Device and method for automatically adjusting posture and operation height of transplanter

Abstract

The invention discloses a transplanter posture and operation height automatic adjusting device and method.The transplanter posture and operation height automatic adjusting device comprises a transplanter body, a first rotating seat is rotationally arranged on one side of the transplanter body, a second rotating seat is rotationally arranged on the other side of the transplanter body, and a hinge frame is hinged between the first rotating seat and the second rotating seat; an electric driving system, a horizontal posture adjusting system, a height adjusting system and a hydraulic system are arranged between the hinge frame and the transplanter body. The device can adapt to complex terrains and bare seedling transplanting operation scenes, and has the functions of automatic height adjustment and horizontal attitude control, so that the precision and the operation efficiency of transplanting operation can be improved, and dependence on manual operation is reduced; meanwhile, through cooperative work of all the systems, accurate and efficient transplanting operation can be achieved under the complex terrain condition, the planting mechanism can maintain the preset planting depth and the horizontal posture, the crop survival rate and the operation efficiency are improved, and therefore the operation quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of transplanters, and in particular to a device and method for automatically adjusting the posture and operating height of a transplanter. Background Art

[0002] At present, the transplanting of crops is an important part of modern agricultural production, especially for bare seedling crops such as sweet potatoes. The quality of transplanting directly affects the growth and yield of crops. Traditional transplanting technology still relies on a lot of manual operations in many areas, which is inefficient and labor-intensive. With the advancement of agricultural modernization, mechanized transplanting has gradually become a development trend, but existing mechanical equipment has shown certain limitations under complex terrain and uneven soil conditions.

[0003] Most current transplanters rely on chain drive or gear drive for planting operations. Although this method can operate more efficiently on flat terrain, it is difficult to accurately control the planting depth and angle when the terrain changes greatly. At the same time, most existing equipment lacks posture adjustment function and cannot automatically adjust the height and horizontal angle of the planting mechanism according to the ups and downs and inclination of the terrain, which can easily lead to problems such as inconsistent planting depth and unstable seedling planting. Especially in bare seedling planting, since bare seedlings have no matrix protection, the seedlings can be easily damaged if not carefully, affecting the survival rate.

[0004] In the related technologies, with the increasing demand for mechanization in agricultural development in hilly and mountainous areas with complex terrain, the limitations of traditional transplanters are becoming increasingly apparent. In these complex terrains, the surface height changes frequently. If the planting mechanism cannot automatically adjust the height and horizontal posture, the planting effect will be affected. In the prior art, some equipment has also attempted to introduce height and horizontal posture adjustment functions in transplanters, but their accuracy and automation levels are insufficient to meet operational requirements. In addition, the current chain-driven planting mechanism lacks flexibility in adjusting the planting speed and plant spacing, and cannot be precisely controlled according to operational requirements. Summary of the invention

[0005] The purpose of this application is to provide a device and method for automatically adjusting the posture and working height of a transplanter, so as to solve the problem that in the prior art, some devices have attempted to introduce height and horizontal posture adjustment functions in transplanters, but their accuracy and automation level are insufficient and it is difficult to meet the working requirements. In addition, the current chain-driven planting mechanism lacks flexibility in adjusting the planting speed and plant spacing, and cannot be accurately controlled according to the working requirements.

[0006] On the one hand, the present application provides a device and method for automatically adjusting the posture and working height of a transplanter, which adopts the following technical solutions: A transplanter posture and working height automatic adjustment device comprises a transplanter body, a first rotating seat is rotatably provided on one side of the transplanter body, a second rotating seat is rotatably provided on the other side of the transplanter body, an articulated frame is hinged between the first rotating seat and the second rotating seat, and an electric drive system, a horizontal posture adjustment system, a height adjustment system and a hydraulic system are arranged between the articulated frame and the transplanter body; The electric drive system comprises a stepper motor arranged on the articulated frame, the output end of the stepper motor is provided with a linkage structure articulated with the articulated frame, and the linkage structure is provided with a planting mechanism; The horizontal posture adjustment system includes a reduction motor disposed on the transplanter body, the output end of the reduction motor is connected to a driving rod, and one end of the driving rod is connected to one side of the second rotating seat; The height adjustment system includes a single-acting cylinder hingedly arranged on one side of the articulated frame, the output end of the single-acting cylinder is hingedly connected to the other side of the articulated frame, a one-way solenoid valve is also arranged on the single-acting cylinder, and the single-acting cylinder is also connected to the hydraulic system.

[0007] Furthermore, the hydraulic system includes a hydraulic oil tank arranged on one side of the transplanter body, a hydraulic pump is arranged on one side of the hydraulic oil tank, an input end of the hydraulic pump is connected to the hydraulic oil tank, and an output end of the hydraulic pump is connected to the input end of the single-acting cylinder through a hydraulic pipeline.

[0008] Furthermore, the horizontal posture adjustment system also includes a horizontal gyroscope, which is arranged on the transplanter body and cooperates with the planting mechanism to detect the left and right tilt state of the planting mechanism in real time.

[0009] Furthermore, the height adjustment system also includes an infrared rangefinder and a follow-up reflector plate, which are respectively arranged at the bottom of the transplanter body, and the infrared rangefinder is used to measure the distance between the planting mechanism and the ground in real time, and the follow-up reflector plate cooperates with the infrared rangefinder, and the follow-up reflector plate is in contact with the ground surface and automatically adjusts the reflection height as the terrain changes.

