An automatic transplanting device and automatic transplanting method for stinging nettle

Abstract

The automatic transplanting device and method for nettle disclosed by the application relate to the field of planting industry and agricultural equipment technology, and the device comprises a planting mechanism, a vehicle body, a pressure sensor and a control device. A driving part of the planting mechanism drives a transplanting part to move between a first position and a second position. In the first position, the transplanting part receives a seedling to be transplanted, and in the second position, the transplanting part inserts the seedling to be transplanted into a soil hole. The planting mechanism is arranged on the vehicle body. The pressure sensor is used to detect the pressure change of the rod cavity of the driving cylinder during the movement of the transplanting part from the first position to the second position. The control device can determine whether the transplanting part is blocked by an obstacle according to the pressure detected by the pressure sensor. When the transplanting part is blocked, the control device controls the piston rod to drive the transplanting part to move a preset distance towards the first position, and then moves towards the second position, and simultaneously, the vehicle body drives the transplanting part to move horizontally, so that the transplanting part can avoid the obstacle when moving towards the second position again.

Description

TECHNICAL FIELD

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

[0002] The cultivation method using seedling transplanting can prolong the growth period of crops, improve the drought and disaster resistance, prevent diseases and pests, and increase the yield and quality of crops. Stinging nettle is a high-quality livestock feed, but due to the complex ground conditions in some stinging nettle planting areas, there are many gravel. If there is gravel in the planting process, 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, thereby reducing the yield. If artificial seedlings are supplemented, stinging nettle will sting people, and there is no special seedling taking mechanism for stinging nettle transplanting at present. On the other hand, it will damage the seedling pushing claw of the planting mechanism and increase the production cost.

[0003] The prior art discloses a seedling protection transplanting device for agricultural machinery and a use method. The top surface of the mobile platform is provided with an equal-interval transplanting mechanism. The equal-interval transplanting mechanism is provided with a seedling throwing mechanism. The seedling throwing mechanism is connected with an auxiliary protection mechanism at the discharging end. One end of the equal-interval transplanting mechanism is provided with a protection structure supply mechanism located on the top surface of the mobile platform. The invention realizes equal intervals between adjacent transplanted seedlings through the equal-interval transplanting mechanism, avoids the problem of mutual extrusion of seedlings after growth, reduces the labor cost of later maintenance, and reduces the loss. The cooperation of the seedling throwing mechanism and the auxiliary protection mechanism realizes the transplanting of seedlings into the hole, and makes each seedling enter the transplanted 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 invention does not have a self-protection function, and cannot realize automatic detection and perception of gravel when encountering gravel ground conditions, thereby realizing self-protection of the planting mechanism.

[0004] The prior art also discloses an automatic transplanting robot for self-adaptive ridges and a transplanting method thereof, comprising 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 transplanting robot can realize automatic tracking walking, automatic leveling of the moving chassis and automatic transplanting integration function. The automatic transplanting robot can also ensure that the moving chassis is in a horizontal state and maintains a preset distance from the ridges to perform the transplanting operation under various ridge working conditions, such as the ridges in hilly areas with slopes, various different ridge widths and adjacent ridge spacings, thereby ensuring the high straightness of the seedlings after transplanting under various ridge working conditions, reducing the damage rate of the seedlings in the transplanting process, reducing the labor cost and widening the application range of a single fixed-size transplanting robot. However, the automatic transplanting robot does not have a self-protection function and cannot realize automatic detection and sensing of gravel when encountering gravel ground conditions, and thus cannot realize self-protection of the planting mechanism.

[0005] Therefore, how to realize protection of the planting mechanism when encountering gravel ground conditions becomes a technical problem to be solved by those skilled in the art. SUMMARY

[0006] Therefore, how to realize protection of the planting mechanism when encountering gravel ground conditions 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 performing the transplanting operation by the automatic transplanting device and avoiding the field obstacles.

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

[0009] An automatic transplanting device for stinging nettle, comprising:

[0010] A planting mechanism comprising a driving member and a transplanting member, wherein the driving member comprises a driving cylinder, a piston rod of the driving cylinder is connected with the transplanting member to drive the transplanting member to move between a first position and a second position, at the first position, the transplanting member receives seedlings to be transplanted, at 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 pressure sensor is used to detect the pressure of a rod cavity of the driving cylinder during movement of the transplanting member from the first position to the second position;

[0013] A control device is used to determine whether the transplanting member is blocked by an obstacle according to the pressure detected by the pressure sensor, and when the transplanting member is blocked, the piston rod drives the transplanting member to move a preset distance towards the first position and then move towards the second position.

[0014] Optionally, in the automatic transplanting device for nettle as described above, the driving member further comprises a switching valve for controlling the on-off state of the uplink gas path and downlink gas path of the driving cylinder;

[0015] When the switching valve is in the first state, the uplink gas path is in communication with the gas source, the downlink gas path is disconnected from the gas source, and the piston rod drives the transplanting member to move to the first position; when the switching valve is in the second state, the uplink gas path is disconnected from the gas source, the downlink gas path is in communication with the gas source, and the piston rod drives the transplanting member to move to the second position;

[0016] The switching valve is controlled by the control device to switch states, when the transplanting member is blocked, the control device controls the switching valve to switch to the first state, and the control device controls the switching valve to switch to the second state after the transplanting member moves to the first position by the preset distance.

[0017] Optionally, in the automatic transplanting device for nettle as described above, the collection end of the pressure sensor is in communication with the uplink gas path, and the uplink gas path is in communication with the rod cavity of the driving cylinder;

[0018] If the pressure of the uplink gas path is less than a preset value N, the transplanting member is blocked by an obstacle, and the preset value N is the pressure value of the uplink gas path when the transplanting member normally moves downward and is not blocked by an obstacle.

