working stroke and the idle stroke of the transplanting piece;

[0029] A transmission chain is connected between the transmission sprocket and the eccentric wheel.

[0030] Optionally, in the automatic transplanting device for gravel ground of nettle, the planting mechanisms are symmetrically arranged on the vehicle body in two groups, and the transplanting pieces of the two groups of planting mechanisms are alternately moved to the first position to respectively receive the to-be-transplanted seedlings.

[0031] Optionally, in the automatic transplanting device for gravel ground of nettle, the vehicle body is provided with a covering mechanism, and the covering mechanism is two groups corresponding to the planting mechanisms.

[0032] An automatic transplanting method for transplanting work by an automatic transplanting device, comprising the steps of:

[0033] Seedling sending, moving the to-be-transplanted seedling along a seedling sending path from a first position to a second position;

[0034] Obstacle detection, detecting whether there is an obstacle on the seedling sending path;

[0035] Avoidance, if there is an obstacle, moving the to-be-transplanted seedling backward along the seedling sending path by a preset distance and then moving the to-be-transplanted seedling forward along the seedling sending path;

[0036] Planting, planting the to-be-transplanted seedling in a soil hole at the second position.

[0037] Optionally, in the automatic transplanting method, the obstacle detection step specifically comprises the steps of:

[0038] First detection, detecting whether the moving speed of the to-be-transplanted seedling changes;

[0039] Second detection, if the moving speed of the to-be-transplanted seedling changes, detecting whether the to-be-transplanted seedling is at the second position, if at the second position, performing the planting step, and if not at the second position, performing the avoidance step.

[0040] Optionally, in the automatic transplanting method, the moving speed of the seedling to be transplanted and whether the seedling to be transplanted is in the second position are achieved by detecting the rotating speed and the rotating number of the driving motor of the automatic transplanting device per unit time.

[0041] The first detection step specifically detects whether the rotating speed change of the driving motor per unit time is greater than a preset value ΔV, and if greater than the preset value ΔV, the moving speed of the seedling to be transplanted changes.

[0042] The second detection step specifically detects whether the number of rotations of the driving motor during the movement of the seedling to be transplanted from the first position to the second position is less than a preset value N1, and if less than the preset value N1, the seedling to be transplanted is not in the second position, and the preset value N1 is the number of rotations of the driving motor during the movement of the seedling to be transplanted from the first position to the second position.

[0043] Optionally, in the automatic transplanting method, after the planting step, the method further comprises the steps of:

[0044] Receiving the seedling, and receiving the seedling to be transplanted at the first position.

[0045] The automatic transplanting device for nettle in gravel ground provided by the application comprises a planting mechanism, a vehicle body, a detection piece and a control device. The planting mechanism comprises a driving piece and a transplanting piece, and the driving piece and the transplanting piece are drivingly connected to drive the transplanting piece to move between a first position and a second position. At the first position, the transplanting piece receives the seedling to be transplanted, and at the second position, the transplanting piece inserts the seedling to be transplanted into a soil hole. Through the driving of the driving piece, the transplanting piece can move between the first position and the second position in a cycle, and continuously inserts the seedling to be transplanted into the soil hole to complete the transplanting work. The planting mechanism is arranged on the vehicle body, and the vehicle body is used to drive the planting mechanism to move. The detection piece is used to detect whether the transplanting piece is blocked by an obstacle during the movement of the transplanting piece from the first position to the second position. When the transplanting piece is blocked, the control device controls the driving piece to drive the transplanting piece to move to the first position by a preset distance and then to the second position. Since the second position is in the soil hole below the ground in the field and is at a lower horizontal height than the first position, when the detection piece detects the existence of an obstacle that blocks the movement of the transplanting piece, the control device controls the driving piece to lift the transplanting piece to the first position, and at the same time, the vehicle body drives the transplanting piece to move horizontally, so that when the transplanting piece moves to the second position again, the obstacle can be avoided. The obstacle is gravel, bricks and the like that may exist in the field.