[0010] Furthermore, a PLC controller is also provided on the transplanter body, and the PLC controller is simultaneously connected to the stepper motor, the reduction motor, the one-way solenoid valve, the horizontal gyroscope, and the infrared rangefinder.

[0011] On the other hand, the present application provides a method for automatically adjusting the posture and working height of a transplanter using the following technical solution: A method for automatically adjusting the posture and working height of a transplanter comprises the following steps: S1: In the startup phase, the power system of the transplanter is activated first, and the power supply provides power support for the stepper motor, reduction motor, single-acting cylinder, one-way solenoid valve and PLC controller; S2: The stepper motor starts, and the stepper motor drives the planting mechanism through the linkage structure to start running according to the predetermined planting path and speed, so that the planting mechanism maintains a continuous planting action during the transplanting process; S3: The single-acting cylinder is started, and the hydraulic pump delivers the hydraulic oil in the hydraulic oil tank to the single-acting cylinder through the hydraulic pipeline. The flow of the hydraulic oil is controlled by the one-way solenoid valve, so that the one-way solenoid valve controls the lifting and lowering of the single-acting cylinder. Under the driving action of the single-acting cylinder, the articulated frame drives the planting mechanism to lift and lower, thereby ensuring the accuracy of height adjustment; S4: The reduction motor is started, so that the output end of the reduction motor drives the second rotating seat to rotate, and then under the action of the first rotating seat, the articulated frame drives the planting mechanism to swing left and right, thereby adjusting the left and right height difference of the planting mechanism; S5: After the operation is completed, the stepper motor stops running, the planting mechanism returns to the initial position, the hydraulic pump stops working, the hydraulic oil flows back to the hydraulic tank, the hydraulic system stops moving, and the single-acting cylinder resets; the infrared rangefinder and horizontal gyroscope stop data transmission respectively, the PLC controller stops issuing adjustment instructions, and the entire system enters standby mode.

[0012] Furthermore, during the operation of step S2, the infrared rangefinder is activated to start measuring the distance between the planting mechanism and the ground surface. The infrared rangefinder measures the height of the planting mechanism and the ground surface by emitting infrared rays and receiving reflected infrared signals.

[0013] Furthermore, the measurement results of the infrared rangefinder are transmitted to the PLC controller through the data line. The PLC controller compares the actual measurement data according to the set height parameters to determine whether the height of the planting mechanism meets the requirements. When the PLC controller determines that there is a height deviation, it will issue a control instruction to command the one-way solenoid valve and the single-acting cylinder to adjust the height of the planting mechanism.

[0014] Furthermore, during the operation of step S3, when the height of the ground changes, the follow-up reflector provides a stable reflective surface to the infrared rangefinder through close contact with the ground, ensuring that the reflection of infrared rays can accurately return to the infrared rangefinder; and the change in the ground height will cause the follow-up reflector to automatically adjust the contact position with the ground, ensuring that infrared rays can be continuously reflected, thereby ensuring the accuracy of distance measurement; at the same time, the cooperation between the infrared rangefinder and the follow-up reflector can realize real-time height adjustment of the planting mechanism.

[0015] Furthermore, during the operation of step S4, the horizontal gyroscope is activated, and the horizontal gyroscope is used to monitor the left and right horizontal states of the planting mechanism, that is, the task of the horizontal gyroscope is to detect the posture changes of the planting mechanism when the surface is tilted, and to monitor the height difference between the left and right sides of the planting mechanism; when the planting mechanism is tilted, the horizontal gyroscope feeds back its left and right tilt angles to the PLC controller, and the PLC controller determines the degree of inclination of the left and right sides based on the data fed back by the horizontal gyroscope, and issues an adjustment command to control the start-up of the reduction motor.

[0016] Compared with the prior art, the beneficial effects of this application are: By setting up a structure in which the electric drive system, horizontal posture adjustment system, height adjustment system and hydraulic system cooperate with each other, it can adapt to complex terrain and bare seedling transplanting operation scenarios, and has automatic height adjustment and horizontal posture control functions, which not only improves the accuracy and efficiency of transplanting operations, but also reduces dependence on manual operations.

[0017] At the same time, the electric drive system improves the flexibility of planting speed and spacing adjustment, thus avoiding the limitations of traditional chain drive. The horizontal posture adjustment system uses the precise control of the reduction motor to automatically adjust the horizontal state of the planting mechanism under left and right tilt conditions to ensure the same planting angle of the seedlings, thereby improving the survival rate of the crop. The hydraulic system is controlled by a PLC controller to achieve automatic adjustment of the height and posture of the planting mechanism, reducing manual intervention and improving the efficiency of transplanting operations.

[0018] In addition, the cooperation of the infrared rangefinder and the follow-up reflector ensures the accuracy of height adjustment, allowing the planting mechanism to adapt to changes in different terrains and maintain a stable planting depth.

[0019] Therefore, through the coordinated cooperation of various systems, accurate and efficient transplanting operations can be achieved under complex terrain conditions, allowing the planting mechanism to maintain the preset planting depth and horizontal posture, thereby improving the survival rate of crops and operating efficiency, thereby improving the quality of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a device for automatically adjusting the posture and working height of a transplanter according to an embodiment of the present application.

