Control method, device, electronic device and storage medium of marking rod

Abstract

The present application provides a control method, device, electronic device, and storage medium for a marking rod. The method includes: obtaining the current control type and position flag of the marking rod in a rice transplanter, as well as the rice transplanter's driving state at the last moment, the current steering wheel angle, and the current wheel speed; if the control type is the first control type, controlling the marking rod according to the position flag; if the control type is the second control type, determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed; and controlling the marking rod according to the driving state at the last moment, the current driving state, and the position flag. Through the method of the present application, the marking rod can be automatically controlled according to the current position flag of the marking rod, avoiding operational errors caused by frequent manipulation of the mechanical handle, and improving the marking accuracy of the marking rod and the transplanting quality of the rice transplanter.

Description

Technical Field

[0001] The present invention relates to the technical field of rice transplanters, and in particular to a control method and device for a marking rod, an electronic device and a storage medium. Background Art

[0002] Rice transplanting is a crucial step in many agricultural operations. The quality of transplanting directly affects the subsequent growth of crops, and thus the yield. Rice transplanting machinery has evolved from simple manual transplanting to mechanical transplanting, and the marking rod is an essential auxiliary device for transplanting rice.

[0003] Traditional marking rods are manually controlled by mechanical handles. However, during actual operations, the driver has to manually operate the mechanical handle while operating the steering wheel. The force required to operate the mechanical handle is large, and operational errors are likely to occur when the mechanical handle is frequently operated. Therefore, the marking accuracy of the manually controlled marking rod is low, which affects the quality of transplanting. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a control method, device, electronic device and storage medium for a marking rod, which can automatically control the marking rod, avoid operational errors caused by frequent manipulation of the mechanical handle, and improve the marking accuracy of the marking rod and the transplanting quality of the rice transplanter.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a marking rod, the method comprising:

[0006] Get the current control type and position flag of the marking rod in the rice transplanter, as well as the rice transplanter's previous driving status, current steering wheel angle, and current wheel speed;

[0007] If the control type is the first control type, the marking rod is controlled according to the position flag;

[0008] If the control type is the second control type, the current driving state of the rice transplanter is determined according to the current steering wheel angle and the current wheel speed;

[0009] The marking rod is controlled according to the driving status at the last moment, the current driving status and the position mark.

[0010] In one possible implementation, determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed includes:

[0011] If the current steering wheel angle is within the first preset range and all current wheel speeds are not the preset speeds, determining the current driving state of the rice transplanter as the first driving state;

[0012] If the current steering wheel angle is within the second preset range and all current wheel speeds are the same, the current driving state of the rice transplanter is determined to be the second driving state.

[0013] In a possible implementation, controlling the marking rod according to the previous driving state, the current driving state, and the position flag includes:

[0014] If the current driving state is the first driving state, the marking rod is controlled to perform the first action according to the position flag;

[0015] If the driving state at the last moment is the first driving state and the current driving state is the second driving state, the marking rod is controlled to perform the second action according to the driving direction and position mark of the rice transplanter in the driving state at the last moment.

[0016] In a possible implementation, the position marker includes an upper boundary position marker, a lower boundary position marker, and other position markers except the upper boundary and the lower boundary.

[0017] In a possible implementation, controlling the marking rod to perform the first action according to the position flag includes:

[0018] If the upper boundary position flag is the first flag and the lower boundary position flag is the second flag, the marking rod is controlled to perform the first action;

[0019] If the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determine whether the other position flags are target flags;

[0020] If the other position flag is the target flag, the marking rod is controlled to perform the first action.

[0021] In a possible embodiment, controlling the marking rod to perform the second action according to the driving direction and position mark of the rice transplanter in the driving state at the previous moment includes:

[0022] When the rice transplanter is in the first direction at the previous moment, the marking rod in the second direction is controlled to perform the second action according to the position mark of the marking rod in the second direction;

[0023] When the driving direction of the rice transplanter in the driving state at the previous moment is the second direction, the marking rod in the first direction is controlled to perform the second action according to the position mark of the marking rod in the first direction.