[0046] Compared with the prior art, the nettle automatic transplanting device for gravel ground conditions disclosed by the embodiment of the present application can automatically detect and identify whether the planting point has an obstacle, take protective measures, realize automatic obstacle avoidance, protect the transplanted seedlings, avoid damage to the transplanted seedlings, save production costs, and can ensure that the distance between the to-be-transplanted seedlings is not too large, thereby ensuring yield.

[0047] The automatic transplanting method provided by the present application is used for transplanting work by the automatic transplanting device and avoiding obstacles that may exist in the planting point during the transplanting process. The automatic transplanting method comprises a seedling sending step, an obstacle detection step, an avoidance step and a planting step. The seedling sending step specifically moves the to-be-transplanted seedlings along a seedling sending path from a first position to a second position. The obstacle detection step specifically detects whether there is an obstacle on the seedling sending path. The avoidance step specifically moves the to-be-transplanted seedlings backward along the seedling sending path by a preset distance and then moves the to-be-transplanted seedlings forward along the seedling sending path if there is an obstacle. The planting step specifically plants the to-be-transplanted seedlings in a soil hole at the second position, thereby completing the transplanting work.

[0048] Compared with the prior art, the automatic transplanting method provided by the present application can protect the planting mechanism, avoid damage to the transplanted seedlings, save production costs, and ensure that the distance between the to-be-transplanted seedlings is not too large, thereby ensuring yield. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0050] Figure 1 The first flowchart of the automatic transplanting method disclosed by the embodiment of the present application is shown in the following figure.

[0051] Figure 2 The second flowchart of the automatic transplanting method disclosed by the embodiment of the present application is shown in the following figure.

[0052] Figure 3 The structure diagram of the nettle automatic transplanting device for gravel ground conditions disclosed by the embodiment of the present application is shown in the following figure.

[0053] Figure 4 The structure diagram of the planting mechanism disclosed by the embodiment of the present application is shown in the following figure.

[0054] Among them, 100 is the planting mechanism, 110 is the driving component, 120 is the transplanting component, 121 is the seedling guide tube, 122 is the first control component, 123 is the seedling pusher, 130 is the transmission component, 131 is the transmission sprocket, 132 is the transmission chain, 133 is the eccentric wheel, 1331 is the first connecting rod, 1332 is the second connecting rod, and 134 is the guide component;

[0055] 200 refers to the vehicle body;

[0056] 300 is the seedling taking mechanism, 310 is the seedling tray, 320 is the seedling taking shovel, and 330 is the transfer tray;

[0057] 400 is the soil covering mechanism. Detailed Implementation

[0058] The core of this invention is to disclose an automatic nettle transplanting device for gravelly terrain, so as to protect the planting structure when encountering gravelly terrain.

[0059] Another core aspect of this invention is the disclosure of an automatic transplanting method, which performs transplanting operations using the aforementioned automatic transplanting device and avoids obstacles in the field.

[0060] Hereinafter, embodiments will be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the invention as described in the claims. Additionally, the complete contents of the configurations represented in the embodiments below are not limited to those necessary for the solution of the invention described in the claims.

[0061] like Figure 3 As shown in the figure, the automatic nettle transplanting device for gravelly terrain disclosed in this embodiment of the invention includes a planting mechanism 100, a vehicle body 200, a detection component, and a control device. The planting mechanism 100 includes a drive component 110 and a transplanting component 120, which are tractively connected to drive the transplanting component 120 to move between a first position and a second position. In the first position, the transplanting component 120 receives the seedling to be transplanted; in the second position, the transplanting component 120 inserts the seedling into a soil hole. Driven by the drive component 110, the transplanting component 120 can cyclically move between the first and second positions, continuously inserting the seedling into the soil hole to complete the transplanting operation. The planting mechanism 100 is mounted on the vehicle body 200, which drives the planting mechanism 100 to move. The detection component is used to detect whether the transplanting component 120 is blocked by an obstacle during its movement from the first position to the second position. When the transplanter 120 is blocked, the control device controls the drive unit 110 to drive the transplanter 120 to move a preset distance to the first position, and then to the second position.