[0021] Figure 2 It is a schematic diagram of the structures of the electric drive system, the horizontal posture adjustment system and the height adjustment system of the embodiment of the present application.

[0022] Description of reference numerals: 1. Transplanter body; 2. First rotating seat; 3. Second rotating seat; 4. Articulated frame; 5. Stepper motor; 6. Linkage structure; 7. Planting mechanism; 8. Reducer motor; 9. Driving rod; 10. Single-acting cylinder; 12. Hydraulic oil tank; 13. Hydraulic pump; 14. Hydraulic pipeline; 15. Horizontal gyroscope; 16. Infrared rangefinder; 17. Follow-up reflector; 18. PLC controller. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1-2 This application is described in further detail.

[0024] On the one hand, the embodiment of the present application discloses a device for automatically adjusting the posture and working height of a transplanter, referring to Figure 1 and Figure 2 In this embodiment, the automatic adjustment device for the posture and working height of the transplanter includes a transplanter body 1, a first rotating seat 2, a second rotating seat 3, an articulated frame 4, an electric drive system, a horizontal posture adjustment system, a height adjustment system and a hydraulic system. Among them, the first rotating seat 2 is rotatably installed on one side of the transplanter body 1, and the second rotating seat 3 is rotatably installed on the other side of the transplanter body 1. The first rotating seat 2 and the second rotating seat 3 correspond to each other, and the first rotating seat 2 and the second rotating seat 3 are both concave structures; the articulated frame 4 is hinged by four hinged rods to form a rectangular structure, and the two side corners of the articulated frame 4 are respectively hinged between the first rotating seat 2 and the second rotating seat 3; when the first rotating seat 2 and the second rotating seat 3 rotate in the same direction, they can drive the entire articulated frame 4 to rotate.

[0025] At the same time, the electric drive system, height adjustment system, horizontal posture adjustment system and hydraulic system are respectively installed between the articulated frame 4 and the transplanter body 1; and a PLC controller 18 is also installed on the transplanter body 1, and the PLC controller 18 is electrically connected to the electric drive system, horizontal posture adjustment system, height adjustment system and hydraulic system respectively, and the PLC controller 18 serves as the central control unit of the entire device, and can effectively control the electric drive system, horizontal posture adjustment system, height adjustment system and hydraulic system at the same time.

[0026] The structures of the electric drive system, horizontal attitude adjustment system, height adjustment system and hydraulic system are described in detail below: Specifically, refer to Figure 1 and Figure 2In this embodiment, the electric drive system includes a stepper motor 5, a linkage structure 6 and a planting mechanism 7. The stepper motor 5 is installed on the articulated frame 4, the stepper motor 5 is powered by a battery or a vehicle power supply, and the stepper motor 5 is electrically connected to the PLC controller 18; the linkage structure 6 is composed of a plurality of linkage rods hinged to each other, and one end of the linkage structure 6 is connected to the output end of the stepper motor 5, and the other end of the linkage structure 6 is hinged to a corner of the articulated frame 4.

[0027] The planting mechanism 7 is installed on the linkage structure 6. The planting mechanism 7 uses finger clamps to simulate human hands to plant the seedlings, which is the key to achieving boat-bottom-shaped planting; specifically, the planting mechanism 7 is composed of a planting rod and a seedling clamping assembly, wherein the planting rod is composed of a frame, a crank, a connecting rod, a rocker and other structures, and the seedling clamping assembly is composed of a driving cam, clamping fingers I, clamping fingers II, guide rails, springs and other structures, and is installed on the connecting rod through a rotating shaft and a bracket, so that it moves with the connecting rod.

[0028] When the planting mechanism 7 is in operation, the crank rotates counterclockwise to drive the connecting rod and the seedling clamping assembly to move into the soil along the boat-bottom-shaped seedling planting trajectory, and then the clamping fingers I and II are closed to take out the seedlings or opened to release the seedlings under the action of the driving cam. The clamping fingers I and II can rotate around the rotating shaft installed on the bracket to achieve scissor-like opening and closing. When the two clamping fingers are matched with the high point of the driving cam, the clamping fingers open their mouths, and when they are matched with the low point of the driving cam, the clamping fingers close. At the same time, the opening and closing process of the clamping fingers is constrained by guide rails and springs to ensure its stable movement in the direction perpendicular to the connecting rod without spatial displacement. In addition, it is specifically explained that the structure of the planting mechanism 7 is a prior art and will not be elaborated here.

[0029] When the operation of the stepper motor 5 is controlled by the PLC controller 18 according to the preset operating parameters, the stepper motor 5 has the ability to control the speed with high precision; when the stepper motor 5 is started, the output end of the stepper motor 5 drives the linkage structure 6 to rotate, and under the articulated driving action of the linkage structure 6, the planting mechanism 7 can be driven to maintain a continuous planting action during the transplanting process. In this way, by adopting the stepper motor 5 to drive the planting mechanism 7, the traditional chain drive is replaced by the electric drive method, and the operating position and speed of the planting mechanism 7 can be accurately controlled, so that the scheme of the present application using the stepper motor 5 has higher flexibility than the traditional chain drive system, and can accurately adjust the planting speed and planting spacing at any time according to different operating requirements and conditions to adapt to different operating terrains and crop requirements.

