A miniature automatic rice transplanting device and method suitable for making rice field paintings

Abstract

The present invention discloses a miniature automatic rice transplanting device and method suitable for producing rice field paintings. The device comprises a power system, a transplanting system, a transplanting distance control system, and a control system communicatively connected to each of the power system, the transplanting system, and the transplanting distance control system. This system and method automates rice transplanting in rice field paintings, overcoming the low efficiency and labor intensity of traditional manual transplanting, as well as the deficiencies in flexibility and precision of conventional mechanical transplanters. This improves the efficiency of rice field painting transplanting and reduces labor requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a miniature automatic rice transplanting device and method suitable for making rice field paintings. Background Art

[0002] With the development of rural tourism, people's demand for rice field painting is constantly increasing. At present, simple rice field painting patterns mostly adopt the method of "planting first and then painting", that is, conventional machinery is used to transplant rice seedlings to fill the entire rice field, and then according to the drawing requirements, the corresponding seedlings are pulled out, and then colored rice seedlings are manually planted; while complex rice field painting patterns adopt the traditional manual transplanting method. The current problems with rice field painting transplanting are: 1) The traditional manual transplanting method is not only time-consuming but also labor-intensive, especially in places where fine patterns are required, the workload of workers will increase significantly. 2) Conventional mechanical transplanting lacks flexibility, lacks precision, is complex to operate, and has poor adaptability, making it difficult to meet the high precision and diversity requirements required for rice field painting. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a miniature automatic rice transplanting device and method suitable for making rice field paintings.

[0004] The present invention solves the above technical problems with the following technical solutions: A miniature automatic rice transplanting device suitable for making rice field paintings comprises a power system, a rice transplanting system, a rice transplanting distance control system, and a control system that is communicatively connected to the power system, the rice transplanting system, and the rice transplanting distance control system respectively;

[0005] The rice transplanting system includes a rice seedling tray and a rice transplanting mechanism. The rice transplanting mechanism is arranged below the frame of the power system, and the rice seedling tray is fixed above the frame. The rice seedling tray includes a frame, a stepper motor, a drive module and a sensing module. The stepper motor is fixed at the bottom of the rice seedling tray and controls the forward movement of the rice seedling tray. The sensing module is fixed in the rice transplanting mechanism. The drive module is respectively communicated with the motor and the control system. The rice transplanting mechanism is powered by the rice transplanting distance control system to transplant the rice seedlings into the rice field.

[0006] Furthermore, the transplanting distance control system includes a distance control wheel and a transmission shaft. The distance control wheel is used to control the transplanting spacing of the transplanting system. The distance control wheel is fixed at the bottom of the frame and connected to the transplanting mechanism by the transmission shaft. The transplanting spacing can be changed by changing the size of the distance control wheel. The distance control wheel rotates one circle and the transmission shaft drives the transplanting mechanism to transplant once.

[0007] Furthermore, the control system includes a single chip microcomputer, a photoelectric sensor, a GPS navigation positioning, an encoder and a visual sensor.

[0008] The photoelectric sensor, GPS navigation positioning, encoder and visual sensor are respectively connected to the single chip microcomputer for communication.

[0009] Furthermore, the power system includes a frame, driving wheels arranged on both sides of the frame, driven wheels connected to the driving wheels through a chain transmission, and a motor for providing driving force to the driving wheels, and the motor is communicatively connected to the control system.

[0010] Furthermore, the rice planting mechanism includes a rice planting claw and a driving assembly for driving the rice planting claw to move.

[0011] Furthermore, it also includes a conveyor belt for transporting seedlings.

[0012] The present invention also provides a micro automatic rice transplanting method suitable for making rice field paintings, comprising the following steps:

[0013] S1: First, the visual sensor captures real-time images of the rice fields and transmits these image data to the microcontroller. The microcontroller uses advanced image recognition algorithms to accurately process the images to identify the patterns and boundaries of the rice field paintings and the specific locations where rice seedlings need to be planted.