[0024] In a possible implementation, controlling the marking rod in the second direction to perform the second action according to the position flag of the marking rod in the second direction includes:

[0025] If the upper boundary position flag of the marking rod in the second direction is the second flag and the lower boundary position flag is the first flag, controlling the marking rod in the second direction to perform the second action;

[0026] If the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determine whether the other position flags are target flags;

[0027] If the other position flags are not the target flags, the marking rod is controlled in the second direction to perform the second action.

[0028] In a second aspect, an embodiment of the present application further provides a control device for a marking rod, the control device for the marking rod comprising:

[0029] The acquisition module is used to obtain the current control type and position flag of the marking rod in the rice transplanter, as well as the rice transplanter's previous driving state, current steering wheel angle and current wheel speed;

[0030] a control module, configured to control the marking rod according to the position flag if the control type is the first control type;

[0031] a determination module, configured to determine a current driving state of the rice transplanter based on a current steering wheel angle and a current wheel speed if the control type is the second control type;

[0032] The control module is also used to control the marking rod according to the driving state at the last moment, the current driving state and the position mark.

[0033] In one possible embodiment, the determination module is specifically used to determine the current driving state of the rice transplanter as the first driving state if the current steering wheel angle is within a first preset range and all current wheel speeds are not the preset speeds; if the current steering wheel angle is within a second preset range and all current wheel speeds are the same, the current driving state of the rice transplanter is determined as the second driving state.

[0034] In one possible embodiment, the control module is specifically used to control the marking rod to perform the first action according to the position mark if the current driving state is the first driving state; if the driving state at the previous moment is the first driving state and the current driving state is the second driving state, then control the marking rod to perform the second action according to the driving direction and position mark of the rice transplanter in the driving state at the previous moment.

[0035] In a possible implementation, the position marker includes an upper boundary position marker, a lower boundary position marker, and other position markers except the upper boundary and the lower boundary.

[0036] In one possible embodiment, the control module is specifically used to control the marking rod to perform the first action if the upper boundary position flag is the first flag and the lower boundary position flag is the second flag; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determine whether the other position flag is the target flag; if the other position flag is the target flag, control the marking rod to perform the first action.

[0037] In one possible embodiment, the control module is specifically used to control the marking rod in the second direction to perform the second action according to the position mark of the marking rod in the second direction when the driving direction of the rice transplanter in the driving state at the previous moment is the first direction; when the driving direction of the rice transplanter in the driving state at the previous moment is the second direction, control the marking rod in the first direction to perform the second action according to the position mark of the marking rod in the first direction.

[0038] In one possible embodiment, the control module is specifically configured to control the marking rod in the second direction to perform the second action if the upper boundary position flag of the marking rod in the second direction is the second flag and the lower boundary position flag is the first flag; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determine whether the other position flags are target flags; if the other position flags are not target flags, control the marking rod in the second direction to perform the second action.

[0039] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the method for controlling a marking rod as described in any one of the first aspects.

[0040] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for controlling a marking rod as described in any one of the first aspects are executed.

[0041] The embodiments of the present application provide a control method, device, electronic device, and storage medium for a marking rod. The method includes: obtaining the current control type and position flag of the marking rod in a rice transplanter, as well as the rice transplanter's driving state at the last moment, the current steering wheel angle, and the current wheel speed; if the control type is the first control type, controlling the marking rod according to the position flag; if the control type is the second control type, determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed; and controlling the marking rod according to the driving state at the last moment, the current driving state, and the position flag. Through the methods of the embodiments of the present application, the marking rod can be automatically controlled according to the current position flag of the marking rod, avoiding operational errors caused by frequent manipulation of the mechanical handle, and improving the marking accuracy of the marking rod and the transplanting quality of the rice transplanter. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A flow chart showing a method for controlling a marking rod provided in an embodiment of the present application is shown;

[0044] Figure 2 A flow chart showing another method for controlling a marking rod provided in an embodiment of the present application is shown;

[0045] Figure 3 A schematic structural diagram of a control device for a marking rod provided in an embodiment of the present application is shown;

[0046] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0047] 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. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0048] 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.