[0030] At the same time, the high-precision control capability of the stepper motor 5 is realized through the PLC controller 18, which can accurately perform the planting action according to the set operation parameters to ensure the stability of the planting quality. Especially in scenes with complex terrain, the stepper motor 5 can quickly respond to operation changes to ensure the accuracy of transplanting and operation flexibility. In addition, the use of the stepper motor 5 reduces the wear of the traditional mechanical transmission system, reduces maintenance costs, and increases the service life of the equipment.

[0031] Specifically, refer to Figure 1 and Figure 2 In this embodiment, the height adjustment system includes a single-acting cylinder 10 and a one-way solenoid valve. Among them, one end of the single-acting cylinder 10 is hinged on the hinge rod on the left side of the hinge frame 4, the output end of the single-acting cylinder 10 is hinged to the hinge rod on the top side of the hinge frame 4, and the single-acting cylinder 10 is a hydraulic cylinder; the one-way solenoid valve is arranged on the single-acting cylinder 10, and the one-way solenoid valve is electrically connected to the PLC controller 18, and the PLC controller 18 is used to control the opening and closing of the one-way solenoid valve, and then control the compression and extension of the single-acting cylinder 1 by opening and closing the one-way solenoid valve. At the same time, the single-acting cylinder 10 is also interconnected with the hydraulic system, so that the hydraulic system transports hydraulic oil to the single-acting cylinder 10, thereby realizing the opening and closing of the single-acting cylinder 10.

[0032] The height adjustment system also includes an infrared rangefinder 16 and a follow-up reflector 17. The infrared rangefinder 16 and the follow-up reflector 17 are respectively installed at the bottom of the transplanter body 1, and the follow-up reflector 17 and the infrared rangefinder 16 correspond to and cooperate with each other. More specifically, the infrared rangefinder 16 and the PLC controller 18 are electrically connected to each other, and the infrared rangefinder 16 is used to measure the distance between the planting mechanism 7 and the ground surface in real time; the follow-up reflector 17 is attached to the ground surface and automatically adjusts the reflection height as the terrain changes.

[0033] During operation, the infrared rangefinder 16 reflects the infrared signal through the follow-up reflector 17, and measures the actual distance between the planting mechanism 7 and the ground surface according to the round-trip time of the infrared rays. Then the PLC controller 18 adjusts the action of the one-way solenoid valve according to the distance data fed back by the infrared rangefinder 16, so that the one-way solenoid valve controls the extension and retraction of the single-acting cylinder 10. Under the extension and retraction action of the single-acting cylinder 10, the height of the planting mechanism 7 on the articulated frame 4 is automatically controlled and adjusted, thereby ensuring that the planting depth meets the preset requirements.

[0034] In this way, by adopting a structure in which the infrared rangefinder 16 and the follow-up reflector 17 work in coordination, the follow-up reflector 17 automatically adjusts the height of the reflective surface according to the changes in the surface undulations, ensuring that the infrared rays can be stably reflected into the infrared rangefinder 16, so as to avoid the influence of terrain changes on the measurement accuracy; then the infrared rangefinder 16 measures the height distance between the planting mechanism 7 and the surface, and transmits these data to the PLC controller 18, thereby ensuring that the infrared rangefinder 16 can obtain accurate distance measurement data even under complex terrain conditions, and then can ensure the accuracy of the height adjustment of the planting mechanism 7 under different terrain conditions, avoid the problem of inconsistent planting depth caused by terrain changes, and improve the planting accuracy.

[0035] In addition, through the coordinated work of the infrared rangefinder 16 and the single-acting oil cylinder 10, real-time height control of the planting mechanism 7 is achieved. The infrared rangefinder 16 is responsible for measuring the height distance between the planting mechanism 7 and the ground surface, and transmitting the data to the PLC controller 18. The PLC controller 18 automatically adjusts the single-acting oil cylinder 10 by comparing the preset planting depth target and the actual measurement value, thereby ensuring that the planting mechanism 7 always remains within the set height range. When the infrared rangefinder 16 detects a height deviation, the PLC controller 18 controls the lifting and lowering action of the single-acting oil cylinder 10 to adjust the height of the planting mechanism 7. The entire height adjustment process is fully automatic and can be adjusted in real time according to changes in terrain, ensuring that each seedling can be planted in the soil at a precise depth to avoid fluctuations in the planting depth.

[0036] Specifically, refer to Figure 1 and Figure 2 In this embodiment, the horizontal posture adjustment system includes a reduction motor 8 and a driving rod 9. The reduction motor 8 is installed on the transplanter body 1, and the reduction motor 8 is electrically connected to the PLC controller 18, so that the PLC controller 18 controls the rotation and stop of the reduction motor 8; one end of the driving rod 9 is fixedly connected to the output end of the reduction motor 8, and the other end of the driving rod is fixedly connected to the side of the second rotating seat 3 away from the first rotating seat 2. When the reduction motor 8 is started by the control of the PLC controller 18, the output end of the reduction motor 8 drives the driving rod 9 to rotate, and the driving rod 9 drives the second rotating seat 3 to rotate, and then under the action of the first rotating seat 2 and the articulated frame 4, the left and right height adjustment of the planting mechanism 7 can be achieved.