[0019] Optionally, in the automatic transplanting device for nettle as described above, further comprising a first magnetic switch for detecting whether the piston rod moves to the lower dead center H1, when the piston rod moves to the lower dead center H1, the transplanting member moves to the second position;

[0020] If the pressure of the uplink gas path is less than the preset value N, and the piston rod moves to the lower dead center H1, the control device controls the transplanting member to plant seedlings; if the pressure of the uplink gas path is less than the preset value N, and the piston rod does not move to the lower dead center H1, the transplanting member is blocked by an obstacle.

[0021] Optionally, in the automatic transplanting device for nettle as described above, further comprising a second magnetic switch for detecting whether the piston rod moves to the upper dead center H2, when the piston rod moves to the upper dead center H2, the transplanting member moves to the first position.

[0022] Optionally, in the automatic transplanting device for nettle as described above, the transplanting member comprises:

[0023] A seedling pushing claw for inserting the seedling to be transplanted into the soil hole;

[0024] A guide cylinder is connected to the upper end of the seedling pushing paw, and is used to guide the seedling to be transplanted to the seedling pushing paw.

[0025] A first control assembly is connected to the piston rod and is controlled by the control device. The first control assembly is arranged between the guide cylinder and the seedling pushing paw, so as to control the seedling pushing paw to open when reaching the second position, so that the seedling to be transplanted falls into the hole.

[0026] Optionally, in the automatic transplanting device for stinging nettle as described above, the seedling taking mechanism comprises:

[0027] A seedling raising tray is arranged on the vehicle body and is used to store the seedling to be transplanted.

[0028] A transfer disc is arranged on the vehicle body, and a plurality of transfer cups for carrying the seedling to be transplanted are arranged on the transfer disc. A transfer position is formed on the transfer disc. When the transplanting member is in the first position, it corresponds to the transfer cup in the transfer position, so as to receive the seedling to be transplanted in the transfer cup in the transfer position.

[0029] A seedling taking shovel is arranged on the vehicle body, and is used to transfer the seedling to be transplanted on the seedling raising tray to the transfer cup.

[0030] Optionally, in the automatic transplanting device for stinging nettle as described above, the first position is below the transfer position. Each of the transfer cups is provided with a seedling unloading port. A second control assembly is arranged on the transfer position and is used to control the communication between the seedling unloading port and the transplanting member. The second control assembly is controlled by the control device.

[0031] When the transplanting member moves to the first position, the second control assembly controls the communication between the transfer cup in the transfer position and the transplanting member, so that the seedling to be transplanted in the transfer cup falls into the transplanting member.

[0032] Optionally, in the automatic transplanting device for stinging nettle as described above, the planting mechanism is symmetrically arranged on the vehicle body in two groups. The transplanting members of the two groups of planting mechanisms are alternately moved to the first position to respectively receive the seedling to be transplanted.

[0033] Optionally, in the automatic transplanting device for stinging nettle as described above, the vehicle body is provided with a covering mechanism, and the covering mechanism is arranged in two groups corresponding to the planting mechanism.

[0034] An automatic transplanting method is used for transplanting operation by an automatic transplanting device. The automatic transplanting device comprises a driving cylinder, a transplanting member, a pressure sensor and a control device. The transplanting member is connected to the piston rod of the driving cylinder. The method comprises the following steps:

[0035] seedling feeding, the driving cylinder drives the transplanting member to move the seedling feeding path of the seedling to be transplanted from the first position to the second position, at the first position, the transplanting member receives the seedling to be transplanted, at the second position, the transplanting member inserts the seedling to be transplanted into the soil hole;

[0036] obstacle detection, the pressure sensor detects the pressure of the driving cylinder rod cavity when the transplanting member moves along the seedling feeding path, the control device determines whether the transplanting member is blocked by the obstacle according to the pressure detected by the pressure sensor;

[0037] avoidance, if the transplanting member is blocked by the obstacle, the control device controls the transplanting member to move backward along the seedling feeding path for a preset distance and then move forward along the seedling feeding path;

[0038] planting, at the second position, the transplanting member plants the seedling to be transplanted in the soil hole.

[0039] Optionally, in the automatic transplanting method described above, after the obstacle detection step and before the avoidance step, the method further comprises the following steps:

[0040] position detection, if the transplanting member is blocked by the obstacle, the first magnetic switch detects whether the piston rod moves to the lower dead point H1, when the piston rod moves to the lower dead point H1, the transplanting member moves to the second position;

[0041] if the piston rod moves to the lower dead point H1, the planting step is performed, if the piston rod does not move to the lower dead point H1, the avoidance step is performed.

[0042] Optionally, in the automatic transplanting method described above, the obstacle detection step specifically comprises detecting the pressure change of the driving cylinder uplink through the pressure sensor, the uplink is in communication with the driving cylinder rod cavity;

[0043] if the pressure of the uplink is less than a preset value N, and the position detection step detects that the transplanting member does not move to the second position, the transplanting member is blocked by the obstacle, the avoidance step is performed, if the pressure of the uplink is less than the preset value N, and the position detection step detects that the transplanting member moves to the second position, the transplanting member is not blocked by the obstacle, the planting step is performed, the preset value N is the pressure value of the uplink when the transplanting member normally moves downward and is not blocked by the obstacle.

[0044] Optionally, in the automatic transplanting method described above, after the planting step, the method further comprises the following steps:

[0045] seedling receiving, the transplanting member receives the seedling to be transplanted at the first position.

