Rice transplanting depth control method and device of rice transplanter, electronic equipment and storage medium

Abstract

The application discloses a rice transplanter depth control method, device, electronic equipment and storage medium. The rice transplanter depth control method comprises the following steps: acquiring a first current speed of a rice transplanter; acquiring an inclination angle of a seedling tray of the rice transplanter; adjusting the inclination angle of the seedling tray of the rice transplanter to a target angle based on the first current speed and the inclination angle; after the inclination angle of the seedling tray of the rice transplanter is adjusted to the target angle, acquiring a first hardness of target land at the first current speed of the rice transplanter; correcting the first hardness based on the first current speed, the first hardness and a predetermined mapping table, determining a second hardness of the target land; and adjusting the height of the seedling tray of the rice transplanter to a target height based on the second hardness, so that the rice transplanter depth is consistent. The technical scheme provided by the application can dynamically adjust the vehicle parameters, enhance the environmental adaptability, ensure the consistency of the rice transplanter depth, improve the survival rate of seedlings, and finally achieve the purpose of seedling protection and yield increase.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rice transplanter planting depth control, and in particular to a rice transplanter planting depth control method and device, an electronic device and a storage medium. BACKGROUND

[0002] Modern agricultural technology progress drives the development of rice transplanter performance, greatly improving the efficiency of rice transplanting operation. Since the rationality of the planting depth is closely related to the survival rate of seedlings, it is particularly important to ensure the consistency of the planting depth. The existing adjustment of the planting depth is mostly mechanical structure, and the adjustment parameters need to be stopped.

[0003] However, the existing rice transplanter has limited terrain adaptability, and cannot dynamically adjust parameters to adapt to terrain, soil quality and speed changes to ensure the consistency of the planting depth. Moreover, the existing depth adjustment method often only considers the driving direction or the transverse direction, resulting in the inability to guarantee the depth and quality of the planting, thereby affecting the survival rate of seedlings and the grain yield. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a safe control method and device for a rice transplanter, an electronic device and a storage medium. The technical solution provided by the present application can dynamically adjust vehicle parameters to enhance environmental adaptability, thereby ensuring the consistency of the planting depth and improving the survival rate of seedlings, and ultimately achieving the purpose of protecting seedlings and increasing income.

[0005] The present application mainly includes the following aspects:

[0006] In a first aspect, the present application provides a rice transplanter planting depth control method, which comprises:

[0007] obtaining a first vehicle speed of the rice transplanter;

[0008] obtaining an inclination angle of a seedling tray of the rice transplanter;

[0009] adjusting the inclination angle of the seedling tray of the rice transplanter to a target angle based on the first vehicle speed and the inclination angle;

[0010] after adjusting the inclination angle of the seedling tray of the rice transplanter to the target angle, obtaining a first hardness of a target land at the first vehicle speed of the rice transplanter;

[0011] correcting the first hardness based on the first vehicle speed, the first hardness and a predetermined mapping table to determine a second hardness of the target land;

[0012] adjusting the height of the seedling tray of the rice transplanter to a target height based on the second hardness, so as to make the planting depth of the rice transplanter consistent.

[0013] Optionally, adjusting the tilt angle of the rice transplanter tray to a target angle based on the first vehicle speed and the tilt angle includes:

[0014] Based on the PID control algorithm, a mathematical model for adjusting the tilt angle of the rice transplanter tray was constructed.

[0015] When the first vehicle speed is within a first preset vehicle speed range and the tilt angle is within a preset angle range, determining a motor duty cycle corresponding to the target angle using the mathematical model;

[0016] Based on the motor duty cycle, the tilt angle of the rice transplanter tray is adjusted to a target angle.

[0017] Optionally, the predetermined mapping table is determined by the following steps:

[0018] obtaining a third hardness of the target soil when the speed of the rice transplanter is within a second preset speed range;

[0019] obtaining a fourth hardness of the target soil when the speed of the rice transplanter is within a third preset speed range;

[0020] determining, based on the third hardness and the fourth hardness, a hardness difference of the target soil when the speed of the rice transplanter is within a third preset range;

[0021] Based on the hardness difference, a mapping table for correcting the target ground hardness is constructed.

[0022] Optionally, adjusting the height of the rice transplanter platform to a target height based on the second hardness so as to make the rice transplanting depth of the rice transplanter consistent includes:

[0023] When the second hardness is within the first hardness range, the height of the rice transplanter platform is raised to the first height so that the rice transplanter has a consistent planting depth;

[0024] When the second hardness is within the second hardness range, the height of the rice transplanter platform is lowered to a second height to make the transplanting depth of the rice transplanter consistent.