[0037] At the same time, the horizontal attitude adjustment system also includes a horizontal gyroscope 15 installed on the transplanter body 1. The horizontal gyroscope 15 cooperates with the planting mechanism 7, and the horizontal gyroscope 15 is located on one side of the PLC controller 18 and is electrically connected to the PLC controller 18. By setting the horizontal gyroscope 15, the left and right tilt states of the planting mechanism 7 can be detected in real time, and the tilt data can be fed back to the PLC controller 18. The PLC controller 18 controls the action of the reduction motor 8 according to the tilt data fed back by the horizontal gyroscope 15 in real time, so as to dynamically adjust the horizontal attitude of the planting mechanism 7, thereby ensuring that the planting mechanism 7 always maintains a horizontal state during the operation to adapt to changes in the surface tilt.

[0038] When the planting mechanism 7 tilts to the left or right, the PLC controller 18 controls the rotation direction and speed of the reduction motor 8 according to the data fed back by the horizontal gyroscope 15, automatically adjusts the left and right height difference of the planting mechanism 7, and restores the horizontal posture, thereby ensuring that the planting mechanism 7 can cope with changes in complex terrain during operation, ensuring that the planting angle and depth of each seedling are consistent, and improving the survival rate of the seedlings.

[0039] Specifically, refer to Figure 1 and Figure 2 In this embodiment, the hydraulic system includes a hydraulic oil tank 12, a hydraulic pump 13 and a hydraulic pipeline 14. The hydraulic oil tank 12 is installed on one side of the transplanter body 1, and the hydraulic oil is stored in the hydraulic oil tank 12; the hydraulic pump 13 is installed on one side of the hydraulic oil tank 12, and the input end of the hydraulic pump 13 is interconnected with the hydraulic oil tank 12, so as to extract the hydraulic oil in the hydraulic oil tank 12; one end of the hydraulic pipeline 14 is interconnected with the output end of the hydraulic pump 13, and the other end of the hydraulic pipeline 14 is interconnected with the input end of the single-acting cylinder 10.

[0040] In this way, the hydraulic pump 13 is used to provide power for the hydraulic oil, so that the hydraulic oil flows in the single-acting cylinder 10 through the hydraulic pipeline 14, and the PLC controller 18 controls the opening and closing of the one-way solenoid valve to achieve height adjustment and posture control of the planting mechanism 7, thereby ensuring that the planting mechanism 7 can operate stably under complex terrain conditions and quickly respond to the needs of height and posture adjustment.

[0041] Therefore, by setting up a structure in which the electric drive system, horizontal posture adjustment system, height adjustment system and hydraulic system cooperate with each other, it can adapt to complex terrain and bare seedling transplanting operation scenarios, and has automatic height adjustment and horizontal posture control functions, which not only improves the accuracy and efficiency of transplanting operations, but also reduces dependence on manual operations.

[0042] At the same time, under the control of the PLC controller 18, the height adjustment system and the horizontal posture adjustment system can be controlled simultaneously. By receiving real-time data from the infrared rangefinder 16 and the horizontal gyroscope 15, the height and left and right horizontal postures of the planting mechanism 7 can be automatically adjusted, thereby not only ensuring that the planting angles of the seedlings are consistent, thereby improving the survival rate of the crops; but also reducing manual intervention and improving the efficiency of transplanting operations to adapt to changes in different terrains and working conditions.

[0043] In addition, the cooperation of the infrared rangefinder 16 and the follow-up reflector 17 ensures the accuracy of height adjustment, so that the planting mechanism 7 can adapt to the changes of different terrains and maintain a stable planting depth. In this way, through the coordinated cooperation of various systems, accurate and efficient transplanting operations can be achieved under complex terrain conditions, so that the planting mechanism 7 can maintain the preset planting depth and horizontal posture, improve the survival rate of crops and operation efficiency, and thus improve the operation quality.

[0044] On the other hand, the present application provides a method for automatically adjusting the posture and working height of a transplanter using the following technical solution: A method for automatically adjusting the posture and working height of a transplanter comprises the following steps: S1: In the startup phase, the power system of the transplanter body 1 is first activated, and the power supply provides power support for the stepper motor 5, the reduction motor 8, the single-acting cylinder 10, the one-way solenoid valve and the PLC controller 18. Specifically, the stepper motor 5 is powered by a battery or a vehicle power supply, and the stepper motor 5 is interconnected with the planting mechanism 7 to control the operation of the planting mechanism 7. The hydraulic pump 13 starts to work, and the hydraulic oil in the hydraulic oil tank 12 is transported to the various hydraulic components of the entire device through the hydraulic pipeline 13, mainly including the single-acting cylinder 10, and these components provide power support for the subsequent height adjustment and horizontal posture control.

[0045] S2: The stepper motor 5 is started, and the stepper motor 5 drives the planting mechanism 7 through the linkage structure 6 to start running according to the predetermined planting path and speed, so that the planting mechanism 7 maintains a continuous planting action during the transplanting process. At the same time, the operation of the stepper motor 5 is controlled by the PLC controller 18, and the operating parameters of the planting mechanism 7 are set in advance by the PLC controller 18, and the operating parameters include speed and plant spacing. The PLC controller 18 controls the speed and operating frequency of the stepper motor 5 in real time according to the operation requirements to ensure that the planting mechanism 7 performs the operation according to the set parameters.