[0046] The automatic transplanting device for nettle provided by the present application comprises a planting mechanism, a vehicle body, a pressure sensor and a control device. The planting mechanism comprises a driving member and a transplanting member. The driving member comprises a driving cylinder. The piston rod of the driving cylinder is connected with the transplanting member to drive the transplanting member to move between a first position and a second position. At the first position, the transplanting member receives the seedling to be transplanted. At the second position, the transplanting member inserts the seedling to be transplanted into a soil hole. Through the driving of the driving cylinder, the transplanting member can cyclically move between the first position and the second position, 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 pressure sensor is used to detect the pressure change of the rod cavity of the driving cylinder during the movement of the transplanting member from the first position to the second position. During the normal movement of the piston rod, the pressure of the rod cavity is a fixed value. If the transplanting member touches an obstacle during the downward movement, the transplanting member will be subjected to resistance, and then the piston rod will be subjected to resistance, so that the downward speed of the piston rod changes, and the pressure of the rod cavity decreases. The control device can determine whether the transplanting member is blocked by an obstacle through the pressure (numerical change) detected by the pressure sensor. When the transplanting member is blocked, the control device controls the piston rod to drive the transplanting member to move to the first position by a preset distance, and then move to the second position, so as to avoid the obstacle. Since the second position is in the soil hole below the ground in the field, the second position is at a lower horizontal height than the first position, so that the piston rod drives the transplanting member to move up and down between the first position and the second position. When the pressure sensor detects that there is an obstacle blocking the downward movement of the transplanting member, the control device controls the driving cylinder to lift the transplanting member to the first position, and the vehicle body drives the transplanting member to move horizontally, so that the transplanting member can avoid the obstacle when moving to the second position again. The obstacle is gravel, bricks and the like that may exist in the field.

[0047] Compared with the prior art, the automatic transplanting device for nettle disclosed in the embodiment 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, avoid damage to the transplanting member, save production cost, and can ensure that the distance between the seedlings to be transplanted is not too large, thereby ensuring the yield.

[0048] The automatic transplanting method provided by the application comprises a seedling feeding step, an obstacle detection step, an avoidance step and a transplanting step. The seedling feeding step specifically refers to driving a cylinder to drive a transplanting part to move the seedling to be transplanted along a seedling feeding path from a first position to a second position. In the first position, the transplanting part receives the seedling to be transplanted, and in the second position, the transplanting part inserts the seedling to be transplanted into a soil hole. The obstacle detection step specifically refers to detecting the pressure of the rod cavity of the driving cylinder when the transplanting part moves along the seedling feeding path by a pressure sensor. The control device judges whether the transplanting part is blocked by an obstacle according to the pressure (numerical change) detected by the pressure sensor. The avoidance step specifically refers to controlling the control device to control the transplanting part to move backward along the seedling feeding path by a preset distance and then move forward along the seedling feeding path again if the transplanting part is blocked by an obstacle. The transplanting step specifically refers to planting the seedling to be transplanted in the soil hole by the transplanting part in the second position, thereby completing the transplanting operation.

[0049] Compared with the prior art, the automatic transplanting method provided by the application can protect the planting mechanism, avoid damage to the transplanting part, save production cost, and ensure that the distance between the seedlings to be transplanted is not too large, thereby ensuring the yield. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0051] Figure 1 The first flow chart of the automatic transplanting method disclosed by the embodiments of the application;

[0052] Figure 2 The second flow chart of the automatic transplanting method disclosed by the embodiments of the application;

[0053] Figure 3 The structure schematic diagram of the automatic transplanting device for nettle disclosed by the embodiments of the application;

[0054] Figure 4 The structure schematic diagram of the planting mechanism disclosed by the embodiments of the application.

[0055] Among them, 100 is the planting mechanism, 110 is the driving cylinder, 111 is the downward air path, 112 is the upward air path, 113 is the second magnetic switch, 114 is the first magnetic switch, 120 is the switching valve, 130 is the pressure sensor, 140 is the transplanting part, 141 is the seedling guide cylinder, 142 is the first control assembly, and 143 is the seedling feeding claw.

[0056] 200 is the vehicle body.

[0057] 300 is the seedling taking mechanism, 310 is the seedling tray, 320 is the seedling taking shovel, and 330 is the transfer tray;

[0058] 400 is the soil covering mechanism. Detailed Implementation

[0059] The core of this invention is to disclose an automatic transplanting device for nettles, which protects the planting structure when encountering gravelly terrain.

[0060] 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.

[0061] 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.

[0062] like Figure 3 As shown, the automatic transplanting device for nettle disclosed in this embodiment of the invention includes a planting mechanism 100, a vehicle body 200, a pressure sensor 130, and a control device. The planting mechanism 100 includes a driving component and a transplanting component 140. The driving component includes a driving cylinder 110, the piston rod of which is connected to the transplanting component 140 to drive the transplanting component 140 to move between a first position and a second position. In the first position, the transplanting component 140 receives the seedling to be transplanted; in the second position, the transplanting component 140 inserts the seedling into a soil hole. Driven by the driving cylinder 110, the transplanting component 140 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 pressure sensor 130 is used to detect the pressure change in the rod chamber of the driving cylinder 110 during the process of the transplanting component 140 moving from the first position to the second position. During normal piston rod movement, the pressure in the rod chamber remains constant. If the transplanting component 140 encounters an obstacle during its descent, it will experience resistance, which in turn will cause resistance to the piston rod, resulting in a change in its descent speed and a decrease in the pressure in the rod chamber. The control device can determine whether the transplanting component 140 is obstructed by an obstacle by measuring the pressure (value change) through the pressure sensor 130. When the transplanting component 140 is obstructed, the control device controls the piston rod to move the transplanting component 140 a preset distance to the first position, and then to the second position, thereby avoiding the obstacle.

[0063] Since the second position is in a soil hole below the ground surface in the field, the second position is at a lower level than the first position, the piston rod drives the transplanting piece 140 to move up and down between the first position and the second position. When it is detected by the pressure sensor 130 that there is an obstacle blocking the downward movement of the transplanting piece 140, the control device controls the driving cylinder to lift the transplanting piece 140 to the first position, and the vehicle body 200 drives the transplanting piece 140 to move horizontally, so that the transplanting piece 140 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.