[0062] Since the second position is in a soil hole below the ground surface of the field, which is at a lower level than the first position, when the detection member detects that there is an obstacle blocking the movement of the transplanting member 120, the control device controls the driving member 110 to lift the transplanting member 120 to the first position, and the vehicle body 200 drives the transplanting member 120 to move horizontally, so that the transplanting member 120 can avoid the obstacle when it moves to the second position again. The obstacle is gravel, bricks and the like that may exist in the field.

[0063] Compared with the prior art, the nettle automatic transplanting device for gravel ground disclosed in the embodiments of the present application can automatically detect and identify whether there is an obstacle at the planting point, take protective measures, realize automatic obstacle avoidance, protect the transplanting member 120, avoid damage to the transplanting member 120, save production cost, and can ensure that the distance between the to-be-transplanted seedlings will not be too large, thereby ensuring the yield.

[0064] Preferably, the preset distance can be set according to actual conditions, and the transplanting member 120 can avoid the obstacle only after moving (lifting) to the first position by the preset distance.

[0065] In a specific embodiment disclosed in the present application, the driving member 110 is a driving motor, and the detection member is arranged on the driving member 110 and is used to detect the rotation speed and the number of revolutions of the driving member 110 when the transplanting member 120 moves from the first position to the second position. If the rotation speed of the driving member 110 per unit time changes (deceleration) is greater than a preset value ΔV, it can be determined that the transplanting member 120 reaches the second position or is blocked by the obstacle. If the number of revolutions of the driving member 110 is less than a preset value N1, it indicates that the transplanting member 120 has not reached the second position but is blocked by the obstacle.

[0066] Preferably, the preset value N1 is the number of revolutions of the driving member 110 during the movement of the transplanting member 120 from the first position to the second position.

[0067] The detection member can be a Hall sensor, and the driving motor can be forward rotated or reversed to drive the transplanting member 120 to move upward or downward. Specifically, a limit switch can be arranged on the transplanting member 120, and when the transplanting member 120 moves upward to the highest position / first position, the limit switch will be contacted and send a detection signal, and the control device receives the detection signal and controls the transplanting member 120 to stop moving to start receiving the seedlings.

[0068] If the driving member 110 moves downward at a constant speed V1 without resistance, the deceleration AV1=dv / dt=0. When the transplanting member 120 is subjected to resistance, the speed is reduced to V2 (even 0), and the deceleration AV2=dv / dt. If |AV2| is greater than the preset value AV, and the transplanting member 120 does not move to the second position, it is indicated that the transplanting member 120 is subjected to the blocking of the obstacle; if |AV2| is greater than the preset value AV, and the transplanting member 120 moves to the second position, it is indicated that the transplanting member 120 reaches the planting point, and planting can be performed. If |AV2| is less than or equal to the preset value AV, the cycle judgment is continued.

[0069] Due to the different looseness of the soil at different places, if the speed of the driving member 110 becomes V3 after the transplanting member 120 enters the soil, the deceleration AV3=dv / dt, and the preset value AV>|AV3|, so as to avoid the speed change of the transplanting member 120 when entering the soil, which is defined as the speed change caused by the obstacle, so that the transplanting member 120 cannot enter the soil. V3 can be set according to the actual situation.

[0070] The driving member 110 can also be a driving cylinder. Specifically, the transplanting member 120 is installed on the piston rod of the driving cylinder, and the piston rod can drive the transplanting member 120 to move between the first position and the second position. When it is detected that the downward movement of the piston rod is subjected to resistance (for example, the pressure of the upward gas path or the downward gas path of the piston rod changes), whether the transplanting member 120 moves to the second position is determined by detecting the stroke of the piston rod, so as to determine whether the transplanting member 120 is subjected to the blocking of the obstacle. If it is subjected to the blocking, the driving cylinder drives the transplanting member 120 to move upward by a preset distance, and then moves downward to the second position to avoid the obstacle.