[0046] In addition, during the operation of step S2, the infrared rangefinder 16 is activated, and the infrared rangefinder 16 starts to measure the distance between the planting mechanism 7 and the ground surface. The infrared rangefinder 16 transmits infrared rays and receives reflected infrared signals to measure the height of the planting mechanism 7 and the ground surface. The measurement result of the infrared rangefinder 16 is transmitted to the PLC controller 18 through the data line. The PLC controller 18 compares the actual measurement data with the set height parameters to determine whether the height of the planting mechanism 7 meets the requirements. When the PLC controller 18 determines that the height deviation occurs, it will issue a control instruction to instruct the one-way solenoid valve and the single-acting cylinder 10 to adjust the height of the planting mechanism 7.

[0047] S3: According to the feedback from the infrared rangefinder 16, the PLC controller 18 controls the opening and closing of the one-way solenoid valve to adjust the flow of hydraulic oil in the single-acting cylinder 10. If the infrared rangefinder 16 measures that the planting mechanism 7 is too high from the ground, the PLC controller 18 will control the one-way solenoid valve to open, the hydraulic oil will be depressurized, and the planting mechanism 7 will descend under the action of gravity until it reaches the set height; if it is measured that the planting mechanism 7 is too low from the ground, the PLC controller 18 will close the one-way solenoid valve and fill the single-acting cylinder 10 with hydraulic oil through the hydraulic pump 13 to push the planting mechanism 7 up until the height meets the set standard. The entire height adjustment process is monitored in real time by the PLC controller 18, which ensures that the height of the planting mechanism 7 is always maintained within a reasonable range by continuously receiving data fed back by the infrared rangefinder 16.

[0048] At the same time, during the operation, when the height of the ground changes, the follow-up reflector 17 provides a stable reflective surface to the infrared rangefinder 16 through close contact with the ground, ensuring that the reflection of infrared rays can accurately return to the infrared rangefinder 16; and the change in the ground height will cause the follow-up reflector 17 to automatically adjust the contact position with the ground, ensuring that infrared rays can continue to reflect, thereby ensuring the accuracy of distance measurement; at the same time, the cooperation between the infrared rangefinder 16 and the follow-up reflector 17 can realize real-time height adjustment of the planting mechanism 7.

[0049] Specifically, the single-acting cylinder 10 is started, and the hydraulic pump 13 transports the hydraulic oil in the hydraulic oil tank 12 to the single-acting cylinder 10 through the hydraulic pipeline 14. The flow of the hydraulic oil is controlled by the one-way solenoid valve, so that the one-way solenoid valve controls the lifting and lowering of the single-acting cylinder 10. Under the driving action of the single-acting cylinder 10, the articulated frame 4 drives the planting mechanism 7 to lift and lower, thereby ensuring the accuracy of height adjustment.

[0050] S4: During the operation of step S4, the horizontal gyroscope 15 is activated. The horizontal gyroscope 15 is used to monitor the left and right horizontal states of the planting mechanism 7, that is, the task of the horizontal gyroscope 15 is to detect the posture changes of the planting mechanism 7 when the surface is tilted, and to monitor the height difference between the left and right sides of the planting mechanism 7; when the planting mechanism 7 is tilted, the horizontal gyroscope 15 feeds back its left and right tilt angles to the PLC controller 18, and the PLC controller 18 determines the degree of inclination of the left and right sides based on the data fed back by the horizontal gyroscope 15, and issues an adjustment instruction to control the start-up of the reduction motor 8.

[0051] The adjustment of the horizontal posture of the present application is achieved through the reduction motor 8. Specifically, the PLC controller 18 controls the rotation direction and speed of the reduction motor 8 according to the feedback of the horizontal gyroscope 15, and adjusts the left and right height difference of the planting mechanism 7. If the planting mechanism 7 tilts to the left, the PLC controller 18 controls the reduction motor 8 to rotate, causing the left side of the planting mechanism 7 to rise and the right side to fall until the planting mechanism 7 is restored to the level; if the planting mechanism 7 tilts to the right, the PLC controller 18 will reverse the operation, causing the right side to rise and the left side to fall, and restore the horizontal posture, so that the reduction motor 8 can achieve precise adjustment through its reduction device, ensuring that the planting mechanism 7 can be restored to the level under the surface conditions of left and right tilts.

[0052] More specifically, the reduction motor 8 is started, and under the control of the PLC controller 18, the rotation direction and speed of the reduction motor 8 are controlled, so that the output end of the reduction motor 8 drives the second rotating seat 3 to rotate, and then under the action of the first rotating seat 2, the articulated frame 4 drives the planting mechanism 7 to swing left and right, thereby adjusting the left and right height difference of the planting mechanism 7.

[0053] S5: After the operation is completed, the stepper motor 5 stops running, the planting mechanism 7 returns to the initial position, the hydraulic pump 13 stops working, the hydraulic oil flows back to the hydraulic oil tank 12, the hydraulic system stops working, and the single-acting cylinder 10 resets; the infrared rangefinder 16 and the horizontal gyroscope 15 stop data transmission respectively, the PLC controller 18 stops issuing adjustment instructions, and the entire system enters a standby state. In this way, through the collaborative working method of the present application, the planting mechanism 7 can automatically complete the height and posture adjustment under complex terrain conditions, thereby ensuring the smooth progress of the planting operation.