[0064] Compared with the prior art, the automatic transplanting device for stinging nettle 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 piece 140, avoid damage to the transplanting piece 140, save production cost, and can ensure that the distance between the to-be-transplanted seedlings will not be too large, thereby ensuring the yield.

[0065] The preset distance can be set according to actual conditions, and the transplanting piece 140 can avoid the obstacle only after being moved (lifted) to the first position by the preset distance.

[0066] In a specific embodiment disclosed in the present application, the driving piece further comprises a switching valve 120 for controlling the on-off state of the uplink air path 112 and the downlink air path 111 of the driving cylinder 110, when the switching valve 120 is in the first state, the uplink air path 112 is in communication with the air source, and the downlink air path 111 is disconnected from the air source, the piston rod drives the transplanting piece 140 to move to the first position; when the switching valve 120 is in the second state, the uplink air path 112 is disconnected from the air source, and the downlink air path 111 is in communication with the air source, the piston rod drives the transplanting piece 140 to move to the second position.

[0067] The switching valve 120 can be controlled by the control device to switch the state, and then drive the piston rod to move up and down through the on-off of the uplink air path 112 and the downlink air path 111. Figure 4 During the downward movement of the transplanting piece 140, the switching valve 120 is in the second state; when the transplanting piece 140 is blocked, the control device controls the switching valve 120 to switch to the first state, and after the transplanting piece 140 moves to the first position by the preset distance, the control device controls the switching valve 120 to switch to the second state, so that the transplanting piece 140 avoids the obstacle.

[0068] The switching valve 120 can be an electromagnetic valve.

[0069] Specifically, the collection end of the pressure sensor 130 is communicated with the uplink gas path 112, the uplink gas path 112 is communicated with the rod cavity of the driving cylinder 110, so as to obtain the pressure of the rod cavity of the driving cylinder 110 by detecting the pressure of the uplink gas path 112. The preset value N is defined as the pressure value of the uplink gas path 112 when the transplanting piece 140 normally descends and is not blocked by the obstacle. If the pressure of the uplink gas path 112 is less than the preset value N, it indicates that the transplanting piece 140 is blocked by the obstacle, which causes the normal descent of the transplanting piece 140 to be resisted, the moving speed changes, and the piston rod is subjected to a thrust in the direction opposite to the moving direction, so that the pressure of the uplink gas path 112 changes.

[0070] By reasonably setting the value of the preset value N, it can be distinguished whether the resistance source of the transplanting piece 140 in the descending process is the soil (in the process of entering the soil) or the obstacle.

[0071] In a specific embodiment disclosed in the present application, the automatic transplanting device for stinging nettle further comprises a first magnetic switch 114 for detecting whether the piston rod moves to the lower dead point H1, and when the piston rod moves to the lower dead point H1, the transplanting piece 140 moves to the second position. By the first magnetic switch 114, it can be distinguished whether the pressure change of the transplanting piece 140 is caused by the control device controlling the disconnection of the air source of the downlink gas path 111 when the pressure sensor 130 detects that the pressure of the uplink gas path 112 is less than the preset value N, or the pressure change of the transplanting piece 140 is caused by the blocking of the obstacle, so as to avoid the situation that the transplanting piece 140 normally reaches the planting point, and the control device controls the transplanting piece 140 to avoid, thereby causing the distance between the to-be-transplanted seedlings to be too large and reducing the yield.

[0072] Specifically, if the pressure of the uplink gas path 112 is less than the preset value N, and the piston rod moves to the lower dead point H1, the control device controls the transplanting piece 140 to transplant; if the pressure of the uplink gas path 112 is less than the preset value N, and the piston rod does not move to the lower dead point H1, it indicates that the transplanting piece 140 is blocked by the obstacle, and the obstacle avoidance action needs to be performed.

[0073] The transplanting piece 140 can also be driven by the driving motor to perform the transplanting work and the obstacle avoidance in the transplanting work. Specifically, by detecting whether the rotating speed of the driving motor changes to judge whether the transplanting piece 140 is subjected to the resistance, and by detecting whether the number of revolutions N1 of the driving motor in the process of moving from the first position to the second position is compared with the number of revolutions N2 of the driving motor corresponding to the distance between the first position and the second position, whether the transplanting piece 140 moves to the second position is judged, and whether the transplanting piece 140 is blocked by the obstacle is further judged. If it is blocked by the obstacle, the driving motor drives the transplanting piece 140 to move a preset distance to the first position, and then moves to the second position, so as to avoid the obstacle.

[0074] The skilled in the art can understand that whether there is an obstacle on the seedling delivery path can also be detected by a visual camera arranged on the transplanting member 140. If the visual camera detects an obstacle on the seedling delivery path in advance, the control of the transplanting member 140 is stopped from 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 omitted.

[0075] In combination Figure 4 , the automatic transplanting device for nettle also comprises a second magnetic switch 113 for detecting whether the piston rod moves to the top dead center H2, when the piston rod moves to the top dead center H2, the transplanting member 140 moves to the first position, and when the piston rod moves to the top dead center H2, the second magnetic switch 113 sends a detection signal to the control device, and after the control device receives the detection signal, the control of the transplanting member 140 is stopped from moving, so as to start receiving the seedling. As shown in Figure 4 , the first magnetic switch 114 and the second magnetic switch 113 are arranged on the driving cylinder 110, and the first magnetic switch 114 is arranged at the lower end of the driving cylinder 110, and the second magnetic switch 113 is arranged at the upper end of the driving cylinder 110, so as to respectively detect the moving position of the piston, and further judge the moving position of the piston rod.

[0076] The top dead center H2 and the bottom dead center H1 can be the upper limit position and the lower limit position of the moving stroke of the piston rod, or can be a certain distance away from the upper limit position and the lower limit position.