[0071] As understood by those skilled in the art, the detection member can also be a visual camera arranged on the transplanting member 120. The visual camera can detect whether there is an obstacle on the seedling sending path. If the visual camera detects an obstacle on the seedling sending path in advance, the transplanting member 120 is controlled to stop moving downward, and after the vehicle body 200 moves forward and avoids the obstacle, the downward movement for transplanting is continued, and the lifting action can be unnecessary.

[0072] In combination Figure 4The transplanting component 120 disclosed in this embodiment of the invention includes a seedling guide tube 121, a seedling delivery pusher 123, and a first control component 122. The seedling delivery pusher 123 is used to receive the seedling to be transplanted when it moves to a first position and to insert it into the soil hole when it moves to a second position. The seedling guide tube 121 is connected to the upper end of the seedling delivery pusher 123 and is used to guide the seedling to be transplanted into the seedling delivery pusher 123. The first control component 122 is connected to the drive component 110 and is controlled by the control device. The first control component 122 is disposed between the seedling guide tube 121 and the seedling delivery pusher 123 so that when the second position is reached, it controls the seedling delivery pusher 123 to open, so that the seedling to be transplanted falls into the soil hole.

[0073] Specifically, the first control component 122 includes a solenoid valve. When the planting conditions are met (the transplanter 120 moves to the second position), the solenoid valve is energized and the valve rod pulls the seedling pusher 123 to open. When the planting conditions are not met, the solenoid valve is de-energized and the seedling pusher 123 is reset and closed by a spring.

[0074] like Figure 4 As shown, the seedling guide tube 121 is a hollow cylindrical structure that communicates with the seedling delivery pusher 123. The drive unit 110 can also be connected to the seedling guide tube 121 or the seedling delivery pusher 123, as long as it can drive the planting mechanism 100 to move without affecting the function of the seedling guide tube 121 and the seedling delivery pusher 123.

[0075] Combination Figure 3 The automatic nettle transplanting device for gravelly terrain disclosed in this invention further includes a seedling retrieval mechanism 300 for delivering seedlings into the seedling guide tube 121. The seedling retrieval mechanism 300 includes a seedling tray 310, a transfer tray 330, and a seedling retrieval shovel 320. The seedling tray 310 is mounted on the vehicle body 200 and is used to store seedlings to be transplanted. The transfer tray 330 is mounted on the vehicle body 200, and multiple transfer cups for carrying seedlings to be transplanted are rotatably mounted on the transfer tray 330. A transfer position is formed on the transfer tray 330. When the transplanting component 120 is in the first position, it corresponds to the transfer cup located in the transfer position to receive the seedling to be transplanted in the transfer cup located in the transfer position. The seedling shovel 320 is mounted on the vehicle body 200 and can transfer the seedlings to be transplanted from the seedling tray 310 into the transfer cup.

[0076] The transfer plate 330 is equipped with a transfer position. After the seedling shovel 320 transfers the seedlings to be transplanted from the seedling tray 310 to the transfer position, the seedlings to be transplanted at the transfer position move to the transfer position with the rotation of the transfer cup, and then the subsequent transplanting operation is carried out.

[0077] Further, the first position is below the transfer position, each transfer cup is provided with a seedling discharging port, and a second control assembly for controlling the seedling discharging port of each transfer cup and the transplanting member 120 is arranged at the bottom of the transfer position and is controlled by a control device. When the transplanting member 120 moves to the first position and one transfer cup rotates to the transfer position, the second control assembly controls the seedling discharging port of the transfer cup to open, so that the seedling to be transplanted in the transfer cup falls into the seedling guide cylinder 121 of the transplanting member 120 under the action of gravity.