[0014] S2: Manually place seedlings of different colors neatly on seedling trays. A seedling sorting device then organizes them into bundles for easy transport and transfers them to the cylinder of a seedling conveyor belt. When the seedlings reach the transplanting mechanism, the microcontroller intelligently selects the seedlings of a specific color and transfers them to the corresponding transplanting claws based on the pattern and color requirements of the rice field painting.

[0015] S3: Based on the path planning results, the MCU sends precise instructions to the stepper motor and transmission system to control the movement of the seedling tray, ensuring that the seedlings can be accurately delivered to the transplanting device along the planned path;

[0016] S4: During the transplanting process, the photoelectric sensor and photoelectric gate will continuously collect information and feed it back to the microcontroller in real time. The microcontroller will adjust the position and speed of the transplanting claws in real time based on this information to ensure the accuracy and continuity of transplanting. When the transplanting task is completed, the system will automatically check and verify to ensure that all seedlings have been accurately transplanted according to the preset pattern.

[0017] Furthermore, in step S2, the system will also optimize the motor control algorithm to achieve precise movement of the transplanting claws and accurate control of the transplanting depth, ensuring that each seedling can be placed accurately in the designated position.

[0018] The present invention has the following beneficial effects: the present invention provides a miniature automatic rice transplanting device and method suitable for making rice field paintings,

[0019] (1) It reduces the labor cost of transplanting rice seedlings in rice fields, reduces the amount of labor used, and is more efficient than manual transplanting.

[0020] (2) No manual labor is required to go into the rice fields, which saves labor and ensures the flatness of the rice fields. Manual labor only needs to place seedlings of different colors into the seedling trays.

[0021] (3) The device of the present invention is a small machine, easy to operate, and has higher flexibility and precision.

[0022] (4) The device of the present invention has a built-in replaceable lithium battery, which is easy to replace and can operate uninterruptedly without being troubled by the problem of no power supply in the fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an overall schematic diagram of the device of the present invention.

[0024] Figure 2 It is a schematic diagram of a rice transplanting device of the present invention.

[0025] Figure 3 The present invention is a flow chart of rice transplanting in a rice field. DETAILED DESCRIPTION

[0026] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0027] like Figures 1 to 2 As shown, a miniature automatic rice transplanting device suitable for making rice field paintings includes a power system, a rice transplanting system, a rice transplanting distance control system, and a control system that is communicatively connected to the power system, the rice transplanting system, and the rice transplanting distance control system respectively.

[0028] The rice transplanting system includes a rice seedling tray 1 and a rice transplanting mechanism 2. The rice transplanting mechanism 2 is located below the power system frame 3, and the rice seedling tray 1 is fixed above the frame 3. The rice seedling tray 1 includes the frame 3, a stepper motor, a drive module, and a sensing module. The stepper motor is fixed to the bottom of the rice seedling tray 1 and controls the forward movement of the rice seedling tray 1. The sensing module is fixed in the rice transplanting mechanism 2, and the drive module is connected to the motor and control system respectively. The rice transplanting mechanism 2 is powered by the rice transplanting distance control system to plant the rice seedlings in the rice field. Each time the rice transplanting device plants rice seedlings, the photoelectric gate detects and generates a signal that is transmitted to the microcontroller. The microcontroller controls the drive module to rotate the stepper motor to a certain angle, driving the metal frame 3 to move left and right. The rice transplanting system is powered by the distance control system to plant the rice seedlings in the rice field. The rice transplanting mechanism 2 includes a planting claw and a drive assembly for driving the planting claw. In the rice transplanting mechanism 2, first of all, it is necessary to manually place the seedlings of different colors on the seedling tray 1, and then the device will be driven by the chain to arrange the seedlings into a bunch of seedlings on the seedling organizer and put them into the seedling holes on the organizer. The arranged seedlings will be conveyed to the inside of the seedling cylinder by the conveying device, and then the motor will drive the seedling conveyor belt 7 to convey the seedlings to the rice transplanting device for the subsequent rice transplanting movement. Before the entire device starts to move, the seedlings will first be conveyed to the funnel-shaped device above the rice transplanting claw to wait for transplanting. After starting to move, the driven wheel starts to move under the action of the driving wheel 6, and the entire system starts to execute various commands under the processing of the central processing unit and starts transplanting. The main principle of rice transplanting is to use the rotation of the transmission shaft 5. The entire system is to be precisely controlled by the single-chip microcomputer.