[0077] In combination Figure 4 , the transplanting member 140 disclosed in the embodiment of the present application comprises a seedling guide cylinder 141, a seedling delivery pusher 143 and a first control assembly 142. The seedling delivery pusher 143 is used to receive the seedling to be transplanted when moving to the first position and insert the seedling to be transplanted into the soil hole when moving to the second position. The seedling guide cylinder 141 is connected to the upper end of the seedling delivery pusher 143, and is used to guide the seedling to be transplanted into the seedling delivery pusher 143. The first control assembly 142 is connected with the piston rod of the driving cylinder 110 and is controlled to act by the control device, and the first control assembly 142 is arranged between the seedling guide cylinder 141 and the seedling delivery pusher 143, so as to control the seedling delivery pusher 143 to open when reaching the second position, so that the seedling to be transplanted falls into the soil hole.

[0078] Specifically, the first control assembly 122 comprises a solenoid valve, when the planting condition (the transplanting member 120 moves to the second position) is met, the solenoid valve is powered on, the valve rod pulls the seedling delivery pusher 123 to open, and when the planting condition is not met, the solenoid valve is powered off, and the seedling delivery pusher 123 is reset and closed by the spring.

[0079] As Figure 3As shown, the seedling guiding cylinder 141 is a hollow cylinder structure in communication with the seedling pushing claw 143. The driving cylinder 110 can also be connected with the seedling guiding cylinder 141 or the seedling pushing claw 143, as long as it can drive the planting mechanism 100 to move without affecting the functions of the seedling guiding cylinder 141 and the seedling pushing claw 143.

[0080] In combination Figure 3 The automatic transplanting device for nettle disclosed by the present application also comprises a seedling taking mechanism 300 for feeding seedlings into the seedling guiding cylinder 141, which comprises a seedling raising tray 310, a transfer tray 330 and a seedling taking shovel 320. The seedling raising tray 310 is arranged on the vehicle body 200 and used for storing seedlings to be transplanted. The transfer tray 330 is arranged on the vehicle body 200, and a plurality of transfer cups for carrying seedlings to be transplanted are rotatably arranged on the transfer tray 330. The transfer tray 330 is provided with a transfer position, and the seedling pushing claw 143 corresponds to the transfer cup in the transfer position when the seedling pushing claw 143 is in the first position, so as to receive the seedlings to be transplanted in the transfer cup in the transfer position. The seedling taking shovel 320 is arranged on the vehicle body 200 and can transfer the seedlings to be transplanted on the seedling raising tray 310 into the transfer cup.

[0081] In combination

[0082] 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 communication between the seedling discharging port of each transfer cup and the seedling pushing claw 143 is arranged at the bottom of the transfer position and controlled by a control device. When the seedling pushing claw 143 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 seedlings to be transplanted in the transfer cup fall into the seedling guiding cylinder 141 of the seedling pushing claw 143 under the action of gravity.

[0083] The second control assembly can be an electromagnetic valve controlled by a control device, and the seedlings to be transplanted in the transfer cup can also be moved into the seedling guiding cylinder 141 of the seedling pushing claw 143 by a clamping jaw. Those skilled in the art can understand that the seedlings to be transplanted can also be provided by a planting vehicle or other equipment / mechanism parallel to the automatic transplanting device.

[0084] In combination Figure 3 The planting mechanism 100 is symmetrically arranged on the vehicle body 200 in two groups, and the seedling pushing claws 143 of the two groups of planting mechanisms 100 are alternately moved to the first position by the respective driving cylinders 110 to respectively receive the seedlings to be transplanted and perform double-ridge transplanting.

[0085] In order to avoid the exposure of the root system of the seedlings to be transplanted, the vehicle body 200 is provided with a soil covering mechanism 400, such asFigure 1 As shown, the covering mechanism 400 is two groups corresponding to the planting mechanism 100 respectively. After receiving the seedling to be transplanted, the planting mechanism 100 lowers the transplanting piece 140 and puts the seedling to be transplanted into the hole, and then the covering mechanism 400 covers the seedling to be transplanted with soil to ensure that the seedling to be transplanted has enough soil to survive.

[0086] The auxiliary mechanism can also be provided on the vehicle body 200 to assist the transplanted operation.

[0087] The control program of the automatic transplanting device for stinging nettle disclosed in the embodiment can be divided into manual mode and automatic mode. The automatic mode can be controlled by the control program to automatically operate the planting mechanism 100, and the priority of the manual mode is higher than that of the automatic mode, so as to facilitate the manual control of the operation of the device by the operator.

[0088] In a specific embodiment disclosed in the present application, the automatic transplanting device for stinging nettle is used for planting stinging nettle seedlings. Taking a group of planting mechanisms 100 as an example, the control device is first initialized, then the control device controls the opening of the upward air path 112 of the switching valve 120, the air filling of the rod cavity of the air cylinder 110, the upward force on the piston, the upward movement of the piston, the contraction of the piston rod and the upward movement of the transplanting piece 140. When the second magnetic switch 113 detects that the piston of the air cylinder moves to the upper dead center H2 (i.e. the transplanting piece 140 moves to the highest position / first position), the control device controls the electromagnetic valve at the corresponding position of the transfer position to open the seedling discharging port, the stinging nettle seedling falls into the seedling pushing claw 143 through the seedling guide cylinder 141, and the seedling receiving is completed.