[0078] The second control assembly can be a solenoid valve, and the seedling to be transplanted in the transfer cup can also be moved into the seedling guide cylinder 121 of the transplanting member 120 by a gripper. Those skilled in the art can understand that the seedling to be transplanted can also be provided by a planting vehicle or other equipment / mechanism parallel to the automatic transplanting device.

[0079] As shown in Figure 4 , a transmission member 130 for transmission is connected between the driving member 110 and the transplanting member 120, and the transmission member 130 includes a transmission sprocket 131, an eccentric wheel 133 and a transmission chain 132.

[0080] The transmission sprocket 131 is in transmission connection with the driving member 110, and the eccentric wheel 133 is connected with the transplanting member 120 for controlling the time ratio of the working (planting) stroke and the empty (picking up seedlings) stroke of the transplanting member 120. In the working stroke, the transplanting member 120 moves with the seedling to be transplanted from the first position to the second position to plant the seedling; in the empty stroke, the transplanting member 120 is empty and moves from the second position to the first position to pick up the seedling. The transmission chain 132 is connected between the transmission sprocket 131 and the eccentric wheel 133 for transmission of the two.

[0081] The time ratio between the working stroke and the empty stroke can be adjusted by reasonably designing the structure of the eccentric wheel 133, for example, slowing down the working stroke can slow down the collision effect between the planting mechanism 100 and the gravel, and speeding up the empty stroke can shorten the overall working time.

[0082] As shown in Figure 3 , the eccentric wheel 133 is provided with a connecting rod, the connecting rod includes a first connecting rod 1331 and a second connecting rod 1332, the first connecting rod 1331 and the second connecting rod 1332 are connected, and the second connecting rod 1332 is connected with the transplanting member 120 through a guide rod 134, and the guide rod 134 can guide the working stroke and the empty stroke of the transplanting member 120.

[0083] In combination with Figure 3 , the planting mechanism 100 is symmetrically arranged on the vehicle body 200 in two groups, and the transplanting members 120 of the two groups of planting mechanisms 100 are respectively moved to the first position by the respective corresponding driving members 110 to alternately receive the seedlings to be transplanted and perform double-row transplanting.

[0084] In order to avoid the roots of the seedlings to be transplanted exposed, the soil covering mechanism 400 is arranged on the vehicle body 200, as shown in the figure. Figure 3 The planting mechanism 100 is arranged on the vehicle body 200, and the soil covering mechanism 400 is arranged on the vehicle body 200.

[0085] The auxiliary mechanism can be arranged on the vehicle body 200 to assist the transplanting operation.

[0086] The control program of the nettle automatic transplanting device for gravel ground disclosed in the embodiment of the application can be divided into a manual mode and an automatic mode.

[0087] In a specific embodiment disclosed in the application, the nettle automatic transplanting device for gravel ground is used for planting nettle seedlings.

[0088] The driving motor is reversed, and the transplanting part 120 is raised. If the Hall sensor detects that the motor deceleration (speed change per unit time) exceeds the set value AV, and the number of motor forward rotations N is greater than or equal to the preset value N1, it is considered that the seedling pushing claw 123 of the transplanting part 120 has reached the soil hole of the set depth, at this time, the corresponding planting electromagnetic valve (the first control assembly 122) is controlled to open the seedling pushing claw 123, and the nettle seedling is placed into the soil hole, the planting is completed, and the next cycle is started. If the Hall sensor detects that the motor deceleration exceeds the set value AV, but the number of motor forward rotations N is less than the preset value N1, it is considered that there is an obstacle in the planting point, the protection measure is started, the motor is reversed by N2 turns (N2 is less than N1), the transplanting part 120 is lifted, the seedling pushing claw 123 is separated from the ground, the transplanting part 120 is protected, then the motor is forward rotated by at least (N1-N+N2) turns, and reaches the soil hole of the set depth, the seedling pushing claw 123 is opened again, and the planting is continued, so that the distance between the nettle seedlings is not too large, and the yield is improved.

[0089] If the control device receives a manual stop instruction during the process, the operation is directly stopped.