[0025] In a second aspect, an embodiment of the present application further provides a rice transplanting depth control device for a rice transplanter, the rice transplanting depth control device comprising:

[0026] The vehicle speed acquisition module obtains the current first speed of the rice transplanter;

[0027] Angle acquisition module, which obtains the tilt angle of the rice transplanter tray;

[0028] an angle adjustment module, adjusting the tilt angle of the rice transplanter tray to a target angle based on the first vehicle speed and the tilt angle;

[0029] a hardness acquisition module, which acquires a first hardness of the target soil at the current first speed of the rice transplanter after adjusting the tilt angle of the rice transplanter tray to a target angle;

[0030] a correction module, which corrects the first hardness based on the first vehicle speed, the first hardness, and a predetermined mapping table to determine a second hardness of the target ground;

[0031] The height adjustment module adjusts the height of the rice transplanter platform to a target height based on the second hardness so that the rice transplanter has a consistent planting depth.

[0032] Optionally, the angle adjustment module is used to:

[0033] Based on the PID control algorithm, a mathematical model for adjusting the tilt angle of the rice transplanter tray was constructed.

[0034] When the vehicle speed is within a first preset range and the tilt angle is within a second preset range, determining a motor duty cycle corresponding to the target angle using the mathematical model;

[0035] Based on the motor duty cycle, the tilt angle of the rice transplanter tray is adjusted to a target angle.

[0036] Optionally, the predetermined mapping table is determined by:

[0037] obtaining a third hardness of the target soil when the speed of the rice transplanter is within a first preset speed range;

[0038] obtaining a fourth hardness of the target soil when the speed of the rice transplanter is within a second preset speed range;

[0039] determining, based on the third hardness and the fourth hardness, a hardness difference of the target soil when the speed of the rice transplanter is within a second preset speed range;

[0040] Based on the hardness difference, a mapping table for target soil hardness correction is constructed.

[0041] Optionally, the height adjustment module is used to:

[0042] When the second hardness is within the first hardness range, the height of the rice transplanter platform is raised to the first height so that the rice transplanter has a consistent planting depth;

[0043] When the second hardness is within the second hardness range, the height of the rice transplanter platform is lowered to a second height to make the transplanting depth of the rice transplanter consistent.

[0044] In a third aspect, an electronic device is provided, which includes a processor and a memory. The memory stores a computer program capable of being executed by the processor. When the computer program is executed by the processor, the computer program implements the rice seedling transplanting depth control method according to any one of the preceding aspects.

[0045] In a fourth aspect, a computer readable storage medium is provided. The computer readable storage medium stores a computer program. When the computer program is executed by a processor, the computer program performs the steps of the rice seedling transplanting depth control method according to any one of the preceding aspects.

[0046] The rice seedling transplanting depth control method, device, electronic device and storage medium provided by the embodiments of the present application first acquire a current first speed of a rice seedling transplanting machine and an inclination angle of a seedling tray of the rice seedling transplanting machine. Then, the inclination angle of the seedling tray of the rice seedling transplanting machine is adjusted to a target angle according to the acquired first speed and inclination angle. After the adjustment of the inclination angle of the seedling tray is completed, a first hardness of a target land at the current first speed is acquired. Next, the first hardness is corrected based on the first speed, the first hardness and a predetermined mapping table, so as to determine a second hardness of the target land. Finally, the height of the seedling tray of the rice seedling transplanting machine is adjusted to a target height based on the second hardness, so as to ensure that the rice seedling transplanting depth of the rice seedling transplanting machine remains consistent. In this way, the technical solution provided by the embodiments of the present application can dynamically adjust the vehicle parameters, so as to enhance the environmental adaptability, thereby ensuring the consistency of the rice seedling transplanting depth and improving the survival rate of seedlings, and finally achieving the purpose of protecting seedlings and increasing income.

[0047] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following will specifically describe preferred embodiments in combination with the accompanying drawings, and the following will be specifically described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0049] Figure 1 A flow chart of the rice seedling transplanting depth control method provided by the embodiments of the present application is shown;

[0050] Figure 2 A structural schematic diagram of the rice seedling transplanting depth control device provided by the embodiments of the present application is shown;

[0051] Figure 3 A structural schematic diagram of the electronic device provided by the embodiments of the present application is shown. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0053] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0054] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario requiring transplanting depth control of a rice transplanter. The embodiments of the present application are not limited to specific application scenarios. Any solution using the transplanting depth control method, device, electronic device and storage medium of a rice transplanter provided by the embodiments of the present application is within the scope of protection of this application.