[0089] The control device controls the switching valve 120 to open the down air path 111, drives the rodless cavity of the air cylinder 110 to inflate, the piston is subjected to downward resultant force, the piston goes down, the piston rod extends and drives the transplanting part 140 to go down, at this time, the gas in the up air path 112 is extruded, and the pressure value in the up air path 112 should be greater than or equal to the set value N. If the pressure sensor 130 measures that the pressure value of the gas in the up air path 112 is less than the set value N in the down process of the piston rod, and the first magnetic switch 114 detects that the piston reaches or exceeds the set position H2, it is considered that the seedling pushing claw 143 of the transplanting part 140 has reached the set depth of the soil hole, at this time, the control device controls the corresponding planting electromagnetic valve to open the seedling pushing claw 143, the nettle seedling falls into the soil hole, the planting is completed, and the next cycle can be started; if the pressure sensor 130 measures that the pressure value is less than the set value N in the down process of the piston rod, and the first magnetic switch 114 detects that the piston does not reach the lower stop point H2, it is considered that the planting point has gravel, the protection measure is started, the control device controls the switching valve 120 to close the down air path 111, open the up air path 112, lift the transplanting part 140, make the seedling pushing claw 143 leave the ground, after the up air path 112 is opened for M seconds (at this time, the piston is located between the upper stop point H2 and the lower stop point H1, and the specific value of M can be set according to actual requirements), the up air path 112 is closed, the down air path 111 is opened, after reaching the second position, the seedling pushing claw 143 is opened again, and the planting is continued, so that the spacing of the nettle seedlings is not too large, and the yield is improved.

[0090] If the control device receives a manual stop instruction during the process, the action is directly stopped.

[0091] In combination Figure 4 The automatic transplanting method disclosed in the embodiment of the application is used for transplanting work by the automatic transplanting device, and the automatic transplanting method comprises a seedling feeding step, an obstacle detection step, an avoiding step and a planting step.

[0092] S10, seedling feeding;

[0093] The air cylinder 110 drives the transplanting part 140 to drive the to-be-transplanted seedling to move along the seedling feeding path from the first position to the second position, at the first position, the transplanting part 140 receives the to-be-transplanted seedling, and at the second position, the transplanting part 140 inserts the to-be-transplanted seedling into the soil hole.

[0094] The first position can be a seedling receiving point provided with the seedling taking mechanism 300, and the transplanting part 140 can receive the to-be-transplanted seedling at the first position, and the second position can be a field planting point, so that the to-be-transplanted seedling can be planted from the storage position to the soil hole through S10.

[0095] S20, obstacle detection;

[0096] The control device judges whether the transplanting member 140 is blocked by the obstacle according to the pressure (value change) measured by the pressure sensor 130 when the transplanting member 140 moves along the seedling path.

[0097] S30, avoiding;

[0098] If the transplanting member 140 is blocked by the obstacle, the control device controls the transplanting member 140 to drive the seedling to move backward along the seedling path by a preset distance and then move forward along the seedling path.

[0099] Specifically, the transplanting member 140 moves backward along the seedling path by a preset distance and then moves forward along the seedling path until the seedling is planted in the second position. During the backward movement and the forward movement of the transplanting member 140, the vehicle body 200 drives the transplanting member 140 to move horizontally forward, and when the transplanting member 140 moves downward again, the obstacle can be avoided. If there is a new obstacle during the downward movement or the obstacle is not completely avoided due to the large size of the previous obstacle, the above-mentioned operation is repeated until the seedling is planted in the soil hole. The preset distance can be set according to the actual situation, and the obstacle can be avoided only when the transplanting member 140 moves (lifts) by a preset distance to the first position.

[0100] S40, planting;

[0101] In the second position, the transplanting member 140 plants the seedling in the soil hole, and the transplanting operation is completed.

[0102] In combination Figure 2 with the transplanting member 140, the seedling can be planted in the soil hole.

[0103] Compared with the prior art, the automatic transplanting method disclosed in the embodiment of the application can protect the planting mechanism 100 and avoid damage to the transplanting member 140, thereby saving production cost and ensuring that the distance between the seedlings is not too large and the yield is ensured.

[0104] As ​ shown, in order to avoid misjudgment, after the obstacle detection step and before the avoiding step, the method further includes the following steps:

[0105] S60, position detection;

[0106] If the transplanting piece 140 is blocked by the obstacle, the piston rod is detected by the first magnetic switch 114 whether it moves to the lower dead point H1, and when the piston rod moves to the lower dead point H1, the transplanting piece 140 moves to the second position. If the piston rod moves to the lower dead point H1, it indicates that there is no obstacle, and S40 can be performed. If it does not move to the lower dead point H1, it indicates that the to-be-transplanted seedling is blocked by the obstacle on the ground and cannot continue to move down to the second position, and S30 needs to be performed. The double determination of S20 and S60 can ensure that the transplanting piece 140 avoids the obstacle and loads the to-be-transplanted seedling into the planting point, and reduces the misjudgment.

[0107] In a specific embodiment disclosed in the present application, the obstacle detection step is specifically detecting the pressure change of the uplink gas path 112 of the driving cylinder 110 by the pressure sensor 130. The uplink gas path 112 is in communication with the rod cavity of the driving cylinder 110. If the pressure of the uplink gas path 112 is less than the preset value N, and it is detected by S60 that the transplanting piece 140 does not move to the second position, it indicates that the transplanting piece 140 is blocked by the obstacle, and S30 needs to be performed. If the pressure of the uplink gas path 112 is less than the preset value N, and it is detected by S60 that the transplanting piece 140 moves to the second position, it indicates that the transplanting piece 140 moves to the planting point normally and is not blocked by the obstacle, and S40 needs to be performed. The preset value N is the pressure value of the uplink gas path 112 when the transplanting piece 140 normally moves down and is not blocked by the obstacle.

[0108] Because the field ground is rugged and uneven, and the soil hardness is different, the resistance received by the transplanting piece 140 during the process of entering the soil may not be the same, so the preset value N should be designed according to the actual situation.

[0109] When S10 and S40 are performed by the automatic transplanting device, S10 is specifically that the seedling guide cylinder 141 receives the to-be-transplanted seedling at the first position and guides it into the seedling feeding pusher 143, and the seedling feeding pusher 143 drives the to-be-transplanted seedling to move to the second position. S40 is specifically that at the second position, the first control assembly 142 controls the seedling feeding pusher 143 to open and drop the to-be-transplanted seedling into the soil hole.