[0049] To enable those skilled in the art to use the contents of this application, the following embodiments are provided in conjunction with a specific application scenario, the "field of rice transplanter technology." It will be apparent to those skilled in the art that the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is primarily described in the context of the "field of rice transplanter technology," it should be understood that this is merely an exemplary embodiment.

[0050] 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.

[0051] The following is a detailed description of a method for controlling a marking rod provided in an embodiment of the present application.

[0052] Reference Figure 1 FIG. 1 is a flow chart of a control method for a marking rod according to an embodiment of the present application. The specific execution process of the control method for the marking rod is as follows:

[0053] S101, obtaining the current control type and position flag of the marking rod in the rice transplanter, as well as the last driving state of the rice transplanter, the current steering wheel angle, and the current wheel speed.

[0054] S102: If the control type is the first control type, control the marking rod according to the position flag.

[0055] S103: If the control type is the second control type, determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed.

[0056] S104: Control the marking rod according to the driving state at the last moment, the current driving state and the position flag.

[0057] The present application provides a method for controlling a marking rod, the method comprising: obtaining the current control type and position flag of the marking rod in a rice transplanter, as well as the rice transplanter's driving state at the last moment, the current steering wheel angle, and the current wheel speed; if the control type is the first control type, controlling the marking rod according to the position flag; if the control type is the second control type, determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed; and controlling the marking rod according to the driving state at the last moment, the current driving state, and the position flag. Through the methods of the embodiments of the present application, the marking rod can be automatically controlled according to the current position flag of the marking rod, avoiding operational errors caused by frequent manipulation of the mechanical handle, and improving the marking accuracy of the marking rod and the transplanting quality of the rice transplanter.

[0058] The following describes the exemplary steps of the embodiment of the present application:

[0059] S101, obtaining the current control type and position flag of the marking rod in the rice transplanter, as well as the last driving state of the rice transplanter, the current steering wheel angle, and the current wheel speed.

[0060] In the implementation manner of the present application, the position mark is used to mark the current position of the marking rod; the driving state at the last moment is used to represent the driving state of the rice transplanter at the last moment.

[0061] The control type includes a first control type (here, manual control) and a second control type (here, automatic control); the driving state includes a first driving state (here, turning) and a second driving state (here, straight driving). The position flag includes an upper boundary position flag, a lower boundary position flag, and other position flags except the upper boundary and the lower boundary.

[0062] Here, the upper boundary position flag is used to indicate whether the current position of the marking rod is the upper boundary, the lower boundary position flag is used to indicate whether the current position of the marking rod is the lower boundary, and other position flags are used to indicate whether the current position of the marking rod is the upper area or the lower area.

[0063] Furthermore, the rice transplanter is equipped with at least one marking rod (which may include a left marking rod and a right marking rod). A manual control button is installed for each marking rod on the rice transplanter. When the driver presses the manual control button of a marking rod, the control type of the marking rod is the first control type. The rice transplanter is also equipped with an automatic control button. When the driver presses the automatic control button, the control type of all marking rods is the second control type.

[0064] Furthermore, the position flag can be represented by 0 or 1. Here, an upper boundary switch sensor and a lower boundary switch sensor are installed for each marking rod on the rice transplanter; the upper boundary switch sensor is used to collect the upper boundary position flag of the corresponding marking rod; and the lower boundary switch sensor is used to collect the lower boundary position flag of the corresponding marking rod.

[0065] Furthermore, the rice transplanter is also equipped with a steering wheel angle sensor and a wheel sensor; the steering wheel angle sensor is used to collect the steering wheel angle of the rice transplanter; a wheel sensor is installed on the internal gear of each wheel on the rice transplanter (including the left wheel and the right wheel), and each wheel sensor is used to collect the speed of each wheel.