[0054] Therefore, in the entire operation process, the device of the present application adopts a stepper motor 5 to continuously drive the planting action of the planting mechanism 7; the rotation speed and operating frequency of the stepper motor 5 are controlled by the PLC controller 18, and each step of the stepper motor 5 drives the planting mechanism 7 to insert the seedlings according to the set spacing; different from the traditional chain drive, the speed and frequency of the stepper motor 5 can be adjusted at any time, and the PLC controller 18 can flexibly control the operating speed and planting spacing of the stepper motor 5 according to changes in operating conditions; the planting mechanism 7 runs according to the preset trajectory and speed, and the stepper motor 5 controls the rhythm of seedling planting according to the setting of the PLC controller 18, ensuring that the seedlings are implanted in the soil according to the set depth and spacing.

[0055] At the same time, the stepper motor 5 works in conjunction with the height adjustment system and the horizontal posture adjustment system to ensure that the planting mechanism 7 maintains the preset height and posture during the seedling planting process. When the terrain conditions change, the infrared rangefinder 16 monitors the height of the planting mechanism 7 in real time, and the PLC controller 18 controls the hydraulic system to adjust the height to ensure that the planting depth always meets the set requirements. The horizontal gyroscope 15 monitors the left and right tilt state of the planting mechanism 7. When the ground tilt causes the planting mechanism 7 to change its posture, the PLC controller 18 restores the horizontal state of the planting mechanism 7 by controlling the action of the reduction motor 8.

[0056] In addition, the hydraulic system drives the single-acting cylinder 10 to work through the pressure provided by the hydraulic pump 13. The hydraulic pump 13 transports the hydraulic oil stored in the hydraulic oil tank 12 to the single-acting cylinder 10 through the hydraulic pipeline 14, and the flow of the hydraulic oil is controlled by a one-way solenoid valve. The one-way solenoid valve controls the lifting and lowering of the single-acting cylinder 10 to ensure the accuracy of the height adjustment; the reduction motor 8 is responsible for the adjustment of the left and right horizontal posture. In this way, through the design of the hydraulic system and the reduction motor 8, it is ensured that the planting mechanism 7 can stably complete the height and posture adjustment during the operation process. The power provided by the hydraulic pump 13 enables the single-acting cylinder 10 and the reduction motor 8 to quickly respond to terrain changes according to the instructions of the PLC controller 18, thereby adjusting the position of the planting mechanism 7.

[0057] In addition, during the entire operation process, the PLC controller 18 serves as the central control unit of the entire device, receives data from sensors such as the infrared rangefinder 16 and the horizontal gyroscope 15 in real time, analyzes the current height and posture state, and issues corresponding control instructions based on these data. The PLC controller 18 controls the switch state of the one-way solenoid valve, adjusts the flow of hydraulic oil in the single-acting cylinder 10, and controls the height and posture changes of the planting mechanism 7. At the same time, the PLC controller 18 also controls the operating frequency and speed of the stepper motor 5 to ensure the continuous progress of the planting operation. In this way, through the centralized management of the PLC controller 18, the entire device can be automatically adjusted according to actual operation requirements to ensure that the planting mechanism 7 can complete stable operations under different terrain conditions.

[0058] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A device for automatically adjusting the posture and working height of a transplanter, characterized in that: The invention comprises a transplanter body (1), a first rotating seat (2) is rotatably provided on one side of the transplanter body (1), a second rotating seat (3) is rotatably provided on the other side of the transplanter body (1), an articulated frame (4) is hingedly connected between the first rotating seat (2) and the second rotating seat (3), and an electric drive system, a horizontal posture adjustment system, a height adjustment system and a hydraulic system are provided between the articulated frame (4) and the transplanter body (1); The electric drive system comprises a stepping motor (5) arranged on the articulated frame (4), the output end of the stepping motor (5) is provided with a linkage structure (6) hinged to the articulated frame (4), and a planting mechanism (7) is arranged on the linkage structure (6); The horizontal posture adjustment system comprises a reduction motor (8) arranged on the transplanter body (1), the output end of the reduction motor (8) is connected to a driving rod (9), and one end of the driving rod (9) is connected to one side of the second rotating seat (3); The height adjustment system comprises a single-acting oil cylinder (10) hingedly arranged on one side of the articulated frame (4), the output end of the single-acting oil cylinder (10) being hingedly connected to the other side of the articulated frame (4), a one-way solenoid valve being also arranged on the single-acting oil cylinder (10), and the single-acting oil cylinder (10) being also connected to the hydraulic system.

2. The automatic adjustment device for the posture and working height of a transplanter according to claim 1, characterized in that: The hydraulic system comprises a hydraulic oil tank (12) arranged on one side of the transplanter body (1), a hydraulic pump (13) being arranged on one side of the hydraulic oil tank (12), an input end of the hydraulic pump (13) being connected to the hydraulic oil tank (12), and an output end of the hydraulic pump (13) being connected to an input end of the single-acting cylinder (10) via a hydraulic pipeline (14).

3. The automatic adjustment device for the posture and working height of a transplanter according to claim 1, characterized in that: The horizontal posture adjustment system further comprises a horizontal gyroscope (15), which is arranged on the transplanter body (1) and cooperates with the planting mechanism (7) to detect the left and right tilt state of the planting mechanism (7) in real time.