[0090] In combination with the above description, the control program of the nettle automatic transplanting device for gravel ground is described in detail. Figure 1The automatic transplanting method disclosed by the embodiment of the present application is used for transplanting work by the automatic transplanting device and avoiding obstacles possibly existing in the planting point in the transplanting process, and comprises a seedling feeding step, an obstacle detection step, an avoiding step and a planting step.

[0091] S10, feeding seedlings;

[0092] The to-be-transplanted seedlings are moved along the seedling feeding path from the first position to the second position.

[0093] Specifically, the driving member 110 of the automatic transplanting device can drive the transplanting member 120 to move along the seedling feeding path from the first position to the second position, and drive the transplanting member 120 to move. The first position can be a seedling receiving point provided with the seedling taking mechanism 300, and the transplanting member 120 can receive the to-be-transplanted seedlings at the first position, and the second position can be a field planting point. Through S10, the to-be-transplanted seedlings can be transplanted from the storage position to the soil hole.

[0094] S20, obstacle detection;

[0095] Whether there is an obstacle on the seedling feeding path is detected.

[0096] The detection member can detect whether there is an obstacle on the seedling feeding path, and then the avoiding can be performed when it is detected that there is an obstacle, so as to avoid damaging the transplanting member 120.

[0097] S30, avoiding;

[0098] If there is an obstacle, the to-be-transplanted seedlings are moved backward along the seedling feeding path by a preset distance and then moved forward along the seedling feeding path.

[0099] Specifically, the transplanting member 120 moves backward along the seedling feeding path by a preset distance and then moves forward along the seedling feeding path until the transplanting member 120 moves to the second position and completes the seedling planting. During the backward movement of the transplanting member 120 by the preset distance and the forward movement, the vehicle body 200 drives the transplanting member 120 to move horizontally forward, and when the transplanting member 120 moves downward again, the obstacle can be avoided. If there is a new obstacle during the downward movement or the previous obstacle is too large and cannot be completely avoided, the above-mentioned action is repeated until the to-be-transplanted seedlings are planted in the soil hole. The preset distance can be set according to the actual situation, and the transplanting member 120 only needs to move (lift) by the preset distance to avoid the obstacle.

[0100] S40, planting;

[0101] In the second position, the to-be-transplanted seedlings are planted in the soil hole, and the transplanting work is completed.

[0102] In combination Figure 4 The to-be-transplanted seedlings of the transplanting member 120 are planted in the soil hole.

[0103] Compared with the prior art, the automatic transplanting method disclosed by the embodiment of the application can protect the planting mechanism 100 and avoid damage to the transplanting piece 120, save production cost, and ensure that the distance between the to-be-transplanted seedlings is not too large and the yield is ensured.

[0104] As shown in Figure 2 S20 specifically includes the following steps:

[0105] S21, first detection;

[0106] The change of the moving speed of the to-be-transplanted seedling is detected. If the moving speed of the to-be-transplanted seedling changes, it indicates that the to-be-transplanted seedling enters the soil hole (reaches the second position) or is blocked by an obstacle.

[0107] S22, second detection;

[0108] If the moving speed of the to-be-transplanted seedling changes, it is detected whether the to-be-transplanted seedling is at the second position. If it is at the second position, it indicates that there is no obstacle, and the subsequent S40 can be normally performed; if it is not at the second position, it indicates that the to-be-transplanted seedling is blocked by the obstacle on the ground and cannot continue to descend to the second position, and S30 needs to be performed.

[0109] The moving speed of the to-be-transplanted seedling and whether it is at the second position can be realized by detecting the rotating speed and the number of rotations of the driving motor of the automatic transplanting device.

[0110] S21 specifically includes detecting, by the detection piece, whether the change of the rotating speed of the driving motor per unit time is greater than a preset value AV. If the change of the rotating speed of the driving piece 110 per unit time is greater than the preset value AV, it indicates that the moving speed of the to-be-transplanted seedling changes, and the transplanting piece 120 may be blocked or enter the soil hole.