[0066] S102: If the control type is the first control type, control the marking rod according to the position flag.

[0067] (1) For each marking rod of the first control type, if the upper boundary position flag of the marking rod is the first flag and the lower boundary position flag is the second flag, the marking rod is controlled to perform the first action.

[0068] In the embodiment of the present application, the upper boundary position flag is the first flag used to indicate that the current position of the marking rod is not the upper boundary. The lower boundary position flag is the second flag used to indicate that the current position of the marking rod is the lower boundary. The first action is to rise.

[0069] Among them, the first flag bit can be represented by 0, and the second flag bit can be represented by 1, and the subsequent description is similar.

[0070] Specifically, controlling the marking rod to perform the first action includes: if the time duration for the marking rod to perform the first action is less than the preset time duration (here it can be 5s) and the upper boundary position flag is the second flag, then controlling the marking rod to stop performing the first action; if the time duration for the marking rod to perform the first action is equal to the preset time duration, then controlling the marking rod to stop performing the first action and setting the value of the other position flag to the non-target flag.

[0071] Among them, when the value of other position flags is set to a non-target flag (which can be represented by 1), it indicates that the current position of the marking rod is the upper area.

[0072] (2) If the upper boundary position flag of the marking rod is the second flag, and the lower boundary position flag is the first flag, the marking rod is controlled to perform the second action.

[0073] In the embodiment of the present application, the upper boundary position flag is the second flag used to indicate that the current position of the marking rod is the upper boundary, and the lower boundary position flag is the first flag used to indicate that the current position of the marking rod is not the lower boundary. The second action is to descend.

[0074] Specifically, controlling the marking rod to perform the second action includes: if the time duration for the marking rod to perform the second action is less than the preset time duration (here it can be 5s) and the lower boundary position flag is the second flag, controlling the marking rod to stop performing the second action; if the time duration for the marking rod to perform the second action is equal to the preset time duration, controlling the marking rod to stop performing the second action and setting the value of the other position flag to the target flag.

[0075] Among them, when the value of other position flags is set to the target flag (which can be represented by 0), it indicates that the current position of the marking rod is the lower area.

[0076] (3) If the upper boundary position flag of the marking rod is the first flag, and the lower boundary position flag is the first flag, then determine whether the other position flags are target flags;

[0077] (4) If the other position mark is the target mark, the marking rod is controlled to perform the first action.

[0078] Specifically, controlling the marking rod to perform the first action includes: if the time duration for the marking rod to perform the first action is less than the preset time duration (here it can be 5s) and the upper boundary position flag is the second flag, then controlling the marking rod to stop performing the first action; if the time duration for the marking rod to perform the first action is equal to the preset time duration, then controlling the marking rod to stop performing the first action and setting the value of the other position flag to the non-target flag.

[0079] (5) If the other position mark is the target mark, the marking rod is controlled to perform the second action.

[0080] Specifically, controlling the marking rod to perform the second action includes: if the time duration for the marking rod to perform the second action is less than the preset time duration (here it can be 5s) and the lower boundary position flag is the second flag, controlling the marking rod to stop performing the second action; if the time duration for the marking rod to perform the second action is equal to the preset time duration, controlling the marking rod to stop performing the second action and setting the value of the other position flag to the target flag.

[0081] S103: If the control type is the second control type, determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed.

[0082] Specifically, if the current steering wheel angle is within a first preset range and all current wheel speeds are not preset speeds, the current driving state of the rice transplanter is determined to be the first driving state.

[0083] In the embodiment of the present application, the first preset range may be set to be greater than 180 degrees.

[0084] Specifically, if the current steering wheel angle is within the second preset range and all current wheel speeds are the same, the current driving state of the rice transplanter is determined to be the second driving state.

[0085] In the embodiment of the present application, the second preset range can be set to be less than or equal to 180 degrees.

[0086] S104: Control the marking rod according to the driving state at the last moment, the current driving state and the position flag.