[0055] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0056] Advances in modern agricultural technology have driven the development of rice transplanter performance, greatly improving the efficiency of transplanting operations. Since the rationality of transplanting depth is closely related to the survival rate of seedlings, it is particularly important to ensure the consistency of transplanting depth. Existing transplanting depth adjustments are mostly mechanical structures, and parameter adjustments require stopping the machine. However, existing rice transplanters have limited adaptability to terrain and cannot dynamically adjust parameters to adapt to changes in terrain, soil quality, and speed to ensure consistent transplanting depth. As a result, the depth and quality of transplanting cannot be guaranteed, which in turn affects the survival rate of seedlings and grain yield.

[0057] Based on this, the embodiments of the present application provide a transplanting depth control method, device, electronic equipment and storage medium for a rice transplanter, which can dynamically adjust vehicle parameters to enhance environmental adaptability, thereby ensuring consistent transplanting depth, improving seedling survival rate, and ultimately achieving the purpose of protecting seedlings and increasing income.

[0058] To facilitate understanding of the present application, the technical solutions provided in the present application are described in detail below in conjunction with specific embodiments.

[0059] See also Figure 1 , Figure 1 This is a flow chart of a method for controlling the transplanting depth of a rice transplanter provided in an embodiment of the present application.

[0060] In an embodiment of the present application, when the rice transplanter is stationary or traveling at a low speed, performing the rice transplanting operation will not significantly affect the rice transplanting depth. When the speed is too fast, the water around the rice transplanter's planting needles or other parts in contact with the soil will generate buoyancy on them. Due to the buoyancy of the water, the detected hardness will increase, causing the controller to mistakenly judge that the actual hardness has increased, thereby raising the height of the rice transplanting mechanism, and ultimately causing the rice transplanting depth to become shallower. Changes in the rice transplanter's speed have corresponding effects on the lateral adjustment and longitudinal adjustment. Here, the lateral adjustment is to adjust the rice transplanter's seedling tray horizontally, and the longitudinal adjustment is to adjust the rice transplanter's seedling platform up and down.

[0061] like Figure 1 As shown in , the rice transplanting depth control method includes:

[0062] Step S101, obtaining the current first speed of the rice transplanter.

[0063] Here, as an example, the current first vehicle speed of the rice transplanter is collected through the vehicle speed sensor of the rice transplanter, and the first vehicle speed is sent to the decision controller of the rice transplanter.

[0064] Step S102, obtaining the inclination angle of the rice transplanter tray.

[0065] Here, the inclination angle of the rice transplanter tray is the angle formed by the current position of the rice transplanter tray relative to the horizontal position. As an example, the inclination angle of the rice transplanter tray is collected by the inclination sensor of the rice transplanter and the inclination angle is sent to the decision controller of the rice transplanter.

[0066] Step S103: Based on the first vehicle speed and the tilt angle, the tilt angle of the rice transplanter tray is adjusted to a target angle.

[0067] Regarding step S103, as an example, in specific implementation, the following steps may be included:

[0068] Firstly, based on the PID control algorithm, a mathematical model for adjusting the inclination angle of the rice transplanter tray was constructed.

[0069] Here, based on the maximum speed and minimum speed of the rice transplanter, the speed duty cycle parameter of the rice transplanter is constructed. The specific calculation formula of the speed duty cycle parameter is shown in (1):

[0070]

[0071] Among them, pwm1 is the speed duty cycle parameter, speed is the current speed of the rice transplanter, speed min

[0072] is the minimum speed of the transplanter during normal transplanting. max is the maximum speed of the rice transplanter during normal transplanting, C1 is the duty cycle corresponding to the minimum speed of the rice transplanter during normal transplanting, and C2 is the dead zone duty cycle of the rice transplanter motor. As an example, the dead zone duty cycle of the rice transplanter motor is 20%, and the duty cycle of the motor corresponding to the minimum speed of the rice transplanter is 50%. Based on the PID adjustment algorithm and the inclination angle of the rice transplanter tray, the angle parameters of the rice transplanter are constructed. The specific calculation formula of the angle parameters is shown in (2):

[0073]

[0074] Among them, u(k) is the angle parameter, Kp is the proportional gain of the PID control algorithm, err(k) is the angle error, specifically, err(k) = target angle - the current tilt angle of the transplanter tray, Ki is the PID