[0029] The rice transplanting distance control system includes a distance control wheel 4 and a transmission shaft 5. The distance control wheel 4 is used to control the planting distance of the rice transplanting system. The distance control wheel 4 is fixed at the bottom of the frame 3 and connected to the rice transplanting mechanism 2 by the transmission shaft 5. The rice transplanting spacing can be changed by replacing the size of the distance control wheel 4. The distance control wheel 4 rotates one circle and the transmission shaft 5 drives the rice transplanting mechanism 2 to transplant once, thereby ensuring that the rice transplanting spacing is the same.

[0030] The control system includes a single-chip microcomputer, a photoelectric sensor, a GPS navigation and positioning system, an encoder, and a visual sensor, all of which are in communication with the single-chip microcomputer. The power system includes a frame 3, driving wheels 6 arranged on both sides of the frame 3, driven wheels connected to the driving wheels 6 via a chain drive, and a motor for providing driving force to the driving wheels 6, which is in communication with the control system.

[0031] like Figure 3 As shown, the present invention also provides a micro automatic rice transplanting method suitable for making rice field paintings, comprising the following steps:

[0032] S1: First, the visual sensor captures real-time images of the rice fields and transmits these image data to the microcontroller. The microcontroller uses advanced image recognition algorithms to accurately process the images to identify the patterns and boundaries of the rice field paintings and the specific locations where rice seedlings need to be planted.

[0033] S2: Manually place seedlings of different colors neatly on the seedling tray 1. Then, the seedling sorting device sorts the seedlings into a bundle for easy transportation and sends them to the cylinder of the seedling conveyor belt 7. When the seedlings move to the transplanting mechanism 2, the single chip will intelligently select the seedlings of specific colors and send them to the corresponding transplanting claws according to the pattern and color requirements of the rice field painting; the system will also optimize the motor control algorithm to achieve precise movement of the transplanting claws and precise control of the transplanting depth, ensuring that each seedling can be placed accurately in the designated position.

[0034] S3: Based on the path planning results, the MCU sends precise instructions to the stepper motor and transmission system to control the movement of the seedling tray, ensuring that the seedlings can be accurately delivered to the transplanting device along the planned path;

[0035] S4: During the transplanting process, the photoelectric sensor and photoelectric gate will continuously collect information and feed it back to the microcontroller in real time. The microcontroller will adjust the position and speed of the transplanting claws in real time based on this information to ensure the accuracy and continuity of transplanting. When the transplanting task is completed, the system will automatically check and verify to ensure that all seedlings have been accurately transplanted according to the preset pattern.

[0036] The GPS navigation and positioning system also plays a key role in the system. It reads the transplanter's position in real time and compares it with a pre-set trajectory. When the transplanter reaches the predetermined trajectory, the system executes the steering program. The microcontroller controls the motor's direction and reads the encoder value to implement closed-loop PID control, ensuring that the driving wheel 6 accurately controls the driven wheels in front to complete the steering task.

[0037] Through this series of precise control processes, the entire rice field painting transplanting control system can efficiently realize the rice field painting transplanting operation, which not only improves work efficiency but also greatly reduces labor requirements.