[0087] Specifically, if the current driving state is the first driving state, the marking rod is controlled to perform the first action according to the position mark; if the driving state at the previous moment is the first driving state and the current driving state is the second driving state, the marking rod is controlled to perform the second action according to the driving direction and position mark of the rice transplanter in the previous driving state.

[0088] Reference Figure 2 FIG. 1 is a flow chart of another method for controlling a marking rod according to an embodiment of the present application. The exemplary steps of the embodiment of the present application are described below:

[0089] S201: If the current driving state is the first driving state, control the marking rod to perform a first action according to the position flag.

[0090] In the embodiment of the present application, if the current driving state is the first driving state, it means that the rice transplanter is currently turning, and all the marking rods should be in the raised state.

[0091] Specifically, the marking rod is controlled to perform the first action according to the position flag, including: if the upper boundary position flag is the first flag and the lower boundary position flag is the second flag, then the marking rod is controlled to perform the first action; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, then it is determined whether the other position flags are target flags; if the other position flags are target flags, then the marking rod is controlled to perform the first action.

[0092] Here, controlling the marking rod to perform the first action includes: if the time duration for the marking rod to perform the first action is less than the preset time duration (here it can be 5s) and the upper boundary position flag is the second flag, then controlling the marking rod to stop performing the first action; if the time duration for the marking rod to perform the first action is equal to the preset time duration, then controlling the marking rod to stop performing the first action and setting the value of the other position flag to the non-target flag.

[0093] S202: If the driving state at the previous moment is the first driving state and the current driving state is the second driving state, the marking rod is controlled to perform the second action according to the driving direction and position mark of the rice transplanter at the previous driving state.

[0094] In the embodiment of the present application, if the driving state at the previous moment was the first driving state and the current driving state is the second driving state, indicating that the rice transplanter is turning to go straight, then when turning to go straight in the first direction, the marking rods in the second direction should all be in the lowered state; when turning to go straight in the second direction, the marking rods in the first direction should all be in the lowered state. The driving direction includes the first direction (which may refer to the left in this case) and the second direction (which may refer to the right in this case).

[0095] Specifically, when the driving direction of the rice transplanter in the driving state at the previous moment is the first direction, the marking rod in the second direction is controlled to perform the second action according to the position mark of the marking rod in the second direction.

[0096] In an embodiment of the present application, if the upper boundary position flag of the marking rod in the second direction is the second flag and the lower boundary position flag is the first flag, the marking rod in the second direction is controlled to perform the second action; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, it is determined whether the other position flags are the target flags; if the other position flags are not the target flags, the marking rod in the second direction is controlled to perform the second action.

[0097] Here, controlling the marking rod in the second direction to perform the second action includes: if the time duration for the marking rod in the second direction to perform the second action is less than the preset time duration (here it can be 5s) and the lower boundary position flag is the second flag, controlling the marking rod in the second direction to stop performing the second action; if the time duration for the marking rod in the second direction to perform the second action is equal to the preset time duration, controlling the marking rod in the second direction to stop performing the second action, and setting the value of the other position flags to the target flag.

[0098] Specifically, when the driving direction of the rice transplanter in the driving state at the previous moment is the second direction, the marking rod in the first direction is controlled to perform the second action according to the position mark of the marking rod in the first direction.

[0099] In an embodiment of the present application, if the upper boundary position flag of the marking rod in the first direction is the second flag and the lower boundary position flag is the first flag, the marking rod in the first direction is controlled to perform the second action; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, it is determined whether the other position flags are the target flags; if the other position flags are not the target flags, the marking rod in the first direction is controlled to perform the second action.

[0100] Here, controlling the marking rod in the first direction to perform the second action includes: if the time duration for the marking rod in the first direction to perform the second action is less than the preset time duration (here it can be 5s) and the lower boundary position flag is the second flag, then controlling the marking rod in the first direction to stop performing the second action; if the time duration for the marking rod in the first direction to perform the second action is equal to the preset time duration, then controlling the marking rod in the first direction to stop performing the second action, and setting the value of the other position flag to the target flag.