[0075] The integral gain of the control algorithm, err(i) is the error value at time i, Kd is the differential gain of the PID control algorithm, and err(k)-err(k-1) is the rate of change of the error. Based on the angle parameters, the limiting parameters of the rice transplanter are constructed. The specific calculation formula of the limiting parameters is shown in (3):

[0076] u1=lim(0,u(k),50) (3)

[0077] Where u1 is a limiting parameter. The limiting function limits u(k) to between 0 and 50 to prevent the output from being too large or too small, causing system instability or exceeding physical limits. Based on the angle parameter and the limiting function, the motor's adjustment duty cycle is constructed. When err(k)≠0, the specific calculation formula for the adjustment duty cycle is shown in (4):

[0078] pwm=pwm1+u1 (4)

[0079] Where pwm is the duty cycle. When err(k)=0, pwm=0.

[0080] Then, when the first vehicle speed is in a first preset vehicle speed range and the inclination angle is in a preset angle range, a motor duty cycle corresponding to the target angle is determined using the mathematical model. Here, the motor duty cycle corresponding to the target angle is determined based on formula (1), formula (2), formula (3) and formula (4). As an example, the first preset vehicle speed range is ≥speed min and ≤speed max , and the preset angle range is ≥0.01 degrees.

[0081] Finally, the inclination angle of the rice transplanter seedling tray is adjusted to the target angle based on the motor duty cycle. As an example, the decision controller sends a target angle adjustment instruction to the leveling controller based on the inclination angle of the rice transplanter seedling tray and the motor duty cycle, and the leveling controller adjusts the inclination angle of the rice transplanter seedling tray to the target angle.

[0082] Step S104, after adjusting the inclination angle of the rice transplanter seedling tray to the target angle, the first hardness of the target land at the current first vehicle speed of the rice transplanter is obtained.

[0083] Here, as an example, the first hardness of the target land is collected by the soil hardness sensor and sent to the decision controller of the rice transplanter.

[0084] Step S105, based on the first vehicle speed, the first hardness and a predetermined mapping table, the first hardness is corrected to determine the second hardness of the target land.

[0085] Here, the predetermined mapping table is determined by the following steps:

[0086] First, the third hardness of the target land when the vehicle speed of the rice transplanter is in a second preset vehicle speed range is obtained. Here, the second preset vehicle speed range is the vehicle speed range when the rice transplanter is in a stationary state or low-speed driving.

[0087] Then, the fourth hardness of the target land when the vehicle speed of the rice transplanter is in a third preset vehicle speed range is obtained.

[0088] Here, the third preset vehicle speed range is the vehicle speed range when the rice transplanter is in high-speed driving.

[0089] Secondly, based on the third hardness and the fourth hardness, the hardness difference of the target land when the vehicle speed of the rice transplanter is in the third preset range is determined.

[0090] Finally, based on the hardness difference, a mapping table for correcting the hardness of the target land is constructed.

[0091] As an example, the soil hardness test results are divided into 1-10 levels to represent the different degrees of soil from soft to hard. Assuming that the soil hardness collected when the rice transplanter is stationary or traveling at a low speed is 3 levels, the impact of different speeds on the hardness test results is obtained. When the speed is 2-3 kilometers per hour faster than the low speed, the collected hardness will be 1 level higher than the actual hardness; when the speed is 4-5 kilometers per hour faster than the low speed, the collected hardness will be 2 levels higher than the actual hardness. In this case, the rice transplanter should subtract 1 or 2 levels from the soil hardness according to the actual speed range to obtain an accurate soil hardness value.

[0092] Step S106: Based on the second hardness, the height of the rice transplanter platform is adjusted to a target height to make the transplanting depth of the rice transplanter consistent.

[0093] Regarding step S104, as an example, in specific implementation, the following steps may be included:

[0094] When the second hardness is within the first hardness range, the height of the rice transplanter platform is raised to the first target height to ensure consistent planting depth. As an example, assume that the ground hardness measured when the rice transplanter is stationary or traveling at low speed is level 3. The height of the rice transplanter platform is set for level 3. When the second hardness is lower than level 3, the platform height sensor measures the current height of the rice transplanter platform. Based on the second hardness and the current height of the rice transplanter platform, the decision controller sends a height increase command to the height controller. The height controller then controls the solenoid valve to raise the rice transplanter platform.