[0110] In order to realize the reciprocating movement of the transplanting piece 140 between the first position and the second position, the automatic transplanting method disclosed in the embodiment of the present application further comprises the following steps after S40:

[0111] S50, receiving seedlings;

[0112] The transplanting piece 140 receives the to-be-transplanted seedling at the first position.

[0113] Specifically, the driving cylinder 110 drives the transplanting piece 140 to move from the second position to the first position to receive the to-be-transplanted seedling again, and performs step S10, and continuously completes the field transplanting operation with the movement of the vehicle body 200.

[0114] The terms "first" and "second", and the like, in the description and in the claims of this application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "including", "containing", and "having", and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a list of steps or elements is not necessarily limited to those listed steps or elements but can include additional steps or elements not expressly listed or inherent to such process, method, system, product, or device.

[0115] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Numerous modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without the use of the innovation falling outside the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic transplanting device for nettle characterized by, The utility model relates to a planting mechanism (100) comprising a driving member and a transplanting member (140), the driving member comprising a driving cylinder (110), the piston rod of the driving cylinder (110) being connected with the transplanting member (140) to drive the transplanting member (140) to move between a first position and a second position, at the first position, the transplanting member (140) receives seedlings to be transplanted, at the second position, the transplanting member (140) inserts the seedlings to be transplanted into a soil hole; a vehicle body (200), the planting mechanism (100) being arranged on the vehicle body (200), the vehicle body (200) being used to drive the planting mechanism (100) to move; a pressure sensor (130) for detecting the pressure of the rod cavity of the driving cylinder (110) during the movement of the transplanting member (140) from the first position to the second position; a control device, the pressure detected by the pressure sensor (130) being used to determine whether the transplanting member (140) is stuck by an obstacle, and when the transplanting member (140) is stuck, the control device controls the piston rod to drive the transplanting member (140) to move a preset distance towards the first position and then move towards the second position; the driving member further comprises a switching valve (120) for controlling the on-off state of the uplink air path (112) and the downlink air path (111) of the driving cylinder (110); when the switching valve (120) is in a first state, the uplink air path (112) is connected with a gas source, the downlink air path (111) is disconnected with the gas source, and the piston rod drives the transplanting member (140) to move towards the first position; when the switching valve (120) is in a second state, the uplink air path (112) is disconnected with the gas source, the downlink air path (111) is connected with the gas source, and the piston rod drives the transplanting member (140) to move towards the second position; the switching valve (120) is controlled by the control device to switch states, when the transplanting member (140) is stuck, the control device controls the switching valve (120) to switch to the first state, and after the transplanting member (140) moves the preset distance towards the first position, the control device controls the switching valve (120) to switch to the second state; the collection end of the pressure sensor (130) is connected with the uplink air path (112), and the uplink air path (112) is connected with the rod cavity of the driving cylinder (110); if the pressure of the uplink air path (112) is less than a preset value N, the transplanting member (140) is stuck by an obstacle, and the preset value N is the pressure value of the uplink air path (112) when the transplanting member (140) normally moves downwards and is not stuck by an obstacle. the utility model further comprises a first magnetic switch (114) for detecting whether the piston rod moves to a lower dead point H1, when the piston rod moves to the lower dead point H1, the transplanting member (140) moves to the second position; 2. The automatic transplanting device for nettle according to claim 1, wherein ​ If the pressure of the uplink gas path (112) is less than the preset value N, and the piston rod moves to the lower dead point H1, the control device controls the transplanting part (140) to plant seedlings; if the pressure of the uplink gas path (112) is less than the preset value N, and the piston rod does not move to the lower dead point H1, the transplanting part (140) is blocked by an obstacle.

3. The automatic transplanting device for nettle according to claim 1, wherein Further comprising a second magnetic switch (113) for detecting whether the piston rod moves to the upper dead point H2, when the piston rod moves to the upper dead point H2, the transplanting part (140) moves to the first position.

4. The automatic transplanting device for nettle according to claim 1, wherein The transplanting part (140) comprises: A seedling feeding claw (143) for inserting the seedling to be transplanted into the soil hole; A seedling guide cylinder (141) connected to the upper end of the seedling feeding claw (143) for guiding the seedling to be transplanted to the seedling feeding claw (143); A first control assembly (142) connected with the piston rod and controlled by the control device to act, and the first control assembly (142) is arranged between the seedling guide cylinder (141) and the seedling feeding claw (143) to control the seedling feeding claw (143) to open when reaching the second position, so that the seedling to be transplanted falls into the soil hole.

5. The automatic transplanting device for nettle according to claim 1, wherein Further comprising a seedling taking mechanism (300), the seedling taking mechanism (300) comprises: A seedling raising tray (310) arranged on the vehicle body (200) for storing seedlings to be transplanted; A transfer tray (330) arranged on the vehicle body (200), and a plurality of transfer cups for carrying seedlings to be transplanted are arranged on the transfer tray (330) and rotate, a transfer position is formed on the transfer tray (330), and the transplanting part (140) corresponds to the transfer cup in the transfer position when being in the first position, so as to receive the seedling to be transplanted in the transfer cup in the transfer position; A seedling taking shovel (320) arranged on the vehicle body (200) for transferring the seedling to be transplanted on the seedling raising tray (310) to the transfer cup.

6. The automatic transplanting device for nettle according to claim 5, wherein The first position is below the transfer position, each transfer cup is provided with a seedling unloading port, and a second control assembly for controlling the communication between the seedling unloading port and the transplanting part (140) is arranged on the transfer position, and the second control assembly is controlled by the control device to act; When the transplanting part (140) moves to the first position, the second control assembly controls the communication between the transfer cup in the transfer position and the transplanting part (140), so that the seedling to be transplanted in the transfer cup falls into the transplanting part (140).