[0101] An embodiment of the present application provides another method for controlling a marking rod, which can control the marking rod according to the driving status at the previous moment, the current driving status and the position flag, thereby avoiding operational errors caused by frequent manipulation of the mechanical handle, and improving the marking accuracy of the marking rod and the transplanting quality of the rice transplanter.

[0102] Based on the same inventive concept, an embodiment of the present application also provides a control device for a marking rod corresponding to the control method for a marking rod. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the control method for a marking rod in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0103] Reference Figure 3 FIG. 1 is a schematic diagram of a control device for a marking rod provided in an embodiment of the present application, wherein the control device for the marking rod includes:

[0104] The acquisition module 301 is used to obtain the current control type and position flag of the marking rod in the rice transplanter, as well as the driving state of the rice transplanter at the last moment, the current steering wheel angle and the current wheel speed;

[0105] A control module 302 is configured to control the marking rod according to the position flag if the control type is the first control type;

[0106] The determination module 303 is configured to determine the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed if the control type is the second control type;

[0107] The control module 302 is further configured to control the marking rod according to the last driving state, the current driving state and the position flag.

[0108] In one possible embodiment, the determination module 303 is specifically used to determine the current driving state of the rice transplanter as the first driving state if the current steering wheel angle is within the first preset range and all current wheel speeds are not the preset speeds; if the current steering wheel angle is within the second preset range and all current wheel speeds are the same, the current driving state of the rice transplanter is determined as the second driving state.

[0109] In one possible embodiment, the control module 302 is specifically used to control the marking rod to perform the first action according to the position mark if the current driving state is the first driving state; if the driving state at the previous moment is the first driving state and the current driving state is the second driving state, then control the marking rod to perform the second action according to the driving direction and position mark of the rice transplanter in the driving state at the previous moment.

[0110] In a possible implementation, the position marker includes an upper boundary position marker, a lower boundary position marker, and other position markers except the upper boundary and the lower boundary.

[0111] In one possible implementation, the control module 302 is specifically configured to control the marking rod to perform the first action if the upper boundary position flag is the first flag and the lower boundary position flag is the second flag; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determine whether the other position flags are target flags; if the other position flags are target flags, control the marking rod to perform the first action.

[0112] In one possible embodiment, the control module 302 is specifically used to control the marking rod in the second direction to perform the second action according to the position mark of the marking rod in the second direction when the driving direction of the rice transplanter in the driving state at the previous moment is the first direction; when the driving direction of the rice transplanter in the driving state at the previous moment is the second direction, control the marking rod in the first direction to perform the second action according to the position mark of the marking rod in the first direction.

[0113] In one possible embodiment, the control module 302 is specifically used to control the marking rod in the second direction to perform the second action if the upper boundary position flag of the marking rod in the second direction is the second flag and the lower boundary position flag is the first flag; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determine whether the other position flags are target flags; if the other position flags are not target flags, control the marking rod in the second direction to perform the second action.

[0114] The embodiment of the present application provides a control device for a marking rod, which includes: an acquisition module 301, which is used to obtain the current control type and position flag of the marking rod in the rice transplanter, as well as the driving state of the rice transplanter at the last moment, the current steering wheel angle, and the current wheel speed; a control module 302, which is used to control the marking rod according to the position flag if the control type is the first control type; a determination module 303, which is used to determine the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed if the control type is the second control type; the control module 302 is also used to control the marking rod according to the driving state at the last moment, the current driving state, and the position flag. Through the method of the embodiment of the present application, the marking rod can be automatically controlled according to the current position flag of the marking rod, avoiding operational errors caused by frequent manipulation of the mechanical handle, and improving the marking accuracy of the marking rod and the transplanting quality of the rice transplanter.

[0115] like Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, the memory 402 stores machine-readable instructions executable by the processor 401, and when the electronic device is running, the processor 401 communicates with the memory 402 through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the control method of the marking rod as described above.

[0116] Specifically, the memory 402 and the processor 401 can be general-purpose memories and processors, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the control method of the marking rod can be executed.