[0095] When the second hardness is within the second hardness range, the height of the rice transplanter platform is lowered to a second target height to ensure consistent transplanting depth. For example, when the second hardness is higher than level 3, the platform height sensor detects the current height of the rice transplanter platform. Based on the second hardness and the current height of the rice transplanter platform, the decision controller sends a height reduction instruction to the height controller. The height controller then controls the solenoid valve to lower the rice transplanter platform.

[0096] The transplanting depth control method of the rice transplanter provided in the embodiment of the present application can dynamically adjust the vehicle parameters to enhance the environmental adaptability, thereby ensuring the consistency of the transplanting depth, improving the survival rate of the seedlings, and ultimately achieving the purpose of protecting the seedlings and increasing income.

[0097] Based on the same application concept, the embodiments of the present application also provide a rice transplanter planting depth control device corresponding to the rice transplanter planting depth control method provided in the above embodiment. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the rice transplanter planting depth control method provided in the above embodiment of the present application, the implementation of the system can refer to the implementation of the method, and the repeated parts will not be repeated.

[0098] Referring to Figure 2 , Figure 2 A structure diagram of a rice seedling transplanting depth control device of a rice seedling transplanter provided by an embodiment of the present application is shown.

[0099] As Figure 2 shown in the figure, the rice seedling transplanting depth control device 210 comprises:

[0100] a vehicle speed acquisition module 211 configured to acquire a first vehicle speed of the rice seedling transplanter;

[0101] an angle acquisition module 212 configured to acquire an inclination angle of a seedling tray of the rice seedling transplanter;

[0102] an angle adjustment module 213 configured to adjust the inclination angle of the seedling tray of the rice seedling transplanter to a target angle based on the first vehicle speed and the inclination angle;

[0103] a hardness acquisition module 214 configured to acquire a first hardness of target land at the first vehicle speed of the rice seedling transplanter after the inclination angle of the seedling tray of the rice seedling transplanter is adjusted to the target angle;

[0104] a correction module 215 configured to correct the first hardness based on the first vehicle speed, the first hardness and a predetermined mapping table to determine a second hardness of the target land;

[0105] a height adjustment module 216 configured to adjust a height of a seedling bed of the rice seedling transplanter to a target height based on the second hardness to make the rice seedling transplanting depth of the rice seedling transplanter consistent.

[0106] Optionally, the angle adjustment module 213 is specifically configured to:

[0107] first, construct a mathematical model for adjusting the inclination angle of the seedling tray of the rice seedling transplanter based on a PID regulation algorithm.

[0108] then, when the vehicle speed is within a first preset range and the inclination angle is within a second preset range, determine a motor duty cycle corresponding to the target angle using the mathematical model.

[0109] finally, adjust the inclination angle of the seedling tray of the rice seedling transplanter to the target angle based on the motor duty cycle.

[0110] Optionally, the predetermined mapping table is determined in the following manner:

[0111] first, acquire a third hardness of the target land when the vehicle speed of the rice seedling transplanter is within a first preset vehicle speed range.

[0112] second, acquire a fourth hardness of the target land when the vehicle speed of the rice seedling transplanter is within a second preset vehicle speed range.

[0113] Then, based on the third hardness and the fourth hardness, the hardness difference of the target soil when the speed of the rice transplanter is within a second preset speed range is determined.

[0114] Finally, based on the hardness difference, a mapping table for target soil hardness correction is constructed.

[0115] Optionally, the height adjustment module 216 is configured to:

[0116] When the second hardness is within the first hardness range, the height of the rice transplanter platform is raised to the first height to make the transplanting depth of the rice transplanter consistent; when the second hardness is within the second hardness range, the height of the rice transplanter platform is lowered to the second height to make the transplanting depth of the rice transplanter consistent.

[0117] The transplanting depth control device of the rice transplanter provided in the embodiment of the present application can dynamically adjust the vehicle parameters through the device to enhance environmental adaptability, thereby ensuring consistent transplanting depth, improving the survival rate of seedlings, and ultimately achieving the purpose of protecting seedlings and increasing income.

[0118] See also Figure 3 , Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0119] like Figure 3 As shown in FIG, the electronic device 300 includes a processor 310 , a memory 320 and a bus 330 .

[0120] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 via the bus 330. When the machine-readable instructions are executed by the processor 310, the above-mentioned Figure 1 The steps of the method for controlling the transplanting depth of the rice transplanter in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0121] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the method for controlling the transplanting depth of the rice transplanter in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0122] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0123] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. The described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0124] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. In actual implementation, some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0125] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit.

[0126] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.