[0038] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A miniature automatic rice transplanting method suitable for making rice field paintings, using a rice transplanting device, characterized in that: It includes a power system, a rice transplanting system, a rice transplanting distance control system, and a control system that is communicatively connected to the power system, the rice transplanting system, and the rice transplanting distance control system respectively; The rice transplanting system comprises a rice seedling tray (1) and a rice transplanting mechanism (2), wherein the rice transplanting mechanism (2) is arranged below a frame (3) of a power system, and the rice seedling tray (1) is fixed above the frame (3). The rice seedling tray (1) comprises a frame (3), a stepper motor, a drive module, and a sensing module. The stepper motor is fixed at the bottom of the rice seedling tray (1) and controls the forward movement of the rice seedling tray (1). The sensing module is fixed in the rice transplanting mechanism (2), and the drive module is respectively connected to the stepper motor and the control system for communication. The rice transplanting mechanism (2) is powered by the rice transplanting distance control system to transplant the rice seedlings into the rice field. The control system includes a single chip microcomputer, a photoelectric sensor, a GPS navigation positioning, an encoder and a visual sensor. The photoelectric sensor, GPS navigation positioning, encoder and visual sensor are respectively connected to the single chip microcomputer for communication; Also included is a conveyor belt (7) for transporting the seedlings; The automatic rice transplanting method comprises the following steps: S1: First, the visual sensor captures real-time images of the rice fields and transmits these image data to the microcontroller. The microcontroller uses advanced image recognition algorithms to accurately process the images to identify the patterns and boundaries of the rice field paintings and the specific locations where rice seedlings need to be planted. S2: The seedlings of different colors are manually placed neatly on the seedling tray (1). Subsequently, the seedling arrangement device arranges the seedlings into a bundle for easy transportation and transmits them to the cylinder of the seedling transport conveyor belt (7). When the seedlings move to the transplanting mechanism (2), the single chip will intelligently select the seedlings of a specific color and send them to the corresponding transplanting claws according to the pattern and color requirements of the rice field painting; S3: Based on the path planning results, the MCU sends precise instructions to the stepper motor and transmission system to control the movement of the seedling tray, ensuring that the seedlings can be accurately delivered to the transplanting device along the planned path; S4: During the transplanting process, the photoelectric sensor and photoelectric gate will continuously collect information and feed it back to the microcontroller in real time. The microcontroller will adjust the position and speed of the transplanting claws in real time based on this information to ensure the accuracy and continuity of transplanting. When the transplanting task is completed, the system will automatically check and verify to ensure that all seedlings have been accurately transplanted according to the preset pattern.

2. The micro automatic rice transplanting method suitable for making rice field paintings according to claim 1, characterized in that: In step S2, the system will also optimize the motor control algorithm to achieve precise movement of the transplanting claws and accurate control of the transplanting depth, ensuring that each seedling can be placed accurately in the designated position.

3. The micro automatic rice transplanting method suitable for making rice field paintings according to claim 1, characterized in that: The rice transplanting distance control system comprises a distance control wheel (4) and a transmission shaft (5). The distance control wheel (4) is used to control the rice transplanting distance of the rice transplanting system. The distance control wheel (4) is fixed at the bottom of the frame (3) and connected to the rice transplanting mechanism (2) via the transmission shaft (5). The rice transplanting distance can be changed by changing the size of the distance control wheel (4). When the distance control wheel (4) rotates one circle, the transmission shaft (5) drives the rice transplanting mechanism (2) to transplant rice once.

4. The micro automatic rice transplanting method suitable for making rice field paintings according to claim 1, characterized in that: The power system comprises a frame (3), driving wheels (6) arranged on both sides of the frame (3), a driven wheel connected to the driving wheel (6) via a chain transmission, and a motor for providing driving force for the driving wheel (6), wherein the motor is communicatively connected to the control system.

5. The micro automatic rice transplanting method suitable for making rice field paintings according to claim 1, characterized in that: The rice transplanting mechanism (2) comprises a rice transplanting claw and a driving assembly for driving the rice transplanting claw to move.

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