[0111] The preset value AV can be set according to actual conditions. The preset value AV is the change value of the rotating speed per unit time. When the to-be-transplanted seedling is blocked by the obstacle or enters the soil hole, the speed of the driving motor gradually decreases and even becomes 0.

[0112] S22 specifically includes detecting, by the detection piece, whether the number of rotations of the driving motor during the seedling feeding step is less than a preset value N1. The preset value N1 is the number of rotations of the driving motor during the movement of the to-be-transplanted seedling from the first position to the second position. If it is less than the preset value N1, it indicates that the planting mechanism 100 is not at the second position and is blocked by the obstacle.

[0113] Because the field ground is rugged and uneven and the soil hardness has differences, the number of rotations of the driving motor during the movement of the to-be-transplanted seedling from the first position to the second position may have differences at different positions, so the preset value N1 can be designed according to actual conditions.

[0114] When S10 and S40 are performed by the automatic transplanting device, S10 is specifically that the seedling guide cylinder 121 receives the seedling to be transplanted at the first position and guides the seedling to be transplanted into the seedling pushing paw 123, and the seedling pushing paw 123 drives the seedling to be transplanted to move to the second position. S40 is specifically that at the second position, the first control assembly 122 controls the seedling pushing paw 123 to open and drop the seedling to be transplanted into the soil hole.

[0115] In order to realize the reciprocating movement of the transplanting part 120 between the first position and the second position, the automatic transplanting method disclosed by the embodiment of the application further comprises the steps of:

[0116] S50, receiving the seedling;

[0117] The transplanting part 120 receives the seedling to be transplanted at the first position.

[0118] Specifically, the driving motor drives the transplanting part 120 to move from the second position to the first position to receive the seedling to be transplanted again, and the step S10 is performed, and the field transplanting operation is continuously completed with the movement of the vehicle body 200.

[0119] The terms "first" and "second" and the like in the specification and claims of the present application are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not set to the listed steps or units, but can include steps or units not listed.

[0120] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic nettle transplanting device for gravelly terrain, characterized in that, include: The planting mechanism (100) includes a drive (110) and a transplanter (120), the drive (110) and the transplanter (120) being convexly connected to drive the transplanter (120) to move between a first position and a second position. In the first position, the transplanter (120) receives the seedling to be transplanted, and in the second position, the transplanter (120) inserts the seedling to be transplanted into a hole in the soil. The vehicle body (200) is provided with the planting mechanism (100) mounted on the vehicle body (200), and the vehicle body (200) is used to drive the planting mechanism (100) to move. The detection component is used to detect whether the transplanting component (120) is blocked by an obstacle during the process of moving from the first position to the second position; When the transplanter (120) is blocked, the control device controls the drive (110) to drive the transplanter (120) to move a preset distance to the first position and then to the second position; The driving component (110) is a drive motor, and the detection component is used to detect the rotation speed and number of revolutions of the driving component (110) when the transplanting component (120) moves from the first position to the second position; If the rotational speed change of the drive member (110) per unit time is greater than a preset value ΔV, and the number of rotations of the drive member (110) is less than a preset value N1, then the transplanting member (120) is blocked. The preset value N1 is the number of rotations of the drive member (110) during the process of the transplanting member (120) moving from the first position to the second position.

2. The automatic nettle transplanting device for gravelly terrain as described in claim 1, characterized in that, The transplanting component (120) includes: The seedling pusher (123) is used to insert the seedlings to be transplanted into the soil hole; The seedling guide tube (121) is connected to the upper end of the seedling delivery pusher (123) and is used to guide the seedling to be transplanted to the seedling delivery pusher (123). The first control component (122) is connected to the drive component (110) and its operation is controlled by the control device. The first control component (122) is located between the seedling guide tube (121) and the seedling pusher (123) so that when the second position is reached, the seedling pusher (123) is opened so that the seedling to be transplanted falls into the soil hole.