[0127] Finally, it should be noted that the above-described embodiments are merely specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any skilled person in the art can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features, within the technical scope disclosed by the present application. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling the transplanting depth of a rice transplanter, characterized in that: The rice transplanting depth control method comprises: Get the current first speed of the rice transplanter; Get the tilt angle of the rice transplanter tray; Based on the first vehicle speed and the tilt angle, adjusting the tilt angle of the rice transplanter tray to a target angle; After adjusting the inclination angle of the rice transplanter tray to a target angle, obtaining a first hardness of the target soil at the current first speed of the rice transplanter; Based on the first vehicle speed, the first hardness, and a predetermined mapping table, the first hardness is corrected to determine a second hardness of the target ground; Based on the second hardness, adjusting the height of the rice transplanter platform to a target height so that the rice transplanter can plant rice at a consistent depth; The predetermined mapping table is determined by the following steps: obtaining a third hardness of the target soil when the speed of the rice transplanter is within a second preset speed range; obtaining a fourth hardness of the target soil when the speed of the rice transplanter is within a third preset speed range; determining, based on the third hardness and the fourth hardness, a hardness difference of the target soil when the speed of the rice transplanter is within a third preset speed range; Based on the hardness difference, a mapping table for correcting the target ground hardness is constructed.

2. The rice transplanting depth control method according to claim 1, wherein: The step of adjusting the tilt angle of the rice transplanter tray to a target angle based on the first vehicle speed and the tilt angle includes: Based on the PID control algorithm, a mathematical model for adjusting the tilt angle of the rice transplanter tray was constructed. When the first vehicle speed is within a first preset vehicle speed range and the tilt angle is within a preset angle range, determining a motor duty cycle corresponding to the target angle using the mathematical model; Based on the motor duty cycle, the tilt angle of the rice transplanter tray is adjusted to a target angle.

3. The rice transplanting depth control method according to claim 1, wherein: The step of adjusting the height of the rice transplanter platform to a target height based on the second hardness so as to make the rice transplanting depth of the rice transplanter consistent comprises: When the second hardness is within the first hardness range, raising the height of the rice transplanter platform to a first target height so that the rice transplanter has a consistent planting depth; When the second hardness is within a second hardness range, the height of the rice transplanter platform is lowered to a second target height to make the rice transplanting depth of the rice transplanter consistent.

4. A rice transplanting depth control device for a rice transplanter, characterized in that: The rice transplanting depth control device comprises: The vehicle speed acquisition module obtains the current first speed of the rice transplanter; Angle acquisition module, which obtains the tilt angle of the rice transplanter tray; an angle adjustment module, adjusting the tilt angle of the rice transplanter tray to a target angle based on the first vehicle speed and the tilt angle; a hardness acquisition module, which acquires a first hardness of the target soil at the current first speed of the rice transplanter after adjusting the tilt angle of the rice transplanter tray to a target angle; a correction module, which corrects the first hardness based on the first vehicle speed, the first hardness, and a predetermined mapping table to determine a second hardness of the target ground; a height adjustment module, based on the second hardness, adjusting the height of the rice transplanter platform to a target height so that the rice transplanter can plant rice at a consistent depth; The predetermined mapping table is determined in the following manner: obtaining a third hardness of the target soil when the speed of the rice transplanter is within a second preset speed range; obtaining a fourth hardness of the target soil when the speed of the rice transplanter is within a third preset speed range; determining, based on the third hardness and the fourth hardness, a hardness difference of the target soil when the speed of the rice transplanter is within a third preset speed range; Based on the hardness difference, a mapping table for correcting the target ground hardness is constructed.

5. The rice planting depth control device according to claim 4, characterized in that: The angle adjustment module is used for: Based on the PID control algorithm, a mathematical model for adjusting the tilt angle of the rice transplanter tray was constructed. When the first vehicle speed is within a first preset vehicle speed range and the tilt angle is within a preset angle range, determining a motor duty cycle corresponding to the target angle using the mathematical model; Based on the motor duty cycle, the tilt angle of the rice transplanter tray is adjusted to a target angle.

6. The rice transplanting depth control device according to claim 4, characterized in that: The height adjustment module is used for: When the second hardness is within the first hardness range, raising the height of the rice transplanter platform to a first target height so that the rice transplanter has a consistent planting depth; When the second hardness is within a second hardness range, the height of the rice transplanter platform is lowered to a second target height to make the rice transplanting depth of the rice transplanter consistent.

7. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and when the computer program is executed by the processor, the method for controlling the transplanting depth according to any one of claims 1 to 3 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the rice transplanting depth control method according to any one of claims 1 to 3 are executed.

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