[0117] Corresponding to the above-mentioned method for controlling a marking rod, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for controlling a marking rod are executed.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0119] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0120] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0121] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0122] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a marking rod, characterized in that: The method comprises: Obtain the current control type and position flag of the marking rod in the rice transplanter, as well as the previous driving state, current steering wheel angle and current wheel speed of the rice transplanter; If the control type is the first control type, controlling the marking rod according to the position flag; If the control type is the second control type, determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed; If the current driving state is the first driving state, controlling the marking rod to perform a first action according to the position flag; If the driving state at the previous moment is the first driving state and the current driving state is the second driving state, controlling the marking rod to perform the second action according to the driving direction of the rice transplanter at the previous moment and the position flag; The position flags include an upper boundary position flag, a lower boundary position flag, and other position flags except the upper boundary and the lower boundary; controlling the marking rod to perform the first action according to the position flags includes: if the upper boundary position flag is a first flag and the lower boundary position flag is a second flag, controlling the marking rod to perform the first action; if the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determining whether the other position flags are target flags; if the other position flags are target flags, controlling the marking rod to perform the first action; Controlling the marking rod to perform the first action includes: if the duration of the marking rod performing the first action is less than a preset duration and the upper boundary position flag is a second flag, controlling the marking rod to stop performing the first action; if the duration of the marking rod performing the first action is equal to the preset duration, controlling the marking rod to stop performing the first action and setting the value of the other position flag to a non-target flag; Controlling the marking rod to perform the second action includes: if the duration of the marking rod performing the second action is less than the preset duration and the lower boundary position flag is the second flag, controlling the marking rod to stop performing the second action; if the duration of the marking rod performing the second action is equal to the preset duration, controlling the marking rod to stop performing the second action and setting the value of the other position flag to the target flag.

2. The control method of the marking rod according to claim 1, characterized in that: Determining the current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed includes: If the current steering wheel angle is within a first preset range and all the current wheel speeds are not preset speeds, determining the current driving state of the rice transplanter as a first driving state; If the current steering wheel angle is within a second preset range and all the current wheel speeds are the same, the current driving state of the rice transplanter is determined to be the second driving state.

3. The control method of the marking rod according to claim 1, characterized in that: The controlling the marking rod to perform the second action according to the driving direction of the rice transplanter at the previous driving moment and the position mark position includes: When the rice transplanter is traveling in the first direction at the last moment, controlling the marking rod in the second direction to perform the second action according to the position mark of the marking rod in the second direction; When the driving direction of the rice transplanter in the driving state at the previous moment is the second direction, the marking rod in the first direction is controlled to perform the second action according to the position mark of the marking rod in the first direction.

4. The control method of the marking rod according to claim 3, characterized in that: The controlling the marking rod in the second direction to perform the second action according to the position flag of the marking rod in the second direction includes: If the upper boundary position flag of the marking rod in the second direction is the second flag and the lower boundary position flag is the first flag, controlling the marking rod in the second direction to perform the second action; If the upper boundary position flag is the first flag and the lower boundary position flag is the first flag, determining whether the other position flag is the target flag; If the other position flag is not the target flag, the marking rod in the second direction is controlled to perform the second action.

5. A control device for a marking rod, characterized in that: The control method for a marking rod according to any one of claims 1 to 4, the device comprising: An acquisition module is used to obtain the current control type and position flag of the marking rod in the rice transplanter, as well as the driving state of the rice transplanter at the last moment, the current steering wheel angle and the current wheel speed; a control module, configured to control the marking rod according to the position flag if the control type is the first control type; a determination module, configured to determine a current driving state of the rice transplanter according to the current steering wheel angle and the current wheel speed if the control type is the second control type; The control module is further configured to control the marking rod according to the driving state at the last moment, the current driving state and the position flag.

6. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the method for controlling a marking rod as described in any one of claims 1 to 4.

7. 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 method for controlling a marking rod according to any one of claims 1 to 4 are executed.

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