3. The automatic nettle transplanting device for gravelly terrain as described in claim 1, characterized in that, It also includes a seedling-collecting mechanism (300), which includes: A seedling tray (310) is set on the vehicle body (200) for storing seedlings to be transplanted; A transfer tray (330) is disposed on the vehicle body (200), and a plurality of transfer cups for carrying seedlings to be transplanted are rotatably disposed on the transfer tray (330). A transfer position is formed on the transfer tray (330). When the transplanting component (120) is in the first position, it corresponds to the transfer cup located in the transfer position to receive the seedling to be transplanted in the transfer cup located in the transfer position. A seedling shovel (320) is mounted on the vehicle body (200) and is used to transfer the seedlings to be transplanted from the seedling tray (310) to the transfer cup.

4. The automatic nettle transplanting device for gravelly terrain as described in claim 3, characterized in that, The first position is located below the transfer station. Each of the transfer cups is provided with a seedling discharge port. The transfer station is provided with a second control component for controlling the connection between the seedling discharge port and the transplanting component (120). The second control component is controlled by the control device. When the transplanter (120) moves to the first position, the second control component controls the transfer cup located at the transfer position and the transplanter (120) to communicate, so that the seedling to be transplanted in the transfer cup falls into the transplanter (120).

5. The automatic nettle transplanting device for gravelly terrain as described in any one of claims 1 to 4, characterized in that, A transmission member (130) is connected between the driving member (110) and the transplanting member (120), the transmission member (130) comprising: A transmission sprocket (131) is connected to the drive member (110) for transmission. An eccentric wheel (133) is connected to the transplanting component (120) and is used to control the time ratio of the working stroke and idle stroke of the transplanting component (120); A transmission chain (132) is connected between the transmission sprocket (131) and the eccentric wheel (133).

6. The automatic nettle transplanting device for gravelly terrain as described in any one of claims 1 to 4, characterized in that, The planting mechanism (100) consists of two sets symmetrically arranged on the vehicle body (200), and the transplanting components (120) of the two sets of planting mechanisms (100) alternately move to the first position to receive the transplanted seedlings respectively.

7. The automatic nettle transplanting device for gravelly terrain as described in claim 6, characterized in that, The vehicle body (200) is provided with a soil covering mechanism (400), which consists of two sets corresponding to the planting mechanism (100).

8. An automatic transplanting method for performing transplanting operations using an automatic transplanting device, characterized in that, Including the following steps: The seedling delivery involves moving the seedlings to be transplanted from the first position to the second position along a delivery path. Obstacle detection: Detecting whether there are obstacles on the seedling delivery path; If there is an obstacle, the seedling to be transplanted will be moved against the seedling delivery path for a preset distance before moving forward along the seedling delivery path. Planting: In the second position, plant the seedling to be transplanted in the hole; The obstacle detection step specifically includes the following steps: The first test is to check whether the moving speed of the seedling to be transplanted has changed; The second detection involves checking whether the seedling to be transplanted is in the second position if its moving speed changes. If it is in the second position, the planting step is performed; otherwise, the avoidance step is performed.

9. The automatic transplanting method as described in claim 8, characterized in that, The moving speed of the seedling to be transplanted and whether it is in the second position are achieved by detecting the change in rotation speed and the number of rotations of the drive motor of the automatic transplanting device per unit time; The first detection step specifically involves detecting whether the change in rotational speed of the drive motor per unit time is greater than a preset value ΔV. If it is greater than the preset value ΔV, the moving speed of the seedling to be transplanted changes. The second detection step specifically involves detecting whether the number of revolutions the drive motor makes during the process of the seedling to be transplanted moving from the first position to the second position is less than a preset value N1. If it is less than the preset value N1, then the seedling to be transplanted is not in the second position. The preset value N1 is the number of revolutions the drive motor makes during the process of the seedling to be transplanted moving from the first position to the second position.

10. The automatic transplanting method as described in claim 8 or 9, characterized in that, The following steps are included after the planting step: The seedling is received at the first position.

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