4. The automatic adjustment device for the posture and working height of a transplanter according to claim 3, characterized in that: The height adjustment system further comprises an infrared rangefinder (16) and a follow-up reflector plate (17), wherein the infrared rangefinder (16) and the follow-up reflector plate (17) are respectively arranged at the bottom of the transplanter body (1), the infrared rangefinder (16) is used to measure the distance between the planting mechanism (7) and the ground surface in real time, the follow-up reflector plate (17) cooperates with the infrared rangefinder (16), and the follow-up reflector plate (17) is in contact with the ground surface and automatically adjusts the reflection height according to the change of the terrain.

5. The automatic adjustment device for the posture and working height of a transplanter according to claim 4, characterized in that: The transplanter body (1) is also provided with a PLC controller (18), and the PLC controller (18) is simultaneously connected to the stepping motor (5), the reduction motor (8), the one-way solenoid valve, the horizontal gyroscope (15), and the infrared rangefinder (16).

6. A method for automatically adjusting the posture and working height of a transplanter, according to the device for automatically adjusting the posture and working height of a transplanter according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: In the start-up phase, the power system of the transplanter body (1) is first activated, and the power supply provides power support for the stepper motor (5), the reduction motor (8), the single-acting cylinder (10), the one-way solenoid valve and the PLC controller (18); S2: the stepper motor (5) is started, and the stepper motor (5) drives the planting mechanism (7) through the linkage structure (6) to start running according to a predetermined planting path and speed, so that the planting mechanism (7) maintains a continuous planting action during the transplanting process; S3: The single-acting oil cylinder (10) is started, and the hydraulic pump (13) transports the hydraulic oil in the hydraulic oil tank (12) to the single-acting oil cylinder (10) through the hydraulic pipeline (14). The flow of the hydraulic oil is controlled by the one-way solenoid valve, so that the one-way solenoid valve controls the lifting and lowering of the single-acting oil cylinder (10). Under the driving action of the single-acting oil cylinder (10), the articulated frame (4) drives the planting mechanism (7) to be lifted and lowered, thereby ensuring the accuracy of height adjustment; S4: the reduction motor (8) is started, so that the output end of the reduction motor (8) drives the second rotating seat (3) to rotate, and then under the action of the first rotating seat (2), the articulated frame (4) drives the planting mechanism (7) to swing left and right, thereby adjusting the left and right height difference of the planting mechanism (7); S5: After the operation is completed, the stepper motor (5) stops running, the planting mechanism (7) returns to the initial position, the hydraulic pump (13) stops working, the hydraulic oil flows back into the hydraulic oil tank (12), the hydraulic system stops moving, and the single-acting cylinder (10) is reset; the infrared rangefinder (16) and the horizontal gyroscope (15) stop transmitting data respectively, the PLC controller (18) stops issuing adjustment instructions, and the entire system enters a standby state.

7. The method for automatically adjusting the posture and working height of a transplanter according to claim 6, characterized in that: During the operation of step S2, the infrared rangefinder (16) is activated and starts to measure the distance between the planting mechanism (7) and the ground surface. The infrared rangefinder (16) measures the height of the planting mechanism (7) and the ground surface by emitting infrared rays and receiving reflected infrared signals.

8. The method for automatically adjusting the posture and working height of a transplanter according to claim 7, characterized in that: The measurement result of the infrared rangefinder (16) is transmitted to the PLC controller (18) via a data line. The PLC controller (18) compares the actual measurement data with the set height parameter to determine whether the height of the planting mechanism (7) meets the requirements. When the PLC controller (18) determines that there is a height deviation, it will issue a control instruction to instruct the one-way solenoid valve and the single-acting cylinder (10) to adjust the height of the planting mechanism (7).

9. The method for automatically adjusting the posture and working height of a transplanter according to claim 6, characterized in that: During the operation of step S3, when the height of the ground surface changes, the follow-up reflector (17) provides the infrared rangefinder (16) with a stable reflective surface by being in close contact with the ground surface, thereby ensuring that the infrared rays can be accurately reflected and returned to the infrared rangefinder (16); and the change in the ground surface height causes the follow-up reflector (17) to automatically adjust the contact position with the ground surface, thereby ensuring that the infrared rays can be continuously reflected, thereby ensuring the accuracy of the distance measurement; at the same time, the infrared rangefinder (16) and the follow-up reflector (17) cooperate to achieve real-time height adjustment of the planting mechanism (7).

10. The method for automatically adjusting the posture and working height of a transplanter according to claim 6, characterized in that: During the operation of step S4, the horizontal gyroscope (15) is activated. The horizontal gyroscope (15) is used to monitor the left and right horizontal states of the planting mechanism (7), that is, the task of the horizontal gyroscope (15) is to detect the posture change of the planting mechanism (7) when the ground surface is tilted, and to monitor the height difference between the left and right sides of the planting mechanism (7); when the planting mechanism (7) is tilted, the horizontal gyroscope (15) feeds back its left and right tilt angles to the PLC controller (18), and the PLC controller (18) determines the tilt degree of the left and right sides based on the data fed back by the horizontal gyroscope (15), and issues an adjustment instruction to control the start of the reduction motor (8).

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