7. The automatic transplanting device for nettles according to any one of claims 1 to 6, characterized in that, The planting mechanism (100) is symmetrically arranged on the vehicle body (200) in two groups, and the transplanting parts (140) of the two groups of planting mechanisms (100) alternately move to the first position to respectively receive seedlings to be transplanted.

8. The automatic transplanting device for nettle according to claim 7, wherein The vehicle body (200) is provided with a covering mechanism (400), and the covering mechanism (400) is two groups corresponding to the planting mechanism (100) respectively.

9. An automatic transplanting method for transplanting work by the automatic transplanting device for stinging nettle according to any one of claims 1 to 8, the automatic transplanting device comprising a drive cylinder (110), a transplanting piece (140), a pressure sensor (130), and a control device, the transplanting piece (140) and a piston rod of the drive cylinder (110) being connected, characterized in that, The method comprises the following steps: If the pressure of the uplink gas path (112) is less than the preset value N, and the piston rod moves to the lower dead point H1, the control device controls the transplanting part (140) to plant seedlings; if the pressure of the uplink gas path (112) is less than the preset value N, and the piston rod does not move to the lower dead point H1, the transplanting part (140) is blocked by an obstacle. Further comprising a second magnetic switch (113) for detecting whether the piston rod moves to the upper dead point H2, when the piston rod moves to the upper dead point H2, the transplanting part (140) moves to the first position. The transplanting part (140) comprises: A seedling feeding claw (143) for inserting the seedling to be transplanted into the soil hole; A seedling guide cylinder (141) connected to the upper end of the seedling feeding claw (143) for guiding the seedling to be transplanted to the seedling feeding claw (143); A first control assembly (142) connected with the piston rod and controlled by the control device to act, and the first control assembly (142) is arranged between the seedling guide cylinder (141) and the seedling feeding claw (143) to control the seedling feeding claw (143) to open when reaching the second position, so that the seedling to be transplanted falls into the soil hole. Further comprising a seedling taking mechanism (300), the seedling taking mechanism (300) comprises: A seedling raising tray (310) arranged on the vehicle body (200) for storing seedlings to be transplanted; A transfer tray (330) arranged on the vehicle body (200), and a plurality of transfer cups for carrying seedlings to be transplanted are arranged on the transfer tray (330) and rotate, a transfer position is formed on the transfer tray (330), and the transplanting part (140) corresponds to the transfer cup in the transfer position when being in the first position, so as to receive the seedling to be transplanted in the transfer cup in the transfer position; A seedling taking shovel (320) arranged on the vehicle body (200) for transferring the seedling to be transplanted on the seedling raising tray (310) to the transfer cup. The first position is below the transfer position, each transfer cup is provided with a seedling unloading port, and a second control assembly for controlling the communication between the seedling unloading port and the transplanting part (140) is arranged on the transfer position, and the second control assembly is controlled by the control device to act; When the transplanting part (140) moves to the first position, the second control assembly controls the communication between the transfer cup in the transfer position and the transplanting part (140), so that the seedling to be transplanted in the transfer cup falls into the transplanting part (140). The planting mechanism (100) is symmetrically arranged on the vehicle body (200) in two groups, and the transplanting parts (140) of the two groups of planting mechanisms (100) alternately move to the first position to respectively receive seedlings to be transplanted. The vehicle body (200) is provided with a covering mechanism (400), and the covering mechanism (400) is two groups corresponding to the planting mechanism (100) respectively. The method comprises the following steps: Seedling sending, the driving cylinder (110) drives the transplanting part (140) to move the seedling sending path of the seedling to be transplanted from a first position to a second position, at the first position, the transplanting part (140) receives the seedling to be transplanted, at the second position, the transplanting part (140) inserts the seedling to be transplanted into the soil hole; Obstacle detection, the pressure of the rod cavity of the driving cylinder (110) during the movement of the transplanting part (140) along the seedling sending path is detected by the pressure sensor (130), and the control device judges whether the transplanting part (140) is blocked by an obstacle according to the pressure detected by the pressure sensor (130); Avoidance, if the transplanting part (140) is blocked by an obstacle, the control device controls the transplanting part (140) to move backward along the seedling sending path for a preset distance and then move forward along the seedling sending path; Planting, at the second position, the transplanting part (140) plants the seedling to be transplanted in the soil hole; After the obstacle detection step and before the avoidance step, the method further comprises the following steps: Position detection, if the transplanting part (140) is blocked by an obstacle, the first magnetic switch (114) is used to detect whether the piston rod moves to the lower dead point H1, and when the piston rod moves to the lower dead point H1, the transplanting part (140) moves to the second position; If the piston rod moves to the lower dead point H1, the planting step is performed; if the piston rod does not move to the lower dead point H1, the avoidance step is performed.

10. The automatic transplanting method according to claim 9, wherein, The obstacle detection step specifically comprises detecting the pressure change of the uplink gas path (112) of the driving cylinder (110) by the pressure sensor (130), and the uplink gas path (112) is in communication with the rod cavity of the driving cylinder (110); If the pressure of the uplink gas path (112) is less than a preset value N, and it is detected by the position detection step that the transplanting part (140) does not move to the second position, the transplanting part (140) is blocked by an obstacle, and the avoidance step is performed; if the pressure of the uplink gas path (112) is less than the preset value N, and it is detected by the position detection step that the transplanting part (140) moves to the second position, the transplanting part (140) is not blocked by an obstacle, and the planting step is performed, and the preset value N is the pressure value of the uplink gas path (112) when the transplanting part (140) normally moves downward and is not blocked by an obstacle.

11. The automatic transplanting method according to claim 9 or 10, wherein After the planting step, the method further comprises the following steps: Seedling receiving, the transplanting part (140) receives the seedling to be transplanted at the